From 3a6c47c6f76f043b7d99313912985e7c4db9e3c0 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 26 Apr 2022 18:26:24 -0700 Subject: [PATCH] Updated Nominal Transforms only, Saves results file with Camera SN in filename --- .../config/testrig_marker_info.yaml | 179 +- .../Testrig_Data_Analyse-checkpoint.ipynb | 229 + .../data/Testrig_Data_Analyse.ipynb | 231 + ...errors_data_134322070297_202204261813.yaml | 9600 +++ .../testrig_errors_data_202204261414.yaml | 9600 +++ ...rig_results_134322070297_202204261813.yaml | 68 + .../results/testrig_results_202204261414.yaml | 68 + .../testrig_collected_data_202204261414.yaml | 56874 +++++++++++++++ .../testrig_collected_data_202204261559.yaml | 57912 ++++++++++++++++ .../testrig_collected_data_202204261813.yaml | 51976 ++++++++++++++ .../nodes/testrig_analyze_data.py | 14 +- .../nodes/testrig_collect_data | 4 +- .../nodes/testrig_dashboard.py | 12 +- 13 files changed, 186661 insertions(+), 106 deletions(-) create mode 100644 stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse-checkpoint.ipynb create mode 100644 stretch_camera_testrig/data/Testrig_Data_Analyse.ipynb create mode 100644 stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204261813.yaml create mode 100644 stretch_camera_testrig/data/results/testrig_errors_data_202204261414.yaml create mode 100644 stretch_camera_testrig/data/results/testrig_results_134322070297_202204261813.yaml create mode 100644 stretch_camera_testrig/data/results/testrig_results_202204261414.yaml create mode 100644 stretch_camera_testrig/data/testrig_collected_data_202204261414.yaml create mode 100644 stretch_camera_testrig/data/testrig_collected_data_202204261559.yaml create mode 100644 stretch_camera_testrig/data/testrig_collected_data_202204261813.yaml diff --git a/stretch_camera_testrig/config/testrig_marker_info.yaml b/stretch_camera_testrig/config/testrig_marker_info.yaml index 599888d..873a08f 100644 --- a/stretch_camera_testrig/config/testrig_marker_info.yaml +++ b/stretch_camera_testrig/config/testrig_marker_info.yaml @@ -1,93 +1,86 @@ -# This file contains the nominal poses of the each Aruco markers -# that is to be used in the test rig. Each aruco marker's pose -# are to be measured and inserted as a 4x4 Homogeneous matrix - -'testrig_aruco_marker_info': - 'base_left_marker_pose': - - - 1.0 - - 0.0 - - 0.0 - - 0.0 - - - 0.0 - - 1.0 - - 0.0 - - 0.0 - - - 0.0 - - 0.0 - - 1.0 - - 0.0 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - 'base_right_marker_pose': - - - 1.0 - - 0.0 - - 0.0 - - 0.0 - - - 0.0 - - 1.0 - - 0.0 - - 0.0 - - - 0.0 - - 0.0 - - 1.0 - - 0.0 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - - 'shoulder_marker_pose': - - - 1.0 - - 0.0 - - 0.0 - - 0.0 - - - 0.0 - - 1.0 - - 0.0 - - 0.0 - - - 0.0 - - 0.0 - - 1.0 - - 0.0 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - - 'wrist_inside_marker_pose': - - - 1.0 - - 0.0 - - 0.0 - - 0.0 - - - 0.0 - - 1.0 - - 0.0 - - 0.0 - - - 0.0 - - 0.0 - - 1.0 - - 0.0 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - - 'wrist_top_marker_pose': - - - 1.0 - - 0.0 - - 0.0 - - 0.0 - - - 0.0 - - 1.0 - - 0.0 - - 0.0 - - - 0.0 - - 0.0 - - 1.0 - - 0.0 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 \ No newline at end of file +testrig_aruco_marker_info: + base_left_marker_pose: + - - 1.0 + - 0.0 + - 0.0 + - 0.009 + - - 0.0 + - 1.0 + - 0.0 + - -0.06418 + - - 0.0 + - 0.0 + - 1.0 + - 0.97551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 1.0 + - 0.0 + - 0.0 + - 0.078 + - - 0.0 + - 1.0 + - 0.0 + - -0.06418 + - - 0.0 + - 0.0 + - 1.0 + - 0.97551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + shoulder_marker_pose: + - - 1.0 + - 0.0 + - 0.0 + - 0.0858 + - - 0.0 + - 1.0 + - 0.0 + - -0.12048 + - - 0.0 + - 0.0 + - 1.0 + - 0.97551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 1.0 + - 0.0 + - 0.0 + - -0.00275 + - - 0.0 + - 1.0 + - 0.0 + - -0.12443 + - - 0.0 + - 0.0 + - 1.0 + - 0.97551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 1.0 + - 0.0 + - 0.0 + - 0.03935 + - - 0.0 + - 1.0 + - 0.0 + - -0.12443 + - - 0.0 + - 0.0 + - 1.0 + - 0.97551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 diff --git a/stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse-checkpoint.ipynb b/stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse-checkpoint.ipynb new file mode 100644 index 0000000..5dac63f --- /dev/null +++ b/stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse-checkpoint.ipynb @@ -0,0 +1,229 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 36, + "metadata": {}, + "outputs": [], + "source": [ + "import yaml\n", + "import numpy as np\n", + "import pandas as pd" + ] + }, + { + "cell_type": "code", + "execution_count": 37, + "metadata": {}, + "outputs": [], + "source": [ + "filename = 'testrig_collected_data_202204261559.yaml'" + ] + }, + { + "cell_type": "code", + "execution_count": 53, + "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" + ] + }, + { + "cell_type": "code", + "execution_count": 54, + "metadata": {}, + "outputs": [], + "source": [ + "data = get_dict(filename)" + ] + }, + { + "cell_type": "code", + "execution_count": 55, + "metadata": {}, + "outputs": [ + { + "ename": "TypeError", + "evalue": "unsupported operand type(s) for -: 'int' and 'dict'", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mTypeError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mget_avg_pos_vals\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m", + "\u001b[0;32m\u001b[0m in \u001b[0;36mget_avg_pos_vals\u001b[0;34m(data)\u001b[0m\n\u001b[1;32m 25\u001b[0m \u001b[0mnull_cnt\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mkey\u001b[0m\u001b[0;34m]\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnull_cnt\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mkey\u001b[0m\u001b[0;34m]\u001b[0m \u001b[0;34m+\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 26\u001b[0m \u001b[0;32mfor\u001b[0m \u001b[0mkey\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mdata_keys\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 27\u001b[0;31m \u001b[0mavg_pose_sums\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mkey\u001b[0m\u001b[0;34m]\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mavg_pose_sums\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mkey\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m/\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mlen\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0mnull_cnt\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 28\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mavg_pose_sums\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;31mTypeError\u001b[0m: unsupported operand type(s) for -: 'int' and 'dict'" + ] + } + ], + "source": [ + "get_avg_pos_vals(data)" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "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": 30, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "data[0]['camera_measurements'].keys()" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([[ 0.99989452, -0.01255395, -0.00730402, 0.0239161 ],\n", + " [-0.01277629, -0.99943037, -0.03123614, -0.03452451],\n", + " [-0.00690772, 0.03132616, -0.99948535, 0.96807451],\n", + " [ 0. , 0. , 0. , 1. ]])" + ] + }, + "execution_count": 31, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m = np.array(data[0]['camera_measurements'][data_keys[0]])\n", + "m" + ] + }, + { + "cell_type": "code", + "execution_count": 32, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([ 0.0239161 , -0.03452451, 0.96807451])" + ] + }, + "execution_count": 32, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m = np.array(m)[:3,3]\n", + "m" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(3,)" + ] + }, + "execution_count": 33, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 35, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(3,)" + ] + }, + "execution_count": 35, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "np.zeros(3).shape" + ] + }, + { + "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.ipynb b/stretch_camera_testrig/data/Testrig_Data_Analyse.ipynb new file mode 100644 index 0000000..4178c89 --- /dev/null +++ b/stretch_camera_testrig/data/Testrig_Data_Analyse.ipynb @@ -0,0 +1,231 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 36, + "metadata": {}, + "outputs": [], + "source": [ + "import yaml\n", + "import numpy as np\n", + "import pandas as pd" + ] + }, + { + "cell_type": "code", + "execution_count": 37, + "metadata": {}, + "outputs": [], + "source": [ + "filename = 'testrig_collected_data_202204261559.yaml'" + ] + }, + { + "cell_type": "code", + "execution_count": 56, + "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" + ] + }, + { + "cell_type": "code", + "execution_count": 57, + "metadata": {}, + "outputs": [], + "source": [ + "data = get_dict(filename)" + ] + }, + { + "cell_type": "code", + "execution_count": 58, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{'base_left_marker_pose': array([ 0.0239215, -0.0345387, 0.9687601]),\n", + " 'base_right_marker_pose': array([ 0.09184391, -0.03379975, 0.96848354]),\n", + " 'shoulder_marker_pose': array([ 0.09992021, -0.08972844, 0.97250558]),\n", + " 'wrist_inside_marker_pose': array([ 0.01281881, -0.09311278, 0.97060522]),\n", + " 'wrist_top_marker_pose': array([ 0.05436245, -0.09324136, 0.97268975])}" + ] + }, + "execution_count": 58, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "get_avg_pos_vals(data)" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "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": 30, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "data[0]['camera_measurements'].keys()" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([[ 0.99989452, -0.01255395, -0.00730402, 0.0239161 ],\n", + " [-0.01277629, -0.99943037, -0.03123614, -0.03452451],\n", + " [-0.00690772, 0.03132616, -0.99948535, 0.96807451],\n", + " [ 0. , 0. , 0. , 1. ]])" + ] + }, + "execution_count": 31, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m = np.array(data[0]['camera_measurements'][data_keys[0]])\n", + "m" + ] + }, + { + "cell_type": "code", + "execution_count": 32, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([ 0.0239161 , -0.03452451, 0.96807451])" + ] + }, + "execution_count": 32, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m = np.array(m)[:3,3]\n", + "m" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(3,)" + ] + }, + "execution_count": 33, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 35, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(3,)" + ] + }, + "execution_count": 35, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "np.zeros(3).shape" + ] + }, + { + "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/results/testrig_errors_data_134322070297_202204261813.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204261813.yaml new file mode 100644 index 0000000..210ba48 --- /dev/null +++ b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204261813.yaml @@ -0,0 +1,9600 @@ +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1016420888989598 + euclidean_error: 0.03448280504325842 + shoulder_marker_pose: + angle_rotation_error: 3.0479293078554686 + euclidean_error: 0.034352544867482786 + wrist_inside_marker_pose: + angle_rotation_error: 2.9348213594909947 + euclidean_error: 0.035360648772673295 + wrist_top_marker_pose: + angle_rotation_error: 2.983257418178356 + euclidean_error: 0.035180873609973254 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092454316851923 + euclidean_error: 0.03406289821912756 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0071016277376654 + euclidean_error: 0.03421963529219863 + wrist_inside_marker_pose: + angle_rotation_error: 2.874131298180146 + euclidean_error: 0.03529572340254226 + wrist_top_marker_pose: + angle_rotation_error: 3.1001840098274265 + euclidean_error: 0.034953804279502815 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.060422697313293 + euclidean_error: 0.03400519827633965 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0533960064915555 + euclidean_error: 0.03437150675483334 + wrist_inside_marker_pose: + angle_rotation_error: 3.063287757813327 + euclidean_error: 0.035685278875263 + wrist_top_marker_pose: + angle_rotation_error: 3.1179143824037974 + euclidean_error: 0.035267292968436864 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.076181594310962 + euclidean_error: 0.03409618500221821 + base_right_marker_pose: + angle_rotation_error: 3.1225611963992987 + euclidean_error: 0.034361484371196335 + shoulder_marker_pose: + angle_rotation_error: 3.1071174694527985 + euclidean_error: 0.034334263576750616 + wrist_inside_marker_pose: + angle_rotation_error: 3.0485553578236124 + euclidean_error: 0.03551795782202473 + wrist_top_marker_pose: + angle_rotation_error: 3.1105681585723652 + euclidean_error: 0.03483441858528201 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1332998583917613 + euclidean_error: 0.03441609771311118 + shoulder_marker_pose: + angle_rotation_error: 2.9922343755653964 + euclidean_error: 0.03430236627151468 + wrist_inside_marker_pose: + angle_rotation_error: 3.087106313289732 + euclidean_error: 0.03575075065531744 + wrist_top_marker_pose: + angle_rotation_error: 3.115124600346683 + euclidean_error: 0.03490933396979622 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.115438765025841 + euclidean_error: 0.03447091130939213 + shoulder_marker_pose: + angle_rotation_error: 3.045515986008537 + euclidean_error: 0.03443384093619035 + wrist_inside_marker_pose: + angle_rotation_error: 2.95076842899814 + euclidean_error: 0.035468887328181466 + wrist_top_marker_pose: + angle_rotation_error: 3.1206858249022837 + euclidean_error: 0.03501535401875577 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089763449137661 + euclidean_error: 0.034039107173555946 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0228655113988045 + euclidean_error: 0.034297197710928595 + wrist_inside_marker_pose: + angle_rotation_error: 2.8872920103520836 + euclidean_error: 0.03541516646256695 + wrist_top_marker_pose: + angle_rotation_error: 3.1379164892215687 + euclidean_error: 0.03477887978626579 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0356905040636213 + euclidean_error: 0.034393606238931944 + wrist_inside_marker_pose: + angle_rotation_error: 3.011175712978203 + euclidean_error: 0.035623927616963154 + wrist_top_marker_pose: + angle_rotation_error: 3.10199478201122 + euclidean_error: 0.03494415803613878 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1167901174099577 + euclidean_error: 0.034390769121064396 + shoulder_marker_pose: + angle_rotation_error: 2.988924319030733 + euclidean_error: 0.03427666179349781 + wrist_inside_marker_pose: + angle_rotation_error: 2.9184031457014563 + euclidean_error: 0.035319126094481214 + wrist_top_marker_pose: + angle_rotation_error: 3.1242535625253467 + euclidean_error: 0.034606394843492275 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0985501597435077 + euclidean_error: 0.03405659595925222 + base_right_marker_pose: + angle_rotation_error: 3.1381650972520005 + euclidean_error: 0.03435808966709543 + shoulder_marker_pose: + angle_rotation_error: 3.0058248852344533 + euclidean_error: 0.03430050794556073 + wrist_inside_marker_pose: + angle_rotation_error: 2.967492998726649 + euclidean_error: 0.035410590667310705 + wrist_top_marker_pose: + angle_rotation_error: 3.0506416224025985 + euclidean_error: 0.03489208836589299 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0883427911403056 + euclidean_error: 0.034002474437318145 + base_right_marker_pose: + angle_rotation_error: 3.138744241555711 + euclidean_error: 0.03441569553808818 + shoulder_marker_pose: + angle_rotation_error: 2.9717722670658238 + euclidean_error: 0.03417162175959245 + wrist_inside_marker_pose: + angle_rotation_error: 3.1386985568261507 + euclidean_error: 0.03582231291904326 + wrist_top_marker_pose: + angle_rotation_error: 3.101452876297825 + euclidean_error: 0.03471211519465379 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063221578326482 + euclidean_error: 0.03405476220716449 + base_right_marker_pose: + angle_rotation_error: 3.13616191821371 + euclidean_error: 0.034332248256929404 + shoulder_marker_pose: + angle_rotation_error: 2.966493537782457 + euclidean_error: 0.034321602724838716 + wrist_inside_marker_pose: + angle_rotation_error: 3.012382705871702 + euclidean_error: 0.03553011169660477 + wrist_top_marker_pose: + angle_rotation_error: 3.1330163245766705 + euclidean_error: 0.03507370283285369 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1405452211704694 + euclidean_error: 0.03442376698188247 + shoulder_marker_pose: + angle_rotation_error: 3.050340697394779 + euclidean_error: 0.034322736896060545 + wrist_inside_marker_pose: + angle_rotation_error: 2.973576837171402 + euclidean_error: 0.03551154257673819 + wrist_top_marker_pose: + angle_rotation_error: 3.0427773230312085 + euclidean_error: 0.03483721079340435 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1055302662574755 + euclidean_error: 0.03408094124375384 + base_right_marker_pose: + angle_rotation_error: 3.133511766629857 + euclidean_error: 0.03439291735671517 + shoulder_marker_pose: + angle_rotation_error: 3.0415431152861943 + euclidean_error: 0.034384338937011184 + wrist_inside_marker_pose: + angle_rotation_error: 2.9903496677416617 + euclidean_error: 0.03546926994779861 + wrist_top_marker_pose: + angle_rotation_error: 3.074691812547713 + euclidean_error: 0.034828184867767883 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1032721614576833 + euclidean_error: 0.0340875646537553 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0247022099354286 + euclidean_error: 0.03426698436182789 + wrist_inside_marker_pose: + angle_rotation_error: 3.011211227441624 + euclidean_error: 0.03569238374760895 + wrist_top_marker_pose: + angle_rotation_error: 3.1100929388030103 + euclidean_error: 0.03504318219742916 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.112895524397958 + euclidean_error: 0.0344999997209122 + shoulder_marker_pose: + angle_rotation_error: 3.0972014839900934 + euclidean_error: 0.03424702711453306 + wrist_inside_marker_pose: + angle_rotation_error: 2.9503044547028265 + euclidean_error: 0.03545414985184601 + wrist_top_marker_pose: + angle_rotation_error: 3.1080711905425216 + euclidean_error: 0.0350126557533523 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0912587542275545 + euclidean_error: 0.03409575832017554 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1115938393680542 + euclidean_error: 0.034421625401679486 + wrist_inside_marker_pose: + angle_rotation_error: 2.911365256272279 + euclidean_error: 0.03518639900464437 + wrist_top_marker_pose: + angle_rotation_error: 3.092151822555336 + euclidean_error: 0.03489320287945184 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0118730661652955 + euclidean_error: 0.034382792683681385 + wrist_inside_marker_pose: + angle_rotation_error: 2.925377429686492 + euclidean_error: 0.03544471768213254 + wrist_top_marker_pose: + angle_rotation_error: 2.976137516826222 + euclidean_error: 0.03510562927400671 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0586733893836473 + euclidean_error: 0.033996964990615504 + base_right_marker_pose: + angle_rotation_error: 3.128728564288874 + euclidean_error: 0.034309656493321 + shoulder_marker_pose: + angle_rotation_error: 3.091331883679757 + euclidean_error: 0.0345151353685676 + wrist_inside_marker_pose: + angle_rotation_error: 2.994431366321442 + euclidean_error: 0.03538762824595089 + wrist_top_marker_pose: + angle_rotation_error: 3.0455846280314254 + euclidean_error: 0.03482338111850497 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0368988481367607 + euclidean_error: 0.03434074862161632 + wrist_inside_marker_pose: + angle_rotation_error: 3.040049884565358 + euclidean_error: 0.03536357963937419 + wrist_top_marker_pose: + angle_rotation_error: 3.113869381818899 + euclidean_error: 0.03463464874805622 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0623831630903195 + euclidean_error: 0.033963808724826634 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.103355195295946 + euclidean_error: 0.034251333922745646 + wrist_inside_marker_pose: + angle_rotation_error: 2.9218758210074105 + euclidean_error: 0.035223033100386845 + wrist_top_marker_pose: + angle_rotation_error: 3.1240972999063668 + euclidean_error: 0.034692955967817664 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1007165429091357 + euclidean_error: 0.03405244434238174 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0672054144614926 + euclidean_error: 0.03427527479105029 + wrist_inside_marker_pose: + angle_rotation_error: 3.072267227213996 + euclidean_error: 0.035623423799141414 + wrist_top_marker_pose: + angle_rotation_error: 3.1096747790330523 + euclidean_error: 0.03468759497911868 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1129575749879983 + euclidean_error: 0.034102126754751626 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0861249970787115 + euclidean_error: 0.03429322784897758 + wrist_inside_marker_pose: + angle_rotation_error: 3.060009981984027 + euclidean_error: 0.03555533963889593 + wrist_top_marker_pose: + angle_rotation_error: 3.094077107193649 + euclidean_error: 0.03487041883637621 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0506850639699774 + euclidean_error: 0.03395404182136805 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.030067006279483 + euclidean_error: 0.03421485108744662 + wrist_inside_marker_pose: + angle_rotation_error: 2.951823678175307 + euclidean_error: 0.035405810888778894 + wrist_top_marker_pose: + angle_rotation_error: 3.0964084012487225 + euclidean_error: 0.03461790580286553 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1239725541356407 + euclidean_error: 0.03439290580038733 + shoulder_marker_pose: + angle_rotation_error: 3.0224699560909403 + euclidean_error: 0.03427873714240413 + wrist_inside_marker_pose: + angle_rotation_error: 2.9648799449755594 + euclidean_error: 0.035358031951501084 + wrist_top_marker_pose: + angle_rotation_error: 3.0867750381848844 + euclidean_error: 0.03476730402275898 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0611376942612276 + euclidean_error: 0.03387910719595452 + base_right_marker_pose: + angle_rotation_error: 3.1051179930036197 + euclidean_error: 0.03440170327820619 + shoulder_marker_pose: + angle_rotation_error: 3.066036391735344 + euclidean_error: 0.03423898986427315 + wrist_inside_marker_pose: + angle_rotation_error: 2.963405278734557 + euclidean_error: 0.035221496596025 + wrist_top_marker_pose: + angle_rotation_error: 2.9891496592917712 + euclidean_error: 0.03475233528571695 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0931105778530426 + euclidean_error: 0.034040820310458346 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.060496067247096 + euclidean_error: 0.034316297764401135 + wrist_inside_marker_pose: + angle_rotation_error: 2.992282156223342 + euclidean_error: 0.03553102289956661 + wrist_top_marker_pose: + angle_rotation_error: 3.098433125795202 + euclidean_error: 0.034570312448816046 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0717185054503804 + euclidean_error: 0.033971462987171686 + base_right_marker_pose: + angle_rotation_error: 3.130613586363522 + euclidean_error: 0.03439629988872967 + shoulder_marker_pose: + angle_rotation_error: 3.0757438177661296 + euclidean_error: 0.03434213664354509 + wrist_inside_marker_pose: + angle_rotation_error: 2.9390914907534507 + euclidean_error: 0.035284760997848365 + wrist_top_marker_pose: + angle_rotation_error: 3.0854600833782637 + euclidean_error: 0.034704334654195146 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1056456067186873 + euclidean_error: 0.034036868477303785 + base_right_marker_pose: + angle_rotation_error: 3.1090408266126137 + euclidean_error: 0.03449550738876697 + shoulder_marker_pose: + angle_rotation_error: 2.9535672679216187 + euclidean_error: 0.034201903677661544 + wrist_inside_marker_pose: + angle_rotation_error: 2.9748999712274222 + euclidean_error: 0.03553873947320421 + wrist_top_marker_pose: + angle_rotation_error: 3.0928162858112547 + euclidean_error: 0.03468959114861423 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0624109391176457 + euclidean_error: 0.03401458551298985 + base_right_marker_pose: + angle_rotation_error: 3.130353434088822 + euclidean_error: 0.03436661966266577 + shoulder_marker_pose: + angle_rotation_error: 3.0254921224904607 + euclidean_error: 0.034287397918865925 + wrist_inside_marker_pose: + angle_rotation_error: 3.0182882296058597 + euclidean_error: 0.03520428658646855 + wrist_top_marker_pose: + angle_rotation_error: 3.058647686505576 + euclidean_error: 0.03460924469384589 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.12719300436976 + euclidean_error: 0.034445262707738546 + shoulder_marker_pose: + angle_rotation_error: 3.0725855805325617 + euclidean_error: 0.03433406197936419 + wrist_inside_marker_pose: + angle_rotation_error: 2.9429825686620155 + euclidean_error: 0.03515086188319569 + wrist_top_marker_pose: + angle_rotation_error: 3.1256058618248637 + euclidean_error: 0.03466197848226358 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074863746672209 + euclidean_error: 0.034050949062184845 + base_right_marker_pose: + angle_rotation_error: 3.1398722146127365 + euclidean_error: 0.03434610348922126 + shoulder_marker_pose: + angle_rotation_error: 3.0327827541868664 + euclidean_error: 0.03436873140124915 + wrist_inside_marker_pose: + angle_rotation_error: 3.061007981342923 + euclidean_error: 0.035698974194469955 + wrist_top_marker_pose: + angle_rotation_error: 3.0536671282591246 + euclidean_error: 0.03533980379142684 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.064842133280271 + euclidean_error: 0.03399828348739249 + base_right_marker_pose: + angle_rotation_error: 3.130054620275073 + euclidean_error: 0.03443988411993916 + shoulder_marker_pose: + angle_rotation_error: 2.9745876745708935 + euclidean_error: 0.034203796126878905 + wrist_inside_marker_pose: + angle_rotation_error: 2.7790459476627944 + euclidean_error: 0.034884027418643285 + wrist_top_marker_pose: + angle_rotation_error: 3.063512320729469 + euclidean_error: 0.03453022857963588 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1413482958910888 + euclidean_error: 0.03435352561788581 + shoulder_marker_pose: + angle_rotation_error: 3.050312359432999 + euclidean_error: 0.0342831027272382 + wrist_inside_marker_pose: + angle_rotation_error: 2.849564571757638 + euclidean_error: 0.035236762183018966 + wrist_top_marker_pose: + angle_rotation_error: 3.0591075791517324 + euclidean_error: 0.03456607118619033 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0567779785023372 + euclidean_error: 0.03403803029688574 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0503886872747588 + euclidean_error: 0.03431548988766188 + wrist_inside_marker_pose: + angle_rotation_error: 2.943266683234971 + euclidean_error: 0.03550449984508869 + wrist_top_marker_pose: + angle_rotation_error: 3.0864851934293243 + euclidean_error: 0.03508021574319216 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074324464365422 + euclidean_error: 0.03408094666669404 + base_right_marker_pose: + angle_rotation_error: 3.1392614814385866 + euclidean_error: 0.034399594148549074 + shoulder_marker_pose: + angle_rotation_error: 3.0833868643048588 + euclidean_error: 0.034472195270721304 + wrist_inside_marker_pose: + angle_rotation_error: 2.86067053405113 + euclidean_error: 0.03516396583654798 + wrist_top_marker_pose: + angle_rotation_error: 3.0306207486088597 + euclidean_error: 0.03507405409164551 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.0832731061589236 + euclidean_error: 0.03422707236579183 + shoulder_marker_pose: + angle_rotation_error: 3.0855535438809336 + euclidean_error: 0.034222521351138964 + wrist_inside_marker_pose: + angle_rotation_error: 2.897255191129441 + euclidean_error: 0.03521974398891104 + wrist_top_marker_pose: + angle_rotation_error: 3.0874731424733035 + euclidean_error: 0.03472307988967561 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.067408658452843 + euclidean_error: 0.034035396960053914 + base_right_marker_pose: + angle_rotation_error: 3.1205600141950054 + euclidean_error: 0.034374259131961064 + shoulder_marker_pose: + angle_rotation_error: 3.0225115870814907 + euclidean_error: 0.034201736348622364 + wrist_inside_marker_pose: + angle_rotation_error: 2.9739814325851137 + euclidean_error: 0.035363775319470866 + wrist_top_marker_pose: + angle_rotation_error: 3.0429419966049833 + euclidean_error: 0.03459563775236805 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1141576935557858 + euclidean_error: 0.03443345587429227 + shoulder_marker_pose: + angle_rotation_error: 2.984075917024935 + euclidean_error: 0.03430399272930173 + wrist_inside_marker_pose: + angle_rotation_error: 2.9190811221176127 + euclidean_error: 0.035486840958293055 + wrist_top_marker_pose: + angle_rotation_error: 3.015785010567422 + euclidean_error: 0.03519245177025805 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0096094776305153 + euclidean_error: 0.03425320383233738 + wrist_inside_marker_pose: + angle_rotation_error: 3.016499482066062 + euclidean_error: 0.03536305933902672 + wrist_top_marker_pose: + angle_rotation_error: 3.035978398602235 + euclidean_error: 0.03497453555883906 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1320507225772896 + euclidean_error: 0.03440510950650822 + shoulder_marker_pose: + angle_rotation_error: 2.977337313491624 + euclidean_error: 0.034305009086761304 + wrist_inside_marker_pose: + angle_rotation_error: 2.9913522577692206 + euclidean_error: 0.03567993096125463 + wrist_top_marker_pose: + angle_rotation_error: 3.1315983837794117 + euclidean_error: 0.03484060760189284 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.05058377972975 + euclidean_error: 0.033896240984906 + base_right_marker_pose: + angle_rotation_error: 3.0757787978802558 + euclidean_error: 0.03449523538743903 + shoulder_marker_pose: + angle_rotation_error: 3.008696315042462 + euclidean_error: 0.034311586088745745 + wrist_inside_marker_pose: + angle_rotation_error: 2.914416470359527 + euclidean_error: 0.035320154645671564 + wrist_top_marker_pose: + angle_rotation_error: 3.0961242367838766 + euclidean_error: 0.03484671014297414 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.024875862526116 + euclidean_error: 0.03427104568456153 + wrist_inside_marker_pose: + angle_rotation_error: 2.9297964233666405 + euclidean_error: 0.035184446257654205 + wrist_top_marker_pose: + angle_rotation_error: 2.9152706063076383 + euclidean_error: 0.034801535200441346 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092014082508226 + euclidean_error: 0.034022239571853435 + base_right_marker_pose: + angle_rotation_error: 3.1177702080230256 + euclidean_error: 0.03433301096416882 + shoulder_marker_pose: + angle_rotation_error: 3.105576379527845 + euclidean_error: 0.034277102294113716 + wrist_inside_marker_pose: + angle_rotation_error: 3.003485327567778 + euclidean_error: 0.03558313429666835 + wrist_top_marker_pose: + angle_rotation_error: 3.0415810352615025 + euclidean_error: 0.03494385897549175 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.077673844092942 + euclidean_error: 0.03396216828504684 + base_right_marker_pose: + angle_rotation_error: 3.136397198784922 + euclidean_error: 0.03435765268211753 + shoulder_marker_pose: + angle_rotation_error: 3.0346084494441996 + euclidean_error: 0.034315021629308405 + wrist_inside_marker_pose: + angle_rotation_error: 2.9772903446007417 + euclidean_error: 0.03546077042931055 + wrist_top_marker_pose: + angle_rotation_error: 3.0812314149103246 + euclidean_error: 0.03464751152292373 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078014353715777 + euclidean_error: 0.03389974308624637 + base_right_marker_pose: + angle_rotation_error: 3.134072247074988 + euclidean_error: 0.03437738772639007 + shoulder_marker_pose: + angle_rotation_error: 3.0288131138921823 + euclidean_error: 0.03422487545785629 + wrist_inside_marker_pose: + angle_rotation_error: 2.8574228192932973 + euclidean_error: 0.03501899897690041 + wrist_top_marker_pose: + angle_rotation_error: 3.11773530434818 + euclidean_error: 0.034697372016992245 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0721622291520267 + euclidean_error: 0.03409806290153383 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0143369313089887 + euclidean_error: 0.03415012404079036 + wrist_inside_marker_pose: + angle_rotation_error: 3.0228193517037343 + euclidean_error: 0.03553142720500462 + wrist_top_marker_pose: + angle_rotation_error: 3.046074064961085 + euclidean_error: 0.03457974337883759 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074554593863545 + euclidean_error: 0.03400847224017708 + base_right_marker_pose: + angle_rotation_error: 3.1273574212849677 + euclidean_error: 0.03442183044029981 + shoulder_marker_pose: + angle_rotation_error: 3.0501476366668054 + euclidean_error: 0.03423135002785405 + wrist_inside_marker_pose: + angle_rotation_error: 2.9445507272804736 + euclidean_error: 0.03531110904038415 + wrist_top_marker_pose: + angle_rotation_error: 3.0674059866922145 + euclidean_error: 0.03492540648450473 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0400334118593104 + euclidean_error: 0.034448312620640215 + wrist_inside_marker_pose: + angle_rotation_error: 2.9730521770145257 + euclidean_error: 0.03537917693175931 + wrist_top_marker_pose: + angle_rotation_error: 3.053794020175125 + euclidean_error: 0.034958349760297124 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.087324275280647 + euclidean_error: 0.03444574280829152 + wrist_inside_marker_pose: + angle_rotation_error: 2.9583947279178355 + euclidean_error: 0.03535767158371385 + wrist_top_marker_pose: + angle_rotation_error: 3.0898979520923278 + euclidean_error: 0.03492180822932291 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0809837477705813 + euclidean_error: 0.03397365179000458 + base_right_marker_pose: + angle_rotation_error: 3.137572258356621 + euclidean_error: 0.03441905501793967 + shoulder_marker_pose: + angle_rotation_error: 3.074348363677628 + euclidean_error: 0.034182311255205884 + wrist_inside_marker_pose: + angle_rotation_error: 3.0198320002014243 + euclidean_error: 0.03542544296037175 + wrist_top_marker_pose: + angle_rotation_error: 3.1352401430050088 + euclidean_error: 0.034586143986747434 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086294082703462 + euclidean_error: 0.03407432037990591 + base_right_marker_pose: + angle_rotation_error: 3.13948121872472 + euclidean_error: 0.034341323716812026 + shoulder_marker_pose: + angle_rotation_error: 3.048183696978127 + euclidean_error: 0.03421535069342493 + wrist_inside_marker_pose: + angle_rotation_error: 2.9352485831558117 + euclidean_error: 0.03521171608425725 + wrist_top_marker_pose: + angle_rotation_error: 3.1191600935950987 + euclidean_error: 0.034665733464237715 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0698787978346385 + euclidean_error: 0.03401923754085342 + base_right_marker_pose: + angle_rotation_error: 3.131235263711529 + euclidean_error: 0.03434621451610107 + shoulder_marker_pose: + angle_rotation_error: 3.0644968777045247 + euclidean_error: 0.03430614094362492 + wrist_inside_marker_pose: + angle_rotation_error: 2.902317446581145 + euclidean_error: 0.035272903792448865 + wrist_top_marker_pose: + angle_rotation_error: 3.1154543623167394 + euclidean_error: 0.03501441437503116 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.024495333926842 + euclidean_error: 0.03426046589520263 + wrist_inside_marker_pose: + angle_rotation_error: 2.913848979982864 + euclidean_error: 0.0353046963106795 + wrist_top_marker_pose: + angle_rotation_error: 3.067537123804514 + euclidean_error: 0.03465747014882083 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.04293417613686 + euclidean_error: 0.03394723543153849 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.027504403025123 + euclidean_error: 0.034228919529443666 + wrist_inside_marker_pose: + angle_rotation_error: 2.9599019385433807 + euclidean_error: 0.035522351094851926 + wrist_top_marker_pose: + angle_rotation_error: 3.1136292149787517 + euclidean_error: 0.03491467836926018 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074163007678099 + euclidean_error: 0.03404241547434497 + base_right_marker_pose: + angle_rotation_error: 3.1354790912481088 + euclidean_error: 0.034398209046226855 + shoulder_marker_pose: + angle_rotation_error: 3.065099007967513 + euclidean_error: 0.034283778130133225 + wrist_inside_marker_pose: + angle_rotation_error: 2.9967380600480245 + euclidean_error: 0.03556866981845089 + wrist_top_marker_pose: + angle_rotation_error: 3.128924645717837 + euclidean_error: 0.03465552560453181 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.13117705673225 + euclidean_error: 0.03441024734052914 + shoulder_marker_pose: + angle_rotation_error: 3.071286705809346 + euclidean_error: 0.0342290865110624 + wrist_inside_marker_pose: + angle_rotation_error: 2.9746409681188313 + euclidean_error: 0.035477430177158424 + wrist_top_marker_pose: + angle_rotation_error: 3.069918722051544 + euclidean_error: 0.034773235090822814 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0702151033927323 + euclidean_error: 0.03391518188388487 + base_right_marker_pose: + angle_rotation_error: 3.1152955951955987 + euclidean_error: 0.03435227904682267 + shoulder_marker_pose: + angle_rotation_error: 3.0533790673851318 + euclidean_error: 0.03430571639987646 + wrist_inside_marker_pose: + angle_rotation_error: 2.9442635579140353 + euclidean_error: 0.03548073430820845 + wrist_top_marker_pose: + angle_rotation_error: 3.0284069065411767 + euclidean_error: 0.034669698703169854 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.077843200363498 + euclidean_error: 0.034033359739894166 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0695315147538462 + euclidean_error: 0.03428947211789779 + wrist_inside_marker_pose: + angle_rotation_error: 2.910857687224371 + euclidean_error: 0.035304555376815 + wrist_top_marker_pose: + angle_rotation_error: 3.1340238627489168 + euclidean_error: 0.03498451976503488 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.038911972862351 + euclidean_error: 0.033982950172501004 + base_right_marker_pose: + angle_rotation_error: 3.139730563492983 + euclidean_error: 0.034324979559253975 + shoulder_marker_pose: + angle_rotation_error: 3.0028087230507796 + euclidean_error: 0.034163112176852146 + wrist_inside_marker_pose: + angle_rotation_error: 2.85526397727502 + euclidean_error: 0.03501365282265127 + wrist_top_marker_pose: + angle_rotation_error: 3.1259530153616297 + euclidean_error: 0.03452097550623528 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122873956083591 + euclidean_error: 0.034309852562364525 + shoulder_marker_pose: + angle_rotation_error: 3.065720761361878 + euclidean_error: 0.03430028008916871 + wrist_inside_marker_pose: + angle_rotation_error: 3.109844318697965 + euclidean_error: 0.03573798047352052 + wrist_top_marker_pose: + angle_rotation_error: 3.037483429085624 + euclidean_error: 0.03473767009098564 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.137399206178833 + euclidean_error: 0.034386061689231424 + shoulder_marker_pose: + angle_rotation_error: 3.0385043235998763 + euclidean_error: 0.03432721383001655 + wrist_inside_marker_pose: + angle_rotation_error: 2.9321357030187505 + euclidean_error: 0.03519858001175999 + wrist_top_marker_pose: + angle_rotation_error: 3.0988585076779986 + euclidean_error: 0.03500676368513902 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1241549580372867 + euclidean_error: 0.0343865161451661 + shoulder_marker_pose: + angle_rotation_error: 2.965558800031386 + euclidean_error: 0.03417966095555811 + wrist_inside_marker_pose: + angle_rotation_error: 2.9616189431334528 + euclidean_error: 0.03540580705822396 + wrist_top_marker_pose: + angle_rotation_error: 3.0993095829118062 + euclidean_error: 0.03465277156122275 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0983993959773257 + euclidean_error: 0.03399676187447117 + base_right_marker_pose: + angle_rotation_error: 3.114120135250324 + euclidean_error: 0.034315991575791134 + shoulder_marker_pose: + angle_rotation_error: 2.9923775857306434 + euclidean_error: 0.03419291738025135 + wrist_inside_marker_pose: + angle_rotation_error: 2.935018589820009 + euclidean_error: 0.03539054946190164 + wrist_top_marker_pose: + angle_rotation_error: 3.0272442038906875 + euclidean_error: 0.03482555069733346 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1367129349490774 + euclidean_error: 0.03441256367375261 + shoulder_marker_pose: + angle_rotation_error: 3.0161320343335887 + euclidean_error: 0.03427572044637586 + wrist_inside_marker_pose: + angle_rotation_error: 2.947797025600692 + euclidean_error: 0.03536933889086123 + wrist_top_marker_pose: + angle_rotation_error: 3.0903886065948614 + euclidean_error: 0.03491074402195237 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1388126815616877 + euclidean_error: 0.03443833064588642 + shoulder_marker_pose: + angle_rotation_error: 2.99702399948394 + euclidean_error: 0.03427483197614034 + wrist_inside_marker_pose: + angle_rotation_error: 2.9947089565540392 + euclidean_error: 0.035463845077172644 + wrist_top_marker_pose: + angle_rotation_error: 3.083668099570371 + euclidean_error: 0.034698087286841386 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1051252068819997 + euclidean_error: 0.034043622818391746 + base_right_marker_pose: + angle_rotation_error: 3.121210580193721 + euclidean_error: 0.034341812775115915 + shoulder_marker_pose: + angle_rotation_error: 3.0489287584064835 + euclidean_error: 0.034419759821500216 + wrist_inside_marker_pose: + angle_rotation_error: 3.0156136123893624 + euclidean_error: 0.03540626782823984 + wrist_top_marker_pose: + angle_rotation_error: 2.9572414323860214 + euclidean_error: 0.03496397971616026 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.068486412941081 + euclidean_error: 0.03405093718870951 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9798657065733964 + euclidean_error: 0.03424268569656485 + wrist_inside_marker_pose: + angle_rotation_error: 2.9770304242836505 + euclidean_error: 0.03549820927054643 + wrist_top_marker_pose: + angle_rotation_error: 3.1194987955183704 + euclidean_error: 0.03462213519898332 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10515526007537 + euclidean_error: 0.03403786879850768 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0372192602840657 + euclidean_error: 0.03425854108422963 + wrist_inside_marker_pose: + angle_rotation_error: 3.000445809461917 + euclidean_error: 0.03531073575000364 + wrist_top_marker_pose: + angle_rotation_error: 3.0565215679657207 + euclidean_error: 0.0348820802249521 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.066048973013658 + euclidean_error: 0.0343740147598008 + wrist_inside_marker_pose: + angle_rotation_error: 2.9326080468817866 + euclidean_error: 0.03527807974785586 + wrist_top_marker_pose: + angle_rotation_error: 3.0802702189414584 + euclidean_error: 0.034676826441917316 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.125693665808282 + euclidean_error: 0.03405964917082898 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0813019498659338 + euclidean_error: 0.03438894233698254 + wrist_inside_marker_pose: + angle_rotation_error: 2.9354488269166352 + euclidean_error: 0.035218967547886 + wrist_top_marker_pose: + angle_rotation_error: 3.0689244373298195 + euclidean_error: 0.03488266854005701 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.13062480403249 + euclidean_error: 0.03437735707001583 + shoulder_marker_pose: + angle_rotation_error: 3.064601813759237 + euclidean_error: 0.03426831568349626 + wrist_inside_marker_pose: + angle_rotation_error: 2.9571765891472794 + euclidean_error: 0.035377941897665306 + wrist_top_marker_pose: + angle_rotation_error: 3.036680905145867 + euclidean_error: 0.03464004345565257 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.035661425062373 + euclidean_error: 0.033960525998005496 + base_right_marker_pose: + angle_rotation_error: 3.1372471176464356 + euclidean_error: 0.034395744773960804 + shoulder_marker_pose: + angle_rotation_error: 3.006566052330512 + euclidean_error: 0.034256229877139416 + wrist_inside_marker_pose: + angle_rotation_error: 2.9763297896664476 + euclidean_error: 0.0355401069317483 + wrist_top_marker_pose: + angle_rotation_error: 3.0969456406799054 + euclidean_error: 0.03460464337192321 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.113952524558466 + euclidean_error: 0.03441057683826663 + shoulder_marker_pose: + angle_rotation_error: 3.0558085768270997 + euclidean_error: 0.034360307533476804 + wrist_inside_marker_pose: + angle_rotation_error: 3.004729666632931 + euclidean_error: 0.035311886718661784 + wrist_top_marker_pose: + angle_rotation_error: 3.062478308711952 + euclidean_error: 0.034745493053089785 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.069380466321639 + euclidean_error: 0.033904281792674934 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.062690350160182 + euclidean_error: 0.034231328651030304 + wrist_inside_marker_pose: + angle_rotation_error: 2.9797882522176655 + euclidean_error: 0.03532882399017932 + wrist_top_marker_pose: + angle_rotation_error: 3.1271389996372667 + euclidean_error: 0.03481969969542445 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1258827310374016 + euclidean_error: 0.03414611432137011 + base_right_marker_pose: + angle_rotation_error: 3.13739730602494 + euclidean_error: 0.03442613880736662 + shoulder_marker_pose: + angle_rotation_error: 3.1050937955627145 + euclidean_error: 0.03440650210987569 + wrist_inside_marker_pose: + angle_rotation_error: 2.9463352418694533 + euclidean_error: 0.03531810526457379 + wrist_top_marker_pose: + angle_rotation_error: 3.0710735738909434 + euclidean_error: 0.03495773540834353 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0299243973917696 + euclidean_error: 0.03430913802341853 + wrist_inside_marker_pose: + angle_rotation_error: 3.0733823692626374 + euclidean_error: 0.035402883106706334 + wrist_top_marker_pose: + angle_rotation_error: 3.1317552911834854 + euclidean_error: 0.03480945930397171 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1378831122722723 + euclidean_error: 0.03436744179191065 + shoulder_marker_pose: + angle_rotation_error: 3.111083149482458 + euclidean_error: 0.03427990006129291 + wrist_inside_marker_pose: + angle_rotation_error: 3.0922070966718116 + euclidean_error: 0.035543894646671625 + wrist_top_marker_pose: + angle_rotation_error: 2.980333926163734 + euclidean_error: 0.03493172042472979 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0593980706361936 + euclidean_error: 0.033997157591761536 + base_right_marker_pose: + angle_rotation_error: 3.136214702073658 + euclidean_error: 0.034390663833536 + shoulder_marker_pose: + angle_rotation_error: 3.072078171682013 + euclidean_error: 0.03429249348587565 + wrist_inside_marker_pose: + angle_rotation_error: 2.897405229339491 + euclidean_error: 0.03524528262434252 + wrist_top_marker_pose: + angle_rotation_error: 3.1162279654891964 + euclidean_error: 0.0346028583895979 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1126522842146156 + euclidean_error: 0.03436196702065431 + shoulder_marker_pose: + angle_rotation_error: 3.052959123162315 + euclidean_error: 0.034278494521590146 + wrist_inside_marker_pose: + angle_rotation_error: 2.8801289422673375 + euclidean_error: 0.03529041648506626 + wrist_top_marker_pose: + angle_rotation_error: 3.1347169217230895 + euclidean_error: 0.03482900968938051 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.138909621193437 + euclidean_error: 0.03443498703271412 + shoulder_marker_pose: + angle_rotation_error: 2.9849755657641235 + euclidean_error: 0.034216582326820566 + wrist_inside_marker_pose: + angle_rotation_error: 2.8964059615032784 + euclidean_error: 0.03543683261203 + wrist_top_marker_pose: + angle_rotation_error: 3.1248223247426545 + euclidean_error: 0.034535218339029596 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.136492789769375 + euclidean_error: 0.034415905518196906 + shoulder_marker_pose: + angle_rotation_error: 3.046281316177058 + euclidean_error: 0.03420845903744278 + wrist_inside_marker_pose: + angle_rotation_error: 2.9092507139148602 + euclidean_error: 0.03519142253249261 + wrist_top_marker_pose: + angle_rotation_error: 3.106148058713346 + euclidean_error: 0.034871694872957514 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0673955063118132 + euclidean_error: 0.03437316884211774 + wrist_inside_marker_pose: + angle_rotation_error: 2.9312205543466683 + euclidean_error: 0.03540278353014109 + wrist_top_marker_pose: + angle_rotation_error: 3.071892464469589 + euclidean_error: 0.03489673633918672 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1394562535021695 + euclidean_error: 0.03445500414850281 + shoulder_marker_pose: + angle_rotation_error: 3.01088432454714 + euclidean_error: 0.034210633359568726 + wrist_inside_marker_pose: + angle_rotation_error: 2.878910164373744 + euclidean_error: 0.0351301639949519 + wrist_top_marker_pose: + angle_rotation_error: 3.0845939760517687 + euclidean_error: 0.03465775796416098 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074678747931225 + euclidean_error: 0.0339835452189444 + base_right_marker_pose: + angle_rotation_error: 3.1177049283838825 + euclidean_error: 0.034339871579913035 + shoulder_marker_pose: + angle_rotation_error: 3.0152722317847873 + euclidean_error: 0.034242158854655806 + wrist_inside_marker_pose: + angle_rotation_error: 2.9451565288041115 + euclidean_error: 0.03534342884820507 + wrist_top_marker_pose: + angle_rotation_error: 3.1315717784664314 + euclidean_error: 0.03460466800241203 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1265673272324883 + euclidean_error: 0.03440069009268778 + shoulder_marker_pose: + angle_rotation_error: 3.04179857675422 + euclidean_error: 0.03428522149246084 + wrist_inside_marker_pose: + angle_rotation_error: 2.902808093002943 + euclidean_error: 0.0351708022262585 + wrist_top_marker_pose: + angle_rotation_error: 3.1375807089269614 + euclidean_error: 0.03470683870915423 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0331641159864913 + euclidean_error: 0.03426527192256503 + wrist_inside_marker_pose: + angle_rotation_error: 2.944196033412801 + euclidean_error: 0.0354278198236665 + wrist_top_marker_pose: + angle_rotation_error: 3.054869195439289 + euclidean_error: 0.034811228578553136 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0789291854117726 + euclidean_error: 0.03403085825792868 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0386288356157825 + euclidean_error: 0.03432357898623365 + wrist_inside_marker_pose: + angle_rotation_error: 2.946416075872743 + euclidean_error: 0.035270091085078996 + wrist_top_marker_pose: + angle_rotation_error: 3.1150847806811663 + euclidean_error: 0.03485840026606332 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0650038125308616 + euclidean_error: 0.03401457296038759 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.075569630798638 + euclidean_error: 0.03437280612791366 + wrist_inside_marker_pose: + angle_rotation_error: 3.021110430990922 + euclidean_error: 0.03557617134679458 + wrist_top_marker_pose: + angle_rotation_error: 3.068357609915089 + euclidean_error: 0.03498156098838031 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1405621076436256 + euclidean_error: 0.034339571049416366 + shoulder_marker_pose: + angle_rotation_error: 3.003174686413365 + euclidean_error: 0.0341682605911039 + wrist_inside_marker_pose: + angle_rotation_error: 2.837158439193559 + euclidean_error: 0.03513265570333418 + wrist_top_marker_pose: + angle_rotation_error: 3.0168364584289877 + euclidean_error: 0.03456712701810967 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.979527943502452 + euclidean_error: 0.034192031022226156 + wrist_inside_marker_pose: + angle_rotation_error: 2.9571768186279193 + euclidean_error: 0.03541843771984623 + wrist_top_marker_pose: + angle_rotation_error: 3.092525138856853 + euclidean_error: 0.034676908470894094 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080799265413667 + euclidean_error: 0.03396543896362182 + base_right_marker_pose: + angle_rotation_error: 3.130473202522613 + euclidean_error: 0.03436430861213307 + shoulder_marker_pose: + angle_rotation_error: 3.076548238724381 + euclidean_error: 0.03429037045640761 + wrist_inside_marker_pose: + angle_rotation_error: 2.8830514654415635 + euclidean_error: 0.03510558079439485 + wrist_top_marker_pose: + angle_rotation_error: 3.0948201746911996 + euclidean_error: 0.03459379127660321 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0702324400437866 + euclidean_error: 0.03396577767911563 + base_right_marker_pose: + angle_rotation_error: 3.125475422525489 + euclidean_error: 0.03442229551467732 + shoulder_marker_pose: + angle_rotation_error: 3.1031151729534017 + euclidean_error: 0.03429677445945164 + wrist_inside_marker_pose: + angle_rotation_error: 3.0091684675107806 + euclidean_error: 0.03541281209788948 + wrist_top_marker_pose: + angle_rotation_error: 3.000430053960235 + euclidean_error: 0.03492115653273779 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078025537593142 + euclidean_error: 0.034055000047231526 + base_right_marker_pose: + angle_rotation_error: 3.128919506160835 + euclidean_error: 0.034392205121840554 + shoulder_marker_pose: + angle_rotation_error: 3.0420487890196948 + euclidean_error: 0.03410546692569236 + wrist_inside_marker_pose: + angle_rotation_error: 2.9023208998436902 + euclidean_error: 0.03526772028988338 + wrist_top_marker_pose: + angle_rotation_error: 3.1334144620875004 + euclidean_error: 0.03466317750516727 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.05298087385926 + euclidean_error: 0.03397251906817185 + base_right_marker_pose: + angle_rotation_error: 3.119352627589434 + euclidean_error: 0.03425590077640792 + shoulder_marker_pose: + angle_rotation_error: 3.016357340218248 + euclidean_error: 0.03411190050485496 + wrist_inside_marker_pose: + angle_rotation_error: 2.8588943495750203 + euclidean_error: 0.03520935016749294 + wrist_top_marker_pose: + angle_rotation_error: 3.1408984254933956 + euclidean_error: 0.03459178581353163 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1380205861040613 + euclidean_error: 0.034395246109161066 + shoulder_marker_pose: + angle_rotation_error: 3.0999524115406225 + euclidean_error: 0.03420967815537251 + wrist_inside_marker_pose: + angle_rotation_error: 3.020550876891312 + euclidean_error: 0.035352582706255194 + wrist_top_marker_pose: + angle_rotation_error: 3.0765877961216805 + euclidean_error: 0.034858109222240606 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0801793818312313 + euclidean_error: 0.034065027059951916 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0258373532154543 + euclidean_error: 0.034308122743240535 + wrist_inside_marker_pose: + angle_rotation_error: 2.946378744773156 + euclidean_error: 0.03541344873831794 + wrist_top_marker_pose: + angle_rotation_error: 3.1032644300894905 + euclidean_error: 0.0346960240631274 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0842376421872957 + euclidean_error: 0.03404277807947904 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.027938904850883 + euclidean_error: 0.03438588213996564 + wrist_inside_marker_pose: + angle_rotation_error: 2.9988358583168973 + euclidean_error: 0.03530744525767382 + wrist_top_marker_pose: + angle_rotation_error: 3.082983031126598 + euclidean_error: 0.03484655937588718 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0771726252432625 + euclidean_error: 0.03404205914438583 + base_right_marker_pose: + angle_rotation_error: 3.1341867467320896 + euclidean_error: 0.03435288492761891 + shoulder_marker_pose: + angle_rotation_error: 3.087901693402031 + euclidean_error: 0.03421286458089731 + wrist_inside_marker_pose: + angle_rotation_error: 2.8041837023002767 + euclidean_error: 0.03504276736533868 + wrist_top_marker_pose: + angle_rotation_error: 3.123981370360344 + euclidean_error: 0.034604483030978635 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.062179765602435 + euclidean_error: 0.033921153456148205 + base_right_marker_pose: + angle_rotation_error: 3.1382743641807087 + euclidean_error: 0.03431915649911399 + shoulder_marker_pose: + angle_rotation_error: 3.039204214437174 + euclidean_error: 0.034302108992347737 + wrist_inside_marker_pose: + angle_rotation_error: 2.8408653619496023 + euclidean_error: 0.03530762209270009 + wrist_top_marker_pose: + angle_rotation_error: 3.0211497829212015 + euclidean_error: 0.03470443469258942 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1209068837882006 + euclidean_error: 0.03432981737624956 + shoulder_marker_pose: + angle_rotation_error: 3.0829092451592803 + euclidean_error: 0.034250478859774926 + wrist_inside_marker_pose: + angle_rotation_error: 2.9420338919168434 + euclidean_error: 0.035423872561862246 + wrist_top_marker_pose: + angle_rotation_error: 3.078261558123575 + euclidean_error: 0.03491015249926961 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.125834793044896 + euclidean_error: 0.03430836246278757 + shoulder_marker_pose: + angle_rotation_error: 3.0773835183884324 + euclidean_error: 0.03426114581302519 + wrist_inside_marker_pose: + angle_rotation_error: 2.912666436824184 + euclidean_error: 0.03529927082945545 + wrist_top_marker_pose: + angle_rotation_error: 3.1325812662917287 + euclidean_error: 0.034861526152919396 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0296308740630447 + euclidean_error: 0.03387920485532575 + base_right_marker_pose: + angle_rotation_error: 3.135903067754733 + euclidean_error: 0.034381011483952936 + shoulder_marker_pose: + angle_rotation_error: 3.0171379397897518 + euclidean_error: 0.03431845272558888 + wrist_inside_marker_pose: + angle_rotation_error: 2.9497853386050936 + euclidean_error: 0.0354120878336129 + wrist_top_marker_pose: + angle_rotation_error: 3.1209991923923055 + euclidean_error: 0.03463487197968202 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0798704693768375 + euclidean_error: 0.034050009240854745 + base_right_marker_pose: + angle_rotation_error: 3.1228394461427844 + euclidean_error: 0.0343455925572783 + shoulder_marker_pose: + angle_rotation_error: 3.037810159174921 + euclidean_error: 0.03436909409583152 + wrist_inside_marker_pose: + angle_rotation_error: 3.0008301374093445 + euclidean_error: 0.03567614754818703 + wrist_top_marker_pose: + angle_rotation_error: 3.108084136410166 + euclidean_error: 0.03489636930769418 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.08073966740561 + euclidean_error: 0.034000714845728267 + base_right_marker_pose: + angle_rotation_error: 3.140409729241762 + euclidean_error: 0.034351233586936286 + shoulder_marker_pose: + angle_rotation_error: 3.0771541890274245 + euclidean_error: 0.034309418237053545 + wrist_inside_marker_pose: + angle_rotation_error: 2.922605131047001 + euclidean_error: 0.0352592208825672 + wrist_top_marker_pose: + angle_rotation_error: 3.0834937396995556 + euclidean_error: 0.034742044940035334 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094727992222425 + euclidean_error: 0.03409930293098808 + base_right_marker_pose: + angle_rotation_error: 3.1219776713493492 + euclidean_error: 0.03445570561293299 + shoulder_marker_pose: + angle_rotation_error: 3.0203568089837605 + euclidean_error: 0.03431978721468659 + wrist_inside_marker_pose: + angle_rotation_error: 2.9292151102395074 + euclidean_error: 0.035333676443273614 + wrist_top_marker_pose: + angle_rotation_error: 3.0279653694759454 + euclidean_error: 0.03461822215792689 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.140523901185024 + euclidean_error: 0.03440077271030209 + shoulder_marker_pose: + angle_rotation_error: 3.114978104538094 + euclidean_error: 0.034180130460273954 + wrist_inside_marker_pose: + angle_rotation_error: 2.9673357079039966 + euclidean_error: 0.0354590550872375 + wrist_top_marker_pose: + angle_rotation_error: 2.993361968948487 + euclidean_error: 0.03467661968049039 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0111229409989932 + euclidean_error: 0.03419354151725973 + wrist_inside_marker_pose: + angle_rotation_error: 2.9126191798345618 + euclidean_error: 0.03536750069178224 + wrist_top_marker_pose: + angle_rotation_error: 3.1015696207719636 + euclidean_error: 0.03468893928726116 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0548805175929297 + euclidean_error: 0.033933371708381635 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.059775564850443 + euclidean_error: 0.03424142018762954 + wrist_inside_marker_pose: + angle_rotation_error: 2.9318039747367592 + euclidean_error: 0.035088422337026956 + wrist_top_marker_pose: + angle_rotation_error: 3.085532059199699 + euclidean_error: 0.034718513493119024 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.141265030492147 + euclidean_error: 0.03439528177796095 + shoulder_marker_pose: + angle_rotation_error: 3.0404742717351416 + euclidean_error: 0.03427052843389041 + wrist_inside_marker_pose: + angle_rotation_error: 3.080961034774491 + euclidean_error: 0.03555291843327108 + wrist_top_marker_pose: + angle_rotation_error: 3.06506490960652 + euclidean_error: 0.03476358205540605 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0237383733901986 + euclidean_error: 0.03396009973396838 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.098304609517616 + euclidean_error: 0.034322609717020974 + wrist_inside_marker_pose: + angle_rotation_error: 3.05169373675497 + euclidean_error: 0.035523106342622957 + wrist_top_marker_pose: + angle_rotation_error: 3.0778496218173785 + euclidean_error: 0.034663015065306765 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.105442921283769 + euclidean_error: 0.0340629845278947 + base_right_marker_pose: + angle_rotation_error: 3.132206420413584 + euclidean_error: 0.03436249364656441 + shoulder_marker_pose: + angle_rotation_error: 3.0677269151392124 + euclidean_error: 0.03433866831619858 + wrist_inside_marker_pose: + angle_rotation_error: 2.97241295241682 + euclidean_error: 0.03537180135809791 + wrist_top_marker_pose: + angle_rotation_error: 2.929552185727277 + euclidean_error: 0.03491373927158176 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.059052322897049 + euclidean_error: 0.0342936889175452 + wrist_inside_marker_pose: + angle_rotation_error: 2.9175197148149747 + euclidean_error: 0.03534191166282649 + wrist_top_marker_pose: + angle_rotation_error: 3.114867643104234 + euclidean_error: 0.03487284676668153 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.051176385217976 + euclidean_error: 0.034186549573676374 + wrist_inside_marker_pose: + angle_rotation_error: 2.9846930142690273 + euclidean_error: 0.03549965420273033 + wrist_top_marker_pose: + angle_rotation_error: 3.0016925146811944 + euclidean_error: 0.03450947112298145 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094638822076303 + euclidean_error: 0.03406262870978057 + base_right_marker_pose: + angle_rotation_error: 3.1374468305195102 + euclidean_error: 0.034371669050403966 + shoulder_marker_pose: + angle_rotation_error: 3.078440519790909 + euclidean_error: 0.03429037995609218 + wrist_inside_marker_pose: + angle_rotation_error: 2.944750011472235 + euclidean_error: 0.035286196071158925 + wrist_top_marker_pose: + angle_rotation_error: 3.0513079725134893 + euclidean_error: 0.03474050081398152 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.129019747082451 + euclidean_error: 0.03433595937825147 + shoulder_marker_pose: + angle_rotation_error: 3.0417000349561976 + euclidean_error: 0.03429556183004559 + wrist_inside_marker_pose: + angle_rotation_error: 2.9657219930362384 + euclidean_error: 0.035463332428646625 + wrist_top_marker_pose: + angle_rotation_error: 3.0393735717694836 + euclidean_error: 0.03472431006296584 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1252670073746676 + euclidean_error: 0.034487831035953445 + shoulder_marker_pose: + angle_rotation_error: 3.1174269849049425 + euclidean_error: 0.0343583925262685 + wrist_inside_marker_pose: + angle_rotation_error: 2.9119209735753895 + euclidean_error: 0.035225616493368285 + wrist_top_marker_pose: + angle_rotation_error: 3.1046432179665335 + euclidean_error: 0.03477778085862194 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.112518698739218 + euclidean_error: 0.034337352354896614 + shoulder_marker_pose: + angle_rotation_error: 2.984111002907614 + euclidean_error: 0.034076292127749847 + wrist_inside_marker_pose: + angle_rotation_error: 2.9542263178511967 + euclidean_error: 0.03516982800653024 + wrist_top_marker_pose: + angle_rotation_error: 3.129716615168352 + euclidean_error: 0.03453231827718813 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.09232990158218 + euclidean_error: 0.03405293997677139 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.988439093397335 + euclidean_error: 0.03427612524505562 + wrist_inside_marker_pose: + angle_rotation_error: 2.901709672407511 + euclidean_error: 0.035274817766880455 + wrist_top_marker_pose: + angle_rotation_error: 3.0770378031954113 + euclidean_error: 0.034486766068916604 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0245513206673316 + euclidean_error: 0.03418618297312226 + wrist_inside_marker_pose: + angle_rotation_error: 2.917791630559492 + euclidean_error: 0.03534242054058073 + wrist_top_marker_pose: + angle_rotation_error: 3.1015338644300385 + euclidean_error: 0.0346660404372249 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1380196027025336 + euclidean_error: 0.03445420475512706 + shoulder_marker_pose: + angle_rotation_error: 3.0425629987463747 + euclidean_error: 0.03418530867521327 + wrist_inside_marker_pose: + angle_rotation_error: 2.9969538922090115 + euclidean_error: 0.03548821228825773 + wrist_top_marker_pose: + angle_rotation_error: 3.1151962614956012 + euclidean_error: 0.034850633664405745 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0514317396112367 + euclidean_error: 0.033932730135132275 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1389336379556836 + euclidean_error: 0.0343444195241681 + wrist_inside_marker_pose: + angle_rotation_error: 2.952040178060267 + euclidean_error: 0.035289655667463435 + wrist_top_marker_pose: + angle_rotation_error: 3.005260049690683 + euclidean_error: 0.03473763842203558 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.128076227467468 + euclidean_error: 0.034448222268548816 + shoulder_marker_pose: + angle_rotation_error: 3.074423137430333 + euclidean_error: 0.034304309321308686 + wrist_inside_marker_pose: + angle_rotation_error: 2.9383781117501777 + euclidean_error: 0.03539493164702364 + wrist_top_marker_pose: + angle_rotation_error: 3.1360067012478323 + euclidean_error: 0.03479603414639444 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1341396120831346 + euclidean_error: 0.03432845610422958 + shoulder_marker_pose: + angle_rotation_error: 3.0741686400996406 + euclidean_error: 0.03422834013898221 + wrist_inside_marker_pose: + angle_rotation_error: 2.8284450380461874 + euclidean_error: 0.03515307517844385 + wrist_top_marker_pose: + angle_rotation_error: 3.1290137121319392 + euclidean_error: 0.034587929788062355 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.07780712630668 + euclidean_error: 0.03403922497646648 + base_right_marker_pose: + angle_rotation_error: 3.1333726092352623 + euclidean_error: 0.03443781615245397 + shoulder_marker_pose: + angle_rotation_error: 3.036081352682566 + euclidean_error: 0.034326019397758506 + wrist_inside_marker_pose: + angle_rotation_error: 3.0198513209766573 + euclidean_error: 0.035556117221448545 + wrist_top_marker_pose: + angle_rotation_error: 3.0742274435853436 + euclidean_error: 0.03472464257244975 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.130193656671569 + euclidean_error: 0.03442067181725696 + shoulder_marker_pose: + angle_rotation_error: 3.0719939072187286 + euclidean_error: 0.034263738357275815 + wrist_inside_marker_pose: + angle_rotation_error: 2.9278183188267635 + euclidean_error: 0.03523365033397146 + wrist_top_marker_pose: + angle_rotation_error: 3.09901054577341 + euclidean_error: 0.034685183265530266 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1011227049250936 + euclidean_error: 0.03423119037748088 + wrist_inside_marker_pose: + angle_rotation_error: 2.924078870222988 + euclidean_error: 0.03513588463231746 + wrist_top_marker_pose: + angle_rotation_error: 3.116374776731206 + euclidean_error: 0.03464845698950087 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0965837731164925 + euclidean_error: 0.03408191010017152 + base_right_marker_pose: + angle_rotation_error: 3.13229924293839 + euclidean_error: 0.03449122946160392 + shoulder_marker_pose: + angle_rotation_error: 3.0798649440604575 + euclidean_error: 0.03435274319466768 + wrist_inside_marker_pose: + angle_rotation_error: 2.878823426260041 + euclidean_error: 0.03530267789389167 + wrist_top_marker_pose: + angle_rotation_error: 3.1270876751912566 + euclidean_error: 0.03499492309589665 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.118930433114312 + euclidean_error: 0.03429636540014726 + shoulder_marker_pose: + angle_rotation_error: 3.0746199591967684 + euclidean_error: 0.03429950721892551 + wrist_inside_marker_pose: + angle_rotation_error: 2.8746136796469077 + euclidean_error: 0.0353402895218837 + wrist_top_marker_pose: + angle_rotation_error: 3.101522396493591 + euclidean_error: 0.03487255377612833 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1348610140578987 + euclidean_error: 0.034350481822347054 + shoulder_marker_pose: + angle_rotation_error: 3.1133508236237453 + euclidean_error: 0.034399352628333234 + wrist_inside_marker_pose: + angle_rotation_error: 2.8736967969053007 + euclidean_error: 0.035272702067528264 + wrist_top_marker_pose: + angle_rotation_error: 3.0620779864929726 + euclidean_error: 0.034895482336625955 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1277705181364723 + euclidean_error: 0.034392755436695045 + shoulder_marker_pose: + angle_rotation_error: 3.061830760423638 + euclidean_error: 0.03430319118834906 + wrist_inside_marker_pose: + angle_rotation_error: 2.91066767705935 + euclidean_error: 0.03504630102558927 + wrist_top_marker_pose: + angle_rotation_error: 3.078661256047445 + euclidean_error: 0.03473362333138383 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0780836510460095 + euclidean_error: 0.03400732415516133 + base_right_marker_pose: + angle_rotation_error: 3.1400638893683346 + euclidean_error: 0.03436984847389664 + shoulder_marker_pose: + angle_rotation_error: 3.0316088581390606 + euclidean_error: 0.03420500813420905 + wrist_inside_marker_pose: + angle_rotation_error: 2.9607575157094965 + euclidean_error: 0.03533481474765518 + wrist_top_marker_pose: + angle_rotation_error: 3.058868042253195 + euclidean_error: 0.03473938622171915 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.132467065693481 + euclidean_error: 0.03433379572222648 + shoulder_marker_pose: + angle_rotation_error: 3.033426889032655 + euclidean_error: 0.0343555655103526 + wrist_inside_marker_pose: + angle_rotation_error: 3.0398481835500673 + euclidean_error: 0.03547645524206288 + wrist_top_marker_pose: + angle_rotation_error: 3.1268910900845275 + euclidean_error: 0.03483950248714402 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.091254889256583 + euclidean_error: 0.03407168644400022 + base_right_marker_pose: + angle_rotation_error: 3.1243498478212723 + euclidean_error: 0.03440029519475856 + shoulder_marker_pose: + angle_rotation_error: 3.0480429051456848 + euclidean_error: 0.03427904346032301 + wrist_inside_marker_pose: + angle_rotation_error: 2.94899924368739 + euclidean_error: 0.035394384183820134 + wrist_top_marker_pose: + angle_rotation_error: 3.132487459108346 + euclidean_error: 0.034839188601048766 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1344726390754323 + euclidean_error: 0.034370501036653414 + shoulder_marker_pose: + angle_rotation_error: 3.044247454129275 + euclidean_error: 0.03430321559866423 + wrist_inside_marker_pose: + angle_rotation_error: 2.984136077025761 + euclidean_error: 0.03531370266094353 + wrist_top_marker_pose: + angle_rotation_error: 3.07806879264172 + euclidean_error: 0.034633660013333734 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.056667746832632 + euclidean_error: 0.03418320546565139 + wrist_inside_marker_pose: + angle_rotation_error: 2.9381384249723617 + euclidean_error: 0.0355101622149083 + wrist_top_marker_pose: + angle_rotation_error: 3.021070447876491 + euclidean_error: 0.03458965517185892 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1027818657196575 + euclidean_error: 0.034441455658227024 + shoulder_marker_pose: + angle_rotation_error: 3.0429974441140173 + euclidean_error: 0.03425735328728668 + wrist_inside_marker_pose: + angle_rotation_error: 2.9101021988676528 + euclidean_error: 0.035013975596115514 + wrist_top_marker_pose: + angle_rotation_error: 3.065373490113935 + euclidean_error: 0.03464640396853461 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0782611419611925 + euclidean_error: 0.03413930785949898 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.043174603527237 + euclidean_error: 0.0342231688843904 + wrist_inside_marker_pose: + angle_rotation_error: 2.9036910645204994 + euclidean_error: 0.03518439291754727 + wrist_top_marker_pose: + angle_rotation_error: 2.9974706929099675 + euclidean_error: 0.034919629823492525 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0759912293056124 + euclidean_error: 0.0340622449449166 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9977603705526947 + euclidean_error: 0.034173397105789954 + wrist_inside_marker_pose: + angle_rotation_error: 2.9079454612399003 + euclidean_error: 0.03543650845998554 + wrist_top_marker_pose: + angle_rotation_error: 3.0991971509282403 + euclidean_error: 0.03463971414437402 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1409206675446484 + euclidean_error: 0.03436612425181365 + shoulder_marker_pose: + angle_rotation_error: 3.0094281225119826 + euclidean_error: 0.0341162166970385 + wrist_inside_marker_pose: + angle_rotation_error: 2.9245114526475193 + euclidean_error: 0.03539845160226497 + wrist_top_marker_pose: + angle_rotation_error: 3.076391340226283 + euclidean_error: 0.03462768328718252 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1229672814954212 + euclidean_error: 0.03440712439488416 + shoulder_marker_pose: + angle_rotation_error: 3.051708557420872 + euclidean_error: 0.034283038903613304 + wrist_inside_marker_pose: + angle_rotation_error: 2.9937775105625204 + euclidean_error: 0.03535804036019331 + wrist_top_marker_pose: + angle_rotation_error: 3.088458978776198 + euclidean_error: 0.034782861196437476 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.138949510166401 + euclidean_error: 0.03438619090291283 + shoulder_marker_pose: + angle_rotation_error: 3.0422400016147035 + euclidean_error: 0.03421004777934327 + wrist_inside_marker_pose: + angle_rotation_error: 2.88256756950488 + euclidean_error: 0.035169512998102184 + wrist_top_marker_pose: + angle_rotation_error: 3.067592444151732 + euclidean_error: 0.03472633702650266 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097443097797706 + euclidean_error: 0.03402889169297416 + base_right_marker_pose: + angle_rotation_error: 3.1311801575897285 + euclidean_error: 0.0343772112053756 + shoulder_marker_pose: + angle_rotation_error: 2.9878940255855175 + euclidean_error: 0.034265443248859634 + wrist_inside_marker_pose: + angle_rotation_error: 3.045777104119335 + euclidean_error: 0.03553081039056138 + wrist_top_marker_pose: + angle_rotation_error: 2.9353315981799626 + euclidean_error: 0.035084090757131425 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0453862771770543 + euclidean_error: 0.033869647964816174 + base_right_marker_pose: + angle_rotation_error: 3.1414241497427446 + euclidean_error: 0.03434248363829637 + shoulder_marker_pose: + angle_rotation_error: 3.019122628260878 + euclidean_error: 0.03435034695607435 + wrist_inside_marker_pose: + angle_rotation_error: 2.9234029878229872 + euclidean_error: 0.035240977390475325 + wrist_top_marker_pose: + angle_rotation_error: 3.0886440713288996 + euclidean_error: 0.034677866080919925 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0489111092653522 + euclidean_error: 0.03398624148561964 + base_right_marker_pose: + angle_rotation_error: 3.133629901730581 + euclidean_error: 0.03430224141589923 + shoulder_marker_pose: + angle_rotation_error: 3.070310716411981 + euclidean_error: 0.03432736637118181 + wrist_inside_marker_pose: + angle_rotation_error: 3.067836380204863 + euclidean_error: 0.03574581643951364 + wrist_top_marker_pose: + angle_rotation_error: 3.070836171950454 + euclidean_error: 0.03468423895762094 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.127415340878508 + euclidean_error: 0.03440581648950175 + shoulder_marker_pose: + angle_rotation_error: 3.1235938568423625 + euclidean_error: 0.034389814276846474 + wrist_inside_marker_pose: + angle_rotation_error: 3.046706929386911 + euclidean_error: 0.03571983830698117 + wrist_top_marker_pose: + angle_rotation_error: 3.0470494672913904 + euclidean_error: 0.03505867311361034 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063090512245853 + euclidean_error: 0.03395472995207527 + base_right_marker_pose: + angle_rotation_error: 3.1176930300503334 + euclidean_error: 0.034396003180897805 + shoulder_marker_pose: + angle_rotation_error: 3.1346855803028166 + euclidean_error: 0.03428678408363064 + wrist_inside_marker_pose: + angle_rotation_error: 2.9808056418262723 + euclidean_error: 0.03526867041742598 + wrist_top_marker_pose: + angle_rotation_error: 3.016419823058671 + euclidean_error: 0.03484051979013605 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0966851399154445 + euclidean_error: 0.03412237766121862 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0122080810577776 + euclidean_error: 0.03427046419351715 + wrist_inside_marker_pose: + angle_rotation_error: 3.011658078376051 + euclidean_error: 0.03568934338945738 + wrist_top_marker_pose: + angle_rotation_error: 3.1364813818937667 + euclidean_error: 0.03466956474547055 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122800891419921 + euclidean_error: 0.034435128127310304 + shoulder_marker_pose: + angle_rotation_error: 3.0539997144850215 + euclidean_error: 0.034255185379500994 + wrist_inside_marker_pose: + angle_rotation_error: 2.9132325572175928 + euclidean_error: 0.03510079266358564 + wrist_top_marker_pose: + angle_rotation_error: 3.1330731295475327 + euclidean_error: 0.03468399334966391 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0806742933186637 + euclidean_error: 0.034070695643870934 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.037630140815178 + euclidean_error: 0.03425845942520664 + wrist_inside_marker_pose: + angle_rotation_error: 2.9346116267827402 + euclidean_error: 0.035017819614734394 + wrist_top_marker_pose: + angle_rotation_error: 3.1300173262037827 + euclidean_error: 0.03491984528733626 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10894781108231 + euclidean_error: 0.03409255647030795 + base_right_marker_pose: + angle_rotation_error: 3.1326459801195123 + euclidean_error: 0.03435231613072579 + shoulder_marker_pose: + angle_rotation_error: 3.0773924699435615 + euclidean_error: 0.03423652916436636 + wrist_inside_marker_pose: + angle_rotation_error: 2.8998847171674984 + euclidean_error: 0.035247976979774644 + wrist_top_marker_pose: + angle_rotation_error: 3.1323290951494847 + euclidean_error: 0.03477111887613717 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.139412513228798 + euclidean_error: 0.03445867920747371 + shoulder_marker_pose: + angle_rotation_error: 3.0514227255668156 + euclidean_error: 0.03433830664142278 + wrist_inside_marker_pose: + angle_rotation_error: 2.99244468070117 + euclidean_error: 0.03547803253173206 + wrist_top_marker_pose: + angle_rotation_error: 3.120939621298132 + euclidean_error: 0.03480200483912202 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.130707208526655 + euclidean_error: 0.034321203129965665 + shoulder_marker_pose: + angle_rotation_error: 3.1119735539511764 + euclidean_error: 0.034305396804368525 + wrist_inside_marker_pose: + angle_rotation_error: 2.9677746231035727 + euclidean_error: 0.03534874907635006 + wrist_top_marker_pose: + angle_rotation_error: 3.0617622980423636 + euclidean_error: 0.03490787046842011 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0930634603118894 + euclidean_error: 0.034016600762169114 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.137848488793893 + euclidean_error: 0.03431710177480017 + wrist_inside_marker_pose: + angle_rotation_error: 3.0544892996164528 + euclidean_error: 0.03552866243506337 + wrist_top_marker_pose: + angle_rotation_error: 3.1281614279459586 + euclidean_error: 0.034755677136330224 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0779114447319906 + euclidean_error: 0.03402714150193214 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.120098424291162 + euclidean_error: 0.03433223333884534 + wrist_inside_marker_pose: + angle_rotation_error: 2.9436444191385025 + euclidean_error: 0.03533638149897288 + wrist_top_marker_pose: + angle_rotation_error: 3.0692501475895044 + euclidean_error: 0.034693609348487 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.028895091568928 + euclidean_error: 0.03386724119718871 + base_right_marker_pose: + angle_rotation_error: 3.1367776851330382 + euclidean_error: 0.034342424591792646 + shoulder_marker_pose: + angle_rotation_error: 3.1336659758350294 + euclidean_error: 0.034325171352998424 + wrist_inside_marker_pose: + angle_rotation_error: 2.9770909740339486 + euclidean_error: 0.03550556716771117 + wrist_top_marker_pose: + angle_rotation_error: 2.9753678258402902 + euclidean_error: 0.034928262067245516 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1353046279808643 + euclidean_error: 0.03436697459577459 + shoulder_marker_pose: + angle_rotation_error: 3.0346117128931516 + euclidean_error: 0.03421326918460585 + wrist_inside_marker_pose: + angle_rotation_error: 2.940979316391247 + euclidean_error: 0.03529440423778167 + wrist_top_marker_pose: + angle_rotation_error: 2.918945721012835 + euclidean_error: 0.034915308460877106 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.056227987990867 + euclidean_error: 0.03395315934040766 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0891913116676286 + euclidean_error: 0.034260600556967585 + wrist_inside_marker_pose: + angle_rotation_error: 3.013708522092108 + euclidean_error: 0.03528077872887622 + wrist_top_marker_pose: + angle_rotation_error: 3.034182630572261 + euclidean_error: 0.03452116741757484 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1301645141943846 + euclidean_error: 0.03435316159275971 + shoulder_marker_pose: + angle_rotation_error: 3.0675762436413763 + euclidean_error: 0.03424979678821867 + wrist_inside_marker_pose: + angle_rotation_error: 2.937209928087963 + euclidean_error: 0.035360097363467714 + wrist_top_marker_pose: + angle_rotation_error: 3.02615952619484 + euclidean_error: 0.0348187867730656 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.016599600714079 + euclidean_error: 0.03385971664827973 + base_right_marker_pose: + angle_rotation_error: 3.139845566611393 + euclidean_error: 0.03430567715852156 + shoulder_marker_pose: + angle_rotation_error: 3.009836350836896 + euclidean_error: 0.03414832701462474 + wrist_inside_marker_pose: + angle_rotation_error: 2.974114038949785 + euclidean_error: 0.03550655675257342 + wrist_top_marker_pose: + angle_rotation_error: 3.1250859147677885 + euclidean_error: 0.034665621432516176 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0975294791690464 + euclidean_error: 0.0339974104792523 + base_right_marker_pose: + angle_rotation_error: 3.1274893447650682 + euclidean_error: 0.034409766804762966 + shoulder_marker_pose: + angle_rotation_error: 3.080240566306461 + euclidean_error: 0.034191926125698824 + wrist_inside_marker_pose: + angle_rotation_error: 2.8284616536242906 + euclidean_error: 0.035029207130229084 + wrist_top_marker_pose: + angle_rotation_error: 3.10363150218282 + euclidean_error: 0.03455828666229235 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.062442447391316 + euclidean_error: 0.0340879271357672 + base_right_marker_pose: + angle_rotation_error: 3.139539450071456 + euclidean_error: 0.034362481033658285 + shoulder_marker_pose: + angle_rotation_error: 2.960375410751827 + euclidean_error: 0.03413497137657245 + wrist_inside_marker_pose: + angle_rotation_error: 2.905700327748105 + euclidean_error: 0.03530701617889823 + wrist_top_marker_pose: + angle_rotation_error: 3.0435569555582993 + euclidean_error: 0.03465084433479085 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1409538953720864 + euclidean_error: 0.03432002529150128 + shoulder_marker_pose: + angle_rotation_error: 3.0604116825053813 + euclidean_error: 0.03429121751709823 + wrist_inside_marker_pose: + angle_rotation_error: 3.039807302747301 + euclidean_error: 0.03540009498850816 + wrist_top_marker_pose: + angle_rotation_error: 3.099696356125016 + euclidean_error: 0.034865099558389546 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.134402050141614 + euclidean_error: 0.034347361711385985 + shoulder_marker_pose: + angle_rotation_error: 3.0391487558791526 + euclidean_error: 0.03433371898657177 + wrist_inside_marker_pose: + angle_rotation_error: 3.008461932601142 + euclidean_error: 0.03523738671696742 + wrist_top_marker_pose: + angle_rotation_error: 3.0624320122882227 + euclidean_error: 0.03495151966835315 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0308340904348765 + euclidean_error: 0.03389095968868211 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0525688201274392 + euclidean_error: 0.03437982542607159 + wrist_inside_marker_pose: + angle_rotation_error: 2.9610280771873647 + euclidean_error: 0.035469361180397625 + wrist_top_marker_pose: + angle_rotation_error: 3.0572203327377685 + euclidean_error: 0.034924813953070795 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0858629339036003 + euclidean_error: 0.03400333205306042 + base_right_marker_pose: + angle_rotation_error: 3.112039022567192 + euclidean_error: 0.03439282977708813 + shoulder_marker_pose: + angle_rotation_error: 3.0329728412569215 + euclidean_error: 0.03418337976256128 + wrist_inside_marker_pose: + angle_rotation_error: 2.989938426627328 + euclidean_error: 0.035341545509330705 + wrist_top_marker_pose: + angle_rotation_error: 2.9881321159532668 + euclidean_error: 0.03478268194738476 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0781406526489494 + euclidean_error: 0.034429544563446095 + wrist_inside_marker_pose: + angle_rotation_error: 2.877883555700275 + euclidean_error: 0.03532665097875112 + wrist_top_marker_pose: + angle_rotation_error: 3.0258793299654356 + euclidean_error: 0.0350126361351835 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.032765610448595 + euclidean_error: 0.034274229565249774 + wrist_inside_marker_pose: + angle_rotation_error: 2.8795167681481786 + euclidean_error: 0.0351004161147533 + wrist_top_marker_pose: + angle_rotation_error: 3.04921334658602 + euclidean_error: 0.034639978718132756 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0637606737271414 + euclidean_error: 0.0339399655821726 + base_right_marker_pose: + angle_rotation_error: 3.1366681807934964 + euclidean_error: 0.03441315244570221 + shoulder_marker_pose: + angle_rotation_error: 3.0602159608954587 + euclidean_error: 0.03421505429550905 + wrist_inside_marker_pose: + angle_rotation_error: 3.013402472375719 + euclidean_error: 0.035323589675229396 + wrist_top_marker_pose: + angle_rotation_error: 3.0596080808602237 + euclidean_error: 0.03469149989955654 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0748227224365876 + euclidean_error: 0.03400466195665183 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0998701614821322 + euclidean_error: 0.034402474699794565 + wrist_inside_marker_pose: + angle_rotation_error: 3.0412274337395724 + euclidean_error: 0.03533743058881322 + wrist_top_marker_pose: + angle_rotation_error: 3.0221120331806812 + euclidean_error: 0.03490714066959756 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1075673040312486 + euclidean_error: 0.03410553077718568 + base_right_marker_pose: + angle_rotation_error: 3.129781086890361 + euclidean_error: 0.03440028962812254 + shoulder_marker_pose: + angle_rotation_error: 2.981458803550071 + euclidean_error: 0.03421431619362479 + wrist_inside_marker_pose: + angle_rotation_error: 2.968888004292398 + euclidean_error: 0.0354781188444253 + wrist_top_marker_pose: + angle_rotation_error: 3.133356465700743 + euclidean_error: 0.034779467944166 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1318948614528783 + euclidean_error: 0.03445058204971655 + shoulder_marker_pose: + angle_rotation_error: 3.0121781771336815 + euclidean_error: 0.03436680883419137 + wrist_inside_marker_pose: + angle_rotation_error: 3.073949509790179 + euclidean_error: 0.03557663662875598 + wrist_top_marker_pose: + angle_rotation_error: 3.0992061041409453 + euclidean_error: 0.034873545258263805 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1284793942517175 + euclidean_error: 0.03439707463272818 + shoulder_marker_pose: + angle_rotation_error: 3.056915049702883 + euclidean_error: 0.034364329907975597 + wrist_inside_marker_pose: + angle_rotation_error: 2.933124364959502 + euclidean_error: 0.035264637489536815 + wrist_top_marker_pose: + angle_rotation_error: 3.068543341796384 + euclidean_error: 0.03482574191304029 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086321977143978 + euclidean_error: 0.03404558405156579 + base_right_marker_pose: + angle_rotation_error: 3.1080539482628082 + euclidean_error: 0.03427284678969238 + shoulder_marker_pose: + angle_rotation_error: 2.983868520458745 + euclidean_error: 0.03418239388652132 + wrist_inside_marker_pose: + angle_rotation_error: 2.8634781068220203 + euclidean_error: 0.03511391916757926 + wrist_top_marker_pose: + angle_rotation_error: 3.048663924619911 + euclidean_error: 0.03479518859224246 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.138370788481177 + euclidean_error: 0.03436574466998596 + shoulder_marker_pose: + angle_rotation_error: 3.0512747498452657 + euclidean_error: 0.034288148493381965 + wrist_inside_marker_pose: + angle_rotation_error: 2.9683863964240165 + euclidean_error: 0.03518254185001131 + wrist_top_marker_pose: + angle_rotation_error: 3.0959250419587794 + euclidean_error: 0.03471683268515172 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0980509266286 + euclidean_error: 0.03402596077433937 + base_right_marker_pose: + angle_rotation_error: 3.1177710485886383 + euclidean_error: 0.034395940926256544 + shoulder_marker_pose: + angle_rotation_error: 3.030836461025564 + euclidean_error: 0.034213041661202245 + wrist_inside_marker_pose: + angle_rotation_error: 2.940500644640772 + euclidean_error: 0.03548821848477462 + wrist_top_marker_pose: + angle_rotation_error: 3.0359854127789947 + euclidean_error: 0.034570538187080786 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1257760113572552 + euclidean_error: 0.03431160944693052 + shoulder_marker_pose: + angle_rotation_error: 3.0188982148118924 + euclidean_error: 0.03408543799178037 + wrist_inside_marker_pose: + angle_rotation_error: 2.883255681354073 + euclidean_error: 0.03524195848848428 + wrist_top_marker_pose: + angle_rotation_error: 3.122021320167652 + euclidean_error: 0.03456015588758293 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0576118644107715 + euclidean_error: 0.03396378867910334 + base_right_marker_pose: + angle_rotation_error: 3.139828977251314 + euclidean_error: 0.0343672026367577 + shoulder_marker_pose: + angle_rotation_error: 2.991962370204324 + euclidean_error: 0.034202812680867695 + wrist_inside_marker_pose: + angle_rotation_error: 2.930302469811811 + euclidean_error: 0.03525260817644431 + wrist_top_marker_pose: + angle_rotation_error: 3.0600511109426844 + euclidean_error: 0.034736231695542186 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0661981967185157 + euclidean_error: 0.03398674614608147 + base_right_marker_pose: + angle_rotation_error: 3.1355288260760825 + euclidean_error: 0.03435073541507803 + shoulder_marker_pose: + angle_rotation_error: 3.019417397810782 + euclidean_error: 0.03416938535147349 + wrist_inside_marker_pose: + angle_rotation_error: 2.891344607711584 + euclidean_error: 0.03514652854779703 + wrist_top_marker_pose: + angle_rotation_error: 3.081297367676703 + euclidean_error: 0.03470873384634042 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0276089909813297 + euclidean_error: 0.03403901130681702 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9817756111704248 + euclidean_error: 0.034230463167561564 + wrist_inside_marker_pose: + angle_rotation_error: 3.022637259496647 + euclidean_error: 0.03535465834646602 + wrist_top_marker_pose: + angle_rotation_error: 3.090996529723392 + euclidean_error: 0.034572988795475344 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0475688978823476 + euclidean_error: 0.03396448921360944 + base_right_marker_pose: + angle_rotation_error: 3.116096266298902 + euclidean_error: 0.0343705922155984 + shoulder_marker_pose: + angle_rotation_error: 3.053429103627663 + euclidean_error: 0.0343077612371873 + wrist_inside_marker_pose: + angle_rotation_error: 2.887005177593152 + euclidean_error: 0.03518041396888267 + wrist_top_marker_pose: + angle_rotation_error: 3.062186685184314 + euclidean_error: 0.03470390272762909 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1298899292562705 + euclidean_error: 0.034395167507736954 + shoulder_marker_pose: + angle_rotation_error: 3.0863418630418797 + euclidean_error: 0.03418918641916326 + wrist_inside_marker_pose: + angle_rotation_error: 3.002474129217039 + euclidean_error: 0.03540340149010225 + wrist_top_marker_pose: + angle_rotation_error: 3.0005644201263015 + euclidean_error: 0.03469712636668234 +- error_data: + base_left_marker_pose: + angle_rotation_error: 2.998129629994088 + euclidean_error: 0.03385206946609181 + base_right_marker_pose: + angle_rotation_error: 3.125165251708524 + euclidean_error: 0.034399672644887226 + shoulder_marker_pose: + angle_rotation_error: 3.0548008672312577 + euclidean_error: 0.034251821862195574 + wrist_inside_marker_pose: + angle_rotation_error: 2.9077156459214093 + euclidean_error: 0.035182014968205035 + wrist_top_marker_pose: + angle_rotation_error: 3.129779419714105 + euclidean_error: 0.03454239065082814 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086400059061961 + euclidean_error: 0.03403736971745751 + base_right_marker_pose: + angle_rotation_error: 3.1361063482594744 + euclidean_error: 0.034327782500005934 + shoulder_marker_pose: + angle_rotation_error: 3.1384899903922587 + euclidean_error: 0.03437330208629716 + wrist_inside_marker_pose: + angle_rotation_error: 2.993937488895189 + euclidean_error: 0.03538763461541994 + wrist_top_marker_pose: + angle_rotation_error: 3.090518293862836 + euclidean_error: 0.03476587461605245 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0434283895957224 + euclidean_error: 0.03393955407699862 + base_right_marker_pose: + angle_rotation_error: 3.1183330750116847 + euclidean_error: 0.03444111872289763 + shoulder_marker_pose: + angle_rotation_error: 3.0519308854491536 + euclidean_error: 0.03418023226005812 + wrist_inside_marker_pose: + angle_rotation_error: 3.0398559031865275 + euclidean_error: 0.035683223708301307 + wrist_top_marker_pose: + angle_rotation_error: 3.10360271409233 + euclidean_error: 0.034688013213338156 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0978529383538214 + euclidean_error: 0.03420034753968717 + wrist_inside_marker_pose: + angle_rotation_error: 2.8754820568648047 + euclidean_error: 0.035242922448397516 + wrist_top_marker_pose: + angle_rotation_error: 3.09967360282574 + euclidean_error: 0.03459779679533996 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0901450823419054 + euclidean_error: 0.034028123997692464 + base_right_marker_pose: + angle_rotation_error: 3.137495785869071 + euclidean_error: 0.0344304336963084 + shoulder_marker_pose: + angle_rotation_error: 3.073867674526309 + euclidean_error: 0.03431352106805888 + wrist_inside_marker_pose: + angle_rotation_error: 3.0111094907614406 + euclidean_error: 0.03527874864336761 + wrist_top_marker_pose: + angle_rotation_error: 3.079527861223689 + euclidean_error: 0.03480992522802123 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0192717735875485 + euclidean_error: 0.0341886189803387 + wrist_inside_marker_pose: + angle_rotation_error: 3.026338728202831 + euclidean_error: 0.03555048964455211 + wrist_top_marker_pose: + angle_rotation_error: 3.0412683798474234 + euclidean_error: 0.034826183529652756 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.111265051614572 + euclidean_error: 0.03443714562074525 + shoulder_marker_pose: + angle_rotation_error: 3.053963348060629 + euclidean_error: 0.03424754246942829 + wrist_inside_marker_pose: + angle_rotation_error: 2.8730849705275197 + euclidean_error: 0.035197186061131536 + wrist_top_marker_pose: + angle_rotation_error: 3.0720468404891026 + euclidean_error: 0.034662609922578774 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1316461730677214 + euclidean_error: 0.034363077464883686 + shoulder_marker_pose: + angle_rotation_error: 3.022955177081506 + euclidean_error: 0.034244324966499436 + wrist_inside_marker_pose: + angle_rotation_error: 2.9113217396844555 + euclidean_error: 0.0353781656029396 + wrist_top_marker_pose: + angle_rotation_error: 3.1201180824197654 + euclidean_error: 0.034664875353994234 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.135776551576607 + euclidean_error: 0.03422897465535809 + wrist_inside_marker_pose: + angle_rotation_error: 2.96124410604314 + euclidean_error: 0.035372945918579535 + wrist_top_marker_pose: + angle_rotation_error: 2.993568955839585 + euclidean_error: 0.03470471727160448 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0577228628596607 + euclidean_error: 0.034176598154737135 + wrist_inside_marker_pose: + angle_rotation_error: 2.8565233539508847 + euclidean_error: 0.03517060123093119 + wrist_top_marker_pose: + angle_rotation_error: 3.0522100363129856 + euclidean_error: 0.03472795592335684 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0929393458443473 + euclidean_error: 0.03398466373976327 + base_right_marker_pose: + angle_rotation_error: 3.1324066821556316 + euclidean_error: 0.03437552854738058 + shoulder_marker_pose: + angle_rotation_error: 3.063606494698409 + euclidean_error: 0.03443812464455947 + wrist_inside_marker_pose: + angle_rotation_error: 2.906170083968329 + euclidean_error: 0.035289171156431334 + wrist_top_marker_pose: + angle_rotation_error: 3.1176255349681874 + euclidean_error: 0.0347783114108425 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.060014205800427 + euclidean_error: 0.03398389159694877 + base_right_marker_pose: + angle_rotation_error: 3.110001435321383 + euclidean_error: 0.03448251180568006 + shoulder_marker_pose: + angle_rotation_error: 3.0443759982943983 + euclidean_error: 0.03431305341230059 + wrist_inside_marker_pose: + angle_rotation_error: 2.855619225171377 + euclidean_error: 0.035103852492293176 + wrist_top_marker_pose: + angle_rotation_error: 3.0742376790065578 + euclidean_error: 0.03469205283130694 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0486783429170026 + euclidean_error: 0.033910094766223 + base_right_marker_pose: + angle_rotation_error: 3.139794959990043 + euclidean_error: 0.03435227636498665 + shoulder_marker_pose: + angle_rotation_error: 3.045836133067188 + euclidean_error: 0.03426568066285743 + wrist_inside_marker_pose: + angle_rotation_error: 2.9294247671799902 + euclidean_error: 0.035408973543569575 + wrist_top_marker_pose: + angle_rotation_error: 3.017151979456665 + euclidean_error: 0.034788561951983606 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1055695361933826 + euclidean_error: 0.034488317433879014 + shoulder_marker_pose: + angle_rotation_error: 2.999606419491203 + euclidean_error: 0.03423076762445179 + wrist_inside_marker_pose: + angle_rotation_error: 2.976982161841388 + euclidean_error: 0.035536855732677765 + wrist_top_marker_pose: + angle_rotation_error: 3.1155141237753856 + euclidean_error: 0.03479075128535159 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0815256668380395 + euclidean_error: 0.0340157687659679 + base_right_marker_pose: + angle_rotation_error: 3.1350970606776727 + euclidean_error: 0.03434887511647521 + shoulder_marker_pose: + angle_rotation_error: 3.059079728360272 + euclidean_error: 0.03412972332382197 + wrist_inside_marker_pose: + angle_rotation_error: 2.95314733841647 + euclidean_error: 0.03548384122846312 + wrist_top_marker_pose: + angle_rotation_error: 3.0856303274012755 + euclidean_error: 0.03464009137598057 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.066840442653605 + euclidean_error: 0.03427466416167653 + wrist_inside_marker_pose: + angle_rotation_error: 2.867311035069703 + euclidean_error: 0.03500072149797412 + wrist_top_marker_pose: + angle_rotation_error: 3.109878606425706 + euclidean_error: 0.034704012770561 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078200288678348 + euclidean_error: 0.03399886411737678 + base_right_marker_pose: + angle_rotation_error: 3.134468062199155 + euclidean_error: 0.0343551238902102 + shoulder_marker_pose: + angle_rotation_error: 3.07342314747926 + euclidean_error: 0.03419200196810062 + wrist_inside_marker_pose: + angle_rotation_error: 2.8894735233809627 + euclidean_error: 0.03539515914037771 + wrist_top_marker_pose: + angle_rotation_error: 3.121588889512949 + euclidean_error: 0.034657357908033135 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1335102935673094 + euclidean_error: 0.034362994372181155 + shoulder_marker_pose: + angle_rotation_error: 3.052547900363516 + euclidean_error: 0.034370184855435 + wrist_inside_marker_pose: + angle_rotation_error: 2.964173499646173 + euclidean_error: 0.035411673547720846 + wrist_top_marker_pose: + angle_rotation_error: 3.045169242292544 + euclidean_error: 0.035103462203737175 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100000288953805 + euclidean_error: 0.03402116083007252 + base_right_marker_pose: + angle_rotation_error: 3.1366818174368394 + euclidean_error: 0.034371356017811765 + shoulder_marker_pose: + angle_rotation_error: 3.0099793530623162 + euclidean_error: 0.03422520107673724 + wrist_inside_marker_pose: + angle_rotation_error: 2.9423189330065576 + euclidean_error: 0.03518303730241453 + wrist_top_marker_pose: + angle_rotation_error: 3.0813559089428004 + euclidean_error: 0.034660029543756916 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0802486206131365 + euclidean_error: 0.034006596761596085 + base_right_marker_pose: + angle_rotation_error: 3.1314837602438477 + euclidean_error: 0.03435326501730436 + shoulder_marker_pose: + angle_rotation_error: 3.0292715721209853 + euclidean_error: 0.03423804763435176 + wrist_inside_marker_pose: + angle_rotation_error: 2.9735904656285173 + euclidean_error: 0.03530461085337017 + wrist_top_marker_pose: + angle_rotation_error: 3.0925703865744136 + euclidean_error: 0.034782097905012285 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0722460384485144 + euclidean_error: 0.03404204848047906 + base_right_marker_pose: + angle_rotation_error: 3.1030596335915113 + euclidean_error: 0.03438162600611838 + shoulder_marker_pose: + angle_rotation_error: 3.039920875655355 + euclidean_error: 0.03431755403838494 + wrist_inside_marker_pose: + angle_rotation_error: 2.944446448937341 + euclidean_error: 0.035270740672150136 + wrist_top_marker_pose: + angle_rotation_error: 3.074318050654874 + euclidean_error: 0.03480466313836192 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.084333031675873 + euclidean_error: 0.034045847766148433 + base_right_marker_pose: + angle_rotation_error: 3.1072863491064755 + euclidean_error: 0.03455412890846682 + shoulder_marker_pose: + angle_rotation_error: 2.9936622544522615 + euclidean_error: 0.03430038579903467 + wrist_inside_marker_pose: + angle_rotation_error: 2.975914683831867 + euclidean_error: 0.035314298759974966 + wrist_top_marker_pose: + angle_rotation_error: 3.11923323743884 + euclidean_error: 0.03467027609289424 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0095240766142246 + euclidean_error: 0.03387848581726886 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1161759785963024 + euclidean_error: 0.03437122901683888 + wrist_inside_marker_pose: + angle_rotation_error: 2.9673815757766775 + euclidean_error: 0.035242014311479934 + wrist_top_marker_pose: + angle_rotation_error: 3.1354382767492046 + euclidean_error: 0.0348769526648584 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0746027813216346 + euclidean_error: 0.0340752126845764 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.066871576321615 + euclidean_error: 0.03430502393383038 + wrist_inside_marker_pose: + angle_rotation_error: 2.816645234321768 + euclidean_error: 0.03491765979426487 + wrist_top_marker_pose: + angle_rotation_error: 3.0891916270640873 + euclidean_error: 0.034807590481531765 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1410483710376127 + euclidean_error: 0.034327039210411026 + shoulder_marker_pose: + angle_rotation_error: 3.019795312578154 + euclidean_error: 0.03416792209246596 + wrist_inside_marker_pose: + angle_rotation_error: 3.011890532439338 + euclidean_error: 0.03551970673462686 + wrist_top_marker_pose: + angle_rotation_error: 3.069171933473198 + euclidean_error: 0.0345924042012128 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086242364586691 + euclidean_error: 0.034089043025316595 + base_right_marker_pose: + angle_rotation_error: 3.1336214098182396 + euclidean_error: 0.0343175797515612 + shoulder_marker_pose: + angle_rotation_error: 3.0705410644010276 + euclidean_error: 0.03418679174184332 + wrist_inside_marker_pose: + angle_rotation_error: 2.9510580858723388 + euclidean_error: 0.0354646736542777 + wrist_top_marker_pose: + angle_rotation_error: 3.0855615816306274 + euclidean_error: 0.03460310200498003 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0797815354795897 + euclidean_error: 0.03403137532592102 + base_right_marker_pose: + angle_rotation_error: 3.1412854753613866 + euclidean_error: 0.03441785422450977 + shoulder_marker_pose: + angle_rotation_error: 3.029761430370464 + euclidean_error: 0.034159949524936443 + wrist_inside_marker_pose: + angle_rotation_error: 2.8738139521063624 + euclidean_error: 0.03530660429480081 + wrist_top_marker_pose: + angle_rotation_error: 3.065091620857552 + euclidean_error: 0.03470763279842585 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.108467405656526 + euclidean_error: 0.03424116264076717 + wrist_inside_marker_pose: + angle_rotation_error: 3.026642457326639 + euclidean_error: 0.03569267698946921 + wrist_top_marker_pose: + angle_rotation_error: 3.0139873899884893 + euclidean_error: 0.03466917007034267 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.042693102323172 + euclidean_error: 0.0341067488447398 + base_right_marker_pose: + angle_rotation_error: 3.1205112961804864 + euclidean_error: 0.034348759013919976 + shoulder_marker_pose: + angle_rotation_error: 3.0677962829227066 + euclidean_error: 0.03422648413333751 + wrist_inside_marker_pose: + angle_rotation_error: 2.9743565772244756 + euclidean_error: 0.03542143431216446 + wrist_top_marker_pose: + angle_rotation_error: 3.0568563730860063 + euclidean_error: 0.03489736909163916 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086418169430439 + euclidean_error: 0.03401187051080964 + base_right_marker_pose: + angle_rotation_error: 3.1175104440463377 + euclidean_error: 0.03442520055858615 + shoulder_marker_pose: + angle_rotation_error: 3.047018248538369 + euclidean_error: 0.034338453133124384 + wrist_inside_marker_pose: + angle_rotation_error: 2.876617331126638 + euclidean_error: 0.035274819794285955 + wrist_top_marker_pose: + angle_rotation_error: 3.1371258100694446 + euclidean_error: 0.034764178831819224 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0900284687242006 + euclidean_error: 0.034037986446215994 + base_right_marker_pose: + angle_rotation_error: 3.13824164166034 + euclidean_error: 0.034369794999464895 + shoulder_marker_pose: + angle_rotation_error: 3.0699974331613125 + euclidean_error: 0.03422197977701392 + wrist_inside_marker_pose: + angle_rotation_error: 3.037913846573333 + euclidean_error: 0.03564358002260195 + wrist_top_marker_pose: + angle_rotation_error: 3.126762576350449 + euclidean_error: 0.03482426759212576 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0221786813317117 + euclidean_error: 0.03423109728283064 + wrist_inside_marker_pose: + angle_rotation_error: 3.024682770196234 + euclidean_error: 0.03559132339861008 + wrist_top_marker_pose: + angle_rotation_error: 3.066368662328428 + euclidean_error: 0.03483759118083233 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0910713575466695 + euclidean_error: 0.034060896426366644 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0367082235511105 + euclidean_error: 0.034287187403016235 + wrist_inside_marker_pose: + angle_rotation_error: 2.8600916547319923 + euclidean_error: 0.03508701066153217 + wrist_top_marker_pose: + angle_rotation_error: 3.1242687971903 + euclidean_error: 0.03466937047948003 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0792634621345836 + euclidean_error: 0.034008656448270995 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.053222661735404 + euclidean_error: 0.03426936767683931 + wrist_inside_marker_pose: + angle_rotation_error: 2.9345288236252274 + euclidean_error: 0.0354462146823495 + wrist_top_marker_pose: + angle_rotation_error: 3.1344130855075565 + euclidean_error: 0.03467555042492453 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.12361238250331 + euclidean_error: 0.034378261996963436 + shoulder_marker_pose: + angle_rotation_error: 3.0067837147365406 + euclidean_error: 0.03422452082534347 + wrist_inside_marker_pose: + angle_rotation_error: 3.0495067524905553 + euclidean_error: 0.035625102644678504 + wrist_top_marker_pose: + angle_rotation_error: 3.1216642172165976 + euclidean_error: 0.03479602949146766 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.134777343441958 + euclidean_error: 0.03433026561093477 + shoulder_marker_pose: + angle_rotation_error: 3.0536003287160653 + euclidean_error: 0.03421406660223444 + wrist_inside_marker_pose: + angle_rotation_error: 3.0485451932348266 + euclidean_error: 0.035586411693735776 + wrist_top_marker_pose: + angle_rotation_error: 3.127741081300096 + euclidean_error: 0.034736165524659586 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.029949261054357 + euclidean_error: 0.03388419246017247 + base_right_marker_pose: + angle_rotation_error: 3.129144582271042 + euclidean_error: 0.034366141230080624 + shoulder_marker_pose: + angle_rotation_error: 3.066121661380282 + euclidean_error: 0.03414918112552689 + wrist_inside_marker_pose: + angle_rotation_error: 2.9954822791739106 + euclidean_error: 0.03530638230875043 + wrist_top_marker_pose: + angle_rotation_error: 3.129921971686586 + euclidean_error: 0.034610891343689436 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122593825459645 + euclidean_error: 0.03437022756606574 + shoulder_marker_pose: + angle_rotation_error: 3.023813462541364 + euclidean_error: 0.034255135491730225 + wrist_inside_marker_pose: + angle_rotation_error: 3.017366651185078 + euclidean_error: 0.03548451000026771 + wrist_top_marker_pose: + angle_rotation_error: 3.0382274678637295 + euclidean_error: 0.03485505479347043 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.136686920219467 + euclidean_error: 0.03443190345120797 + shoulder_marker_pose: + angle_rotation_error: 3.0233134873714174 + euclidean_error: 0.03420218932799173 + wrist_inside_marker_pose: + angle_rotation_error: 2.9053668556384027 + euclidean_error: 0.03512171376577111 + wrist_top_marker_pose: + angle_rotation_error: 3.1143633937479698 + euclidean_error: 0.03467110240456274 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0727073571207306 + euclidean_error: 0.03407439148852998 + base_right_marker_pose: + angle_rotation_error: 3.139147435069643 + euclidean_error: 0.034341703205015256 + shoulder_marker_pose: + angle_rotation_error: 3.0911549794592936 + euclidean_error: 0.03420673434311872 + wrist_inside_marker_pose: + angle_rotation_error: 3.040380182434591 + euclidean_error: 0.035422307409796315 + wrist_top_marker_pose: + angle_rotation_error: 3.0734787040383686 + euclidean_error: 0.03471632337689649 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.085607891683171 + euclidean_error: 0.03426891952098118 + wrist_inside_marker_pose: + angle_rotation_error: 3.0237450161889408 + euclidean_error: 0.03542559382324169 + wrist_top_marker_pose: + angle_rotation_error: 3.1316801667767904 + euclidean_error: 0.03474198190670128 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1161625220932474 + euclidean_error: 0.03440431516525215 + shoulder_marker_pose: + angle_rotation_error: 3.114634626141644 + euclidean_error: 0.03426311746630284 + wrist_inside_marker_pose: + angle_rotation_error: 3.0256153981221985 + euclidean_error: 0.03540607918276624 + wrist_top_marker_pose: + angle_rotation_error: 3.1054640199709094 + euclidean_error: 0.03476295169263823 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.134223761198872 + euclidean_error: 0.03437989666496454 + shoulder_marker_pose: + angle_rotation_error: 3.0510878909441455 + euclidean_error: 0.034234413241512426 + wrist_inside_marker_pose: + angle_rotation_error: 2.9434626158757156 + euclidean_error: 0.03536447865742513 + wrist_top_marker_pose: + angle_rotation_error: 3.001519162488261 + euclidean_error: 0.03464061291975257 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1315305294484683 + euclidean_error: 0.03431743188013476 + shoulder_marker_pose: + angle_rotation_error: 3.1266444615464746 + euclidean_error: 0.03437792335615319 + wrist_inside_marker_pose: + angle_rotation_error: 3.0370687747727687 + euclidean_error: 0.035540021989194336 + wrist_top_marker_pose: + angle_rotation_error: 3.0837915241529776 + euclidean_error: 0.03476190228379866 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.059769319216567 + euclidean_error: 0.03426092437242264 + wrist_inside_marker_pose: + angle_rotation_error: 2.9907056627442197 + euclidean_error: 0.03546415385849088 + wrist_top_marker_pose: + angle_rotation_error: 3.0545650199558247 + euclidean_error: 0.034759322538008425 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.139234873051373 + euclidean_error: 0.03432539162481632 + shoulder_marker_pose: + angle_rotation_error: 3.0331951324952446 + euclidean_error: 0.03414686223659512 + wrist_inside_marker_pose: + angle_rotation_error: 2.9586851165789834 + euclidean_error: 0.03538607183446637 + wrist_top_marker_pose: + angle_rotation_error: 3.1022235503532665 + euclidean_error: 0.03481099217007754 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0766669215498292 + euclidean_error: 0.03399881736883511 + base_right_marker_pose: + angle_rotation_error: 3.132205670056685 + euclidean_error: 0.03434727126497951 + shoulder_marker_pose: + angle_rotation_error: 3.02350390202566 + euclidean_error: 0.0342483247454873 + wrist_inside_marker_pose: + angle_rotation_error: 2.927914133903364 + euclidean_error: 0.03517858622254181 + wrist_top_marker_pose: + angle_rotation_error: 3.1262113897364125 + euclidean_error: 0.03473598047006264 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0838147166774506 + euclidean_error: 0.03397434909771122 + base_right_marker_pose: + angle_rotation_error: 3.1413752347196224 + euclidean_error: 0.03442045373332748 + shoulder_marker_pose: + angle_rotation_error: 3.0708671884586973 + euclidean_error: 0.03427152986236096 + wrist_inside_marker_pose: + angle_rotation_error: 3.01682198494426 + euclidean_error: 0.0354946621883527 + wrist_top_marker_pose: + angle_rotation_error: 2.990044631779867 + euclidean_error: 0.03491158657611377 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.087556615126076 + euclidean_error: 0.034035053142528984 + base_right_marker_pose: + angle_rotation_error: 3.1282860518597064 + euclidean_error: 0.03438146341119172 + shoulder_marker_pose: + angle_rotation_error: 3.0486568867995847 + euclidean_error: 0.03421267717185355 + wrist_inside_marker_pose: + angle_rotation_error: 2.8650524746905335 + euclidean_error: 0.03524458144130956 + wrist_top_marker_pose: + angle_rotation_error: 3.037982656027884 + euclidean_error: 0.03476806171852316 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1308247635574933 + euclidean_error: 0.034407084399490515 + shoulder_marker_pose: + angle_rotation_error: 3.1231109620485555 + euclidean_error: 0.034337104154448614 + wrist_inside_marker_pose: + angle_rotation_error: 2.8863189420958957 + euclidean_error: 0.03522220888465011 + wrist_top_marker_pose: + angle_rotation_error: 3.076439548717927 + euclidean_error: 0.03483746026604612 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.064734210792434 + euclidean_error: 0.033946499177893635 + base_right_marker_pose: + angle_rotation_error: 3.1314472938713513 + euclidean_error: 0.03440286961384577 + shoulder_marker_pose: + angle_rotation_error: 3.049691718931857 + euclidean_error: 0.03416387639537349 + wrist_inside_marker_pose: + angle_rotation_error: 2.7911995016941806 + euclidean_error: 0.03500105294422919 + wrist_top_marker_pose: + angle_rotation_error: 3.0643453452569442 + euclidean_error: 0.03448106969246037 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1342808277193495 + euclidean_error: 0.034396701529286866 + shoulder_marker_pose: + angle_rotation_error: 3.072000679235871 + euclidean_error: 0.0342599861160195 + wrist_inside_marker_pose: + angle_rotation_error: 2.8855868690407545 + euclidean_error: 0.03500983008148086 + wrist_top_marker_pose: + angle_rotation_error: 3.0448535866258477 + euclidean_error: 0.03466988093561739 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.058647794263621 + euclidean_error: 0.03396489719780937 + base_right_marker_pose: + angle_rotation_error: 3.1326597585154095 + euclidean_error: 0.034401807786962946 + shoulder_marker_pose: + angle_rotation_error: 3.0358449642006877 + euclidean_error: 0.034187694801360795 + wrist_inside_marker_pose: + angle_rotation_error: 2.8650825308814083 + euclidean_error: 0.03527748222722072 + wrist_top_marker_pose: + angle_rotation_error: 3.0653056144619146 + euclidean_error: 0.03458199538653549 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0821131207534256 + euclidean_error: 0.03401270482071266 + base_right_marker_pose: + angle_rotation_error: 3.123736134622137 + euclidean_error: 0.034444066173048744 + shoulder_marker_pose: + angle_rotation_error: 3.039000814360365 + euclidean_error: 0.034273602162764906 + wrist_inside_marker_pose: + angle_rotation_error: 2.973021942131915 + euclidean_error: 0.03526031021302737 + wrist_top_marker_pose: + angle_rotation_error: 3.105636420174503 + euclidean_error: 0.03473656608495207 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0268386731556967 + euclidean_error: 0.034098922364383465 + wrist_inside_marker_pose: + angle_rotation_error: 3.008641775192477 + euclidean_error: 0.035498253548333275 + wrist_top_marker_pose: + angle_rotation_error: 3.083698571561549 + euclidean_error: 0.03468143891363751 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.064050947125225 + euclidean_error: 0.033893220617320204 + base_right_marker_pose: + angle_rotation_error: 3.129569648832666 + euclidean_error: 0.03439642629575038 + shoulder_marker_pose: + angle_rotation_error: 3.0602967186265624 + euclidean_error: 0.03411710960818523 + wrist_inside_marker_pose: + angle_rotation_error: 2.928800448407807 + euclidean_error: 0.035307225947419946 + wrist_top_marker_pose: + angle_rotation_error: 3.1153355387147124 + euclidean_error: 0.034695564247964515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.077598781137998 + euclidean_error: 0.03399305843352768 + base_right_marker_pose: + angle_rotation_error: 3.1255527251333706 + euclidean_error: 0.0343631297832649 + shoulder_marker_pose: + angle_rotation_error: 3.0375470711160744 + euclidean_error: 0.034139070075195344 + wrist_inside_marker_pose: + angle_rotation_error: 2.956005555556847 + euclidean_error: 0.035319025925411626 + wrist_top_marker_pose: + angle_rotation_error: 3.1187669367502298 + euclidean_error: 0.03462971181182478 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1092664882732692 + euclidean_error: 0.034024628303048025 + base_right_marker_pose: + angle_rotation_error: 3.114271126347103 + euclidean_error: 0.034418349822940855 + shoulder_marker_pose: + angle_rotation_error: 3.086412829366744 + euclidean_error: 0.03430642645940033 + wrist_inside_marker_pose: + angle_rotation_error: 3.030832167181018 + euclidean_error: 0.035365808453183385 + wrist_top_marker_pose: + angle_rotation_error: 3.009021018617812 + euclidean_error: 0.03493295129113044 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0549896229551363 + euclidean_error: 0.033972615843489706 + base_right_marker_pose: + angle_rotation_error: 3.120748043299694 + euclidean_error: 0.03434990109362226 + shoulder_marker_pose: + angle_rotation_error: 3.032625221779755 + euclidean_error: 0.034253752150668074 + wrist_inside_marker_pose: + angle_rotation_error: 3.042823871871945 + euclidean_error: 0.03521242846798518 + wrist_top_marker_pose: + angle_rotation_error: 3.0062310640925016 + euclidean_error: 0.034769434059692746 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083535337611139 + euclidean_error: 0.03403459247112579 + base_right_marker_pose: + angle_rotation_error: 3.1252498017980925 + euclidean_error: 0.034359058262540064 + shoulder_marker_pose: + angle_rotation_error: 3.02029990085918 + euclidean_error: 0.03425116722992991 + wrist_inside_marker_pose: + angle_rotation_error: 2.960673525312635 + euclidean_error: 0.035326198562000775 + wrist_top_marker_pose: + angle_rotation_error: 3.1255741050838886 + euclidean_error: 0.0349997417728864 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.072700575652698 + euclidean_error: 0.03397370690014018 + base_right_marker_pose: + angle_rotation_error: 3.1388606980752343 + euclidean_error: 0.03435852832073409 + shoulder_marker_pose: + angle_rotation_error: 3.0850257240912797 + euclidean_error: 0.03434804985899176 + wrist_inside_marker_pose: + angle_rotation_error: 2.987533937035455 + euclidean_error: 0.035321763166118555 + wrist_top_marker_pose: + angle_rotation_error: 3.0768941426949783 + euclidean_error: 0.03479651576042772 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.107695837855215 + euclidean_error: 0.03423522448284287 + wrist_inside_marker_pose: + angle_rotation_error: 2.9552297294775705 + euclidean_error: 0.03522796360425948 + wrist_top_marker_pose: + angle_rotation_error: 3.044447728270095 + euclidean_error: 0.034693901853199864 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.140078088584633 + euclidean_error: 0.03428141041847398 + shoulder_marker_pose: + angle_rotation_error: 3.076298240171663 + euclidean_error: 0.03423853453160059 + wrist_inside_marker_pose: + angle_rotation_error: 2.873636297238254 + euclidean_error: 0.03522929506175678 + wrist_top_marker_pose: + angle_rotation_error: 3.0823514737578126 + euclidean_error: 0.034779747176004884 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.120562397474244 + euclidean_error: 0.03426908647105292 + wrist_inside_marker_pose: + angle_rotation_error: 3.034407786559924 + euclidean_error: 0.03529029670932969 + wrist_top_marker_pose: + angle_rotation_error: 3.0452525194701594 + euclidean_error: 0.03467552951122604 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0251062550200984 + euclidean_error: 0.034168282053100206 + wrist_inside_marker_pose: + angle_rotation_error: 2.9053289532529347 + euclidean_error: 0.035159451420156175 + wrist_top_marker_pose: + angle_rotation_error: 3.1185453951049737 + euclidean_error: 0.03467049993853417 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.130317785136919 + euclidean_error: 0.03432969243237825 + shoulder_marker_pose: + angle_rotation_error: 3.087701433380717 + euclidean_error: 0.034171124184472185 + wrist_inside_marker_pose: + angle_rotation_error: 2.9433282478278575 + euclidean_error: 0.03538490751990041 + wrist_top_marker_pose: + angle_rotation_error: 3.1040694691771424 + euclidean_error: 0.03460379426063559 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1331750384480186 + euclidean_error: 0.034403095428192754 + shoulder_marker_pose: + angle_rotation_error: 2.995088349316674 + euclidean_error: 0.03414809700958433 + wrist_inside_marker_pose: + angle_rotation_error: 2.9650282784940116 + euclidean_error: 0.03544134749343932 + wrist_top_marker_pose: + angle_rotation_error: 2.964654163845752 + euclidean_error: 0.034987423215874495 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1008433790942402 + euclidean_error: 0.03411530770383274 + base_right_marker_pose: + angle_rotation_error: 3.139497654009925 + euclidean_error: 0.03438978043663551 + shoulder_marker_pose: + angle_rotation_error: 3.054160102106138 + euclidean_error: 0.034264025978189845 + wrist_inside_marker_pose: + angle_rotation_error: 2.958991120989596 + euclidean_error: 0.03526833058885241 + wrist_top_marker_pose: + angle_rotation_error: 3.136352144285444 + euclidean_error: 0.034828175361786375 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1364490741600015 + euclidean_error: 0.03439319791793237 + shoulder_marker_pose: + angle_rotation_error: 3.0356146132526236 + euclidean_error: 0.03433813036007921 + wrist_inside_marker_pose: + angle_rotation_error: 2.9561917811244007 + euclidean_error: 0.035234801618062465 + wrist_top_marker_pose: + angle_rotation_error: 3.1298112222764938 + euclidean_error: 0.03476085315975841 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1260415204762606 + euclidean_error: 0.034385796058259324 + shoulder_marker_pose: + angle_rotation_error: 3.015207786613506 + euclidean_error: 0.034427616219382125 + wrist_inside_marker_pose: + angle_rotation_error: 2.9955521524588806 + euclidean_error: 0.035258623948072255 + wrist_top_marker_pose: + angle_rotation_error: 2.9724656883202214 + euclidean_error: 0.03507052142381757 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0522155838107787 + euclidean_error: 0.03400601709624363 + base_right_marker_pose: + angle_rotation_error: 3.1408037521939276 + euclidean_error: 0.034321547244607536 + shoulder_marker_pose: + angle_rotation_error: 3.0610276108361543 + euclidean_error: 0.03432521738151608 + wrist_inside_marker_pose: + angle_rotation_error: 2.8632664313294316 + euclidean_error: 0.03503606505669996 + wrist_top_marker_pose: + angle_rotation_error: 3.072626512722473 + euclidean_error: 0.03462233660952955 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.088904918705116 + euclidean_error: 0.034050630363260406 + base_right_marker_pose: + angle_rotation_error: 3.1352906930333866 + euclidean_error: 0.03439030087141287 + shoulder_marker_pose: + angle_rotation_error: 3.1205718369104027 + euclidean_error: 0.03436928750091659 + wrist_inside_marker_pose: + angle_rotation_error: 3.0450466559294145 + euclidean_error: 0.03576621892761982 + wrist_top_marker_pose: + angle_rotation_error: 3.076876520724336 + euclidean_error: 0.034952627582042206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0180767032653173 + euclidean_error: 0.03393280149572522 + base_right_marker_pose: + angle_rotation_error: 3.123548003827522 + euclidean_error: 0.034311373223405356 + shoulder_marker_pose: + angle_rotation_error: 3.0457320036871978 + euclidean_error: 0.034178387622778035 + wrist_inside_marker_pose: + angle_rotation_error: 3.0070351440593157 + euclidean_error: 0.03533689417266041 + wrist_top_marker_pose: + angle_rotation_error: 3.0085119441736703 + euclidean_error: 0.03456575538133201 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.134959902040758 + euclidean_error: 0.034377296659751234 + shoulder_marker_pose: + angle_rotation_error: 3.0190200292333915 + euclidean_error: 0.03428727332469963 + wrist_inside_marker_pose: + angle_rotation_error: 3.040220516024592 + euclidean_error: 0.035648963635187464 + wrist_top_marker_pose: + angle_rotation_error: 3.0107286879777813 + euclidean_error: 0.034847536165450936 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1371705744116722 + euclidean_error: 0.034339502290214985 + shoulder_marker_pose: + angle_rotation_error: 3.0853680423099075 + euclidean_error: 0.03424433232669514 + wrist_inside_marker_pose: + angle_rotation_error: 3.0186312594049562 + euclidean_error: 0.03539323130582915 + wrist_top_marker_pose: + angle_rotation_error: 3.0547188272480876 + euclidean_error: 0.034671507700078256 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1257504531003457 + euclidean_error: 0.03438897492317093 + shoulder_marker_pose: + angle_rotation_error: 3.0794858691945635 + euclidean_error: 0.034251957578066955 + wrist_inside_marker_pose: + angle_rotation_error: 3.1224754040770746 + euclidean_error: 0.03572240600691468 + wrist_top_marker_pose: + angle_rotation_error: 2.9013336940026124 + euclidean_error: 0.03483163125111211 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.067264356235555 + euclidean_error: 0.03399844523506606 + base_right_marker_pose: + angle_rotation_error: 3.1197433570767865 + euclidean_error: 0.03441756887248464 + shoulder_marker_pose: + angle_rotation_error: 3.042826346169653 + euclidean_error: 0.034255487670959615 + wrist_inside_marker_pose: + angle_rotation_error: 2.8894030587715465 + euclidean_error: 0.03518645738367209 + wrist_top_marker_pose: + angle_rotation_error: 3.1284569024692552 + euclidean_error: 0.03485155652531291 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0690062280200165 + euclidean_error: 0.033990198400710436 + base_right_marker_pose: + angle_rotation_error: 3.1318808505404596 + euclidean_error: 0.03434605620063169 + shoulder_marker_pose: + angle_rotation_error: 3.1202848794604505 + euclidean_error: 0.03437036451230819 + wrist_inside_marker_pose: + angle_rotation_error: 2.907293113333442 + euclidean_error: 0.03510203964880812 + wrist_top_marker_pose: + angle_rotation_error: 2.973299480385237 + euclidean_error: 0.03495019836034768 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104530125695383 + euclidean_error: 0.034082321849316075 + base_right_marker_pose: + angle_rotation_error: 3.125956064561114 + euclidean_error: 0.034430799067648635 + shoulder_marker_pose: + angle_rotation_error: 3.022806559545539 + euclidean_error: 0.034201151065652885 + wrist_inside_marker_pose: + angle_rotation_error: 2.854481719951527 + euclidean_error: 0.0351936915400342 + wrist_top_marker_pose: + angle_rotation_error: 3.0896684441786415 + euclidean_error: 0.034804697113498255 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0562173120656952 + euclidean_error: 0.03397169748934113 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0300413043013363 + euclidean_error: 0.03412122143433092 + wrist_inside_marker_pose: + angle_rotation_error: 3.000379651459265 + euclidean_error: 0.035304011220751615 + wrist_top_marker_pose: + angle_rotation_error: 3.054798102350027 + euclidean_error: 0.03463334419237213 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1280714645645435 + euclidean_error: 0.03432836385872471 + shoulder_marker_pose: + angle_rotation_error: 3.0203366743954674 + euclidean_error: 0.03409045609379315 + wrist_inside_marker_pose: + angle_rotation_error: 2.9636045231551558 + euclidean_error: 0.035384249042304756 + wrist_top_marker_pose: + angle_rotation_error: 3.1305838431943123 + euclidean_error: 0.034663530469145214 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092004996449529 + euclidean_error: 0.03401356251560351 + base_right_marker_pose: + angle_rotation_error: 3.13240269794073 + euclidean_error: 0.03432459410259643 + shoulder_marker_pose: + angle_rotation_error: 3.1052837262534836 + euclidean_error: 0.03427086847957686 + wrist_inside_marker_pose: + angle_rotation_error: 2.8728111599602006 + euclidean_error: 0.03513318628086238 + wrist_top_marker_pose: + angle_rotation_error: 3.039854146108449 + euclidean_error: 0.03471510671020541 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1242584169703598 + euclidean_error: 0.034432897862361846 + shoulder_marker_pose: + angle_rotation_error: 3.0436737808201833 + euclidean_error: 0.034095955393660414 + wrist_inside_marker_pose: + angle_rotation_error: 2.9030946379347946 + euclidean_error: 0.03534043523437218 + wrist_top_marker_pose: + angle_rotation_error: 3.1327725279263676 + euclidean_error: 0.03466595821277451 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1411748553479097 + euclidean_error: 0.03433139079527901 + shoulder_marker_pose: + angle_rotation_error: 3.085380836725102 + euclidean_error: 0.03411736763022264 + wrist_inside_marker_pose: + angle_rotation_error: 2.9467997533035626 + euclidean_error: 0.03547557933311722 + wrist_top_marker_pose: + angle_rotation_error: 3.0876000922046685 + euclidean_error: 0.03462065150253206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0656651978509815 + euclidean_error: 0.03394680986270383 + base_right_marker_pose: + angle_rotation_error: 3.13471137199116 + euclidean_error: 0.03438040282104327 + shoulder_marker_pose: + angle_rotation_error: 3.0478432694592734 + euclidean_error: 0.03423043463819441 + wrist_inside_marker_pose: + angle_rotation_error: 2.899225541317701 + euclidean_error: 0.0352292025148657 + wrist_top_marker_pose: + angle_rotation_error: 3.115781273293362 + euclidean_error: 0.03469743179911521 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.070573229372075 + euclidean_error: 0.034114831547943564 + base_right_marker_pose: + angle_rotation_error: 3.1392424438106183 + euclidean_error: 0.03436922130921561 + shoulder_marker_pose: + angle_rotation_error: 3.049057291619898 + euclidean_error: 0.03435520587750116 + wrist_inside_marker_pose: + angle_rotation_error: 2.9569464273288344 + euclidean_error: 0.03529788211138782 + wrist_top_marker_pose: + angle_rotation_error: 3.0328013268400538 + euclidean_error: 0.03480409466243062 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9520219203033475 + euclidean_error: 0.03416142230731924 + wrist_inside_marker_pose: + angle_rotation_error: 2.91319201836845 + euclidean_error: 0.03512030252442356 + wrist_top_marker_pose: + angle_rotation_error: 3.1412193142766998 + euclidean_error: 0.03460729068568666 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0693124736950095 + euclidean_error: 0.034006273842875336 + base_right_marker_pose: + angle_rotation_error: 3.136707685111812 + euclidean_error: 0.03442763645799431 + shoulder_marker_pose: + angle_rotation_error: 2.99694981001154 + euclidean_error: 0.03413711670198319 + wrist_inside_marker_pose: + angle_rotation_error: 2.887040829660795 + euclidean_error: 0.03516191840203012 + wrist_top_marker_pose: + angle_rotation_error: 3.1359936979667307 + euclidean_error: 0.03454938094459454 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1382385921798677 + euclidean_error: 0.03437878210870229 + shoulder_marker_pose: + angle_rotation_error: 3.0789273971481466 + euclidean_error: 0.034350154582994036 + wrist_inside_marker_pose: + angle_rotation_error: 2.9910985595002897 + euclidean_error: 0.035448554487670106 + wrist_top_marker_pose: + angle_rotation_error: 3.1247277828198143 + euclidean_error: 0.034693352089612925 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086223960783702 + euclidean_error: 0.03401747054713107 + base_right_marker_pose: + angle_rotation_error: 3.120552142741421 + euclidean_error: 0.03435081815509861 + shoulder_marker_pose: + angle_rotation_error: 3.0676912060016073 + euclidean_error: 0.034245971124843795 + wrist_inside_marker_pose: + angle_rotation_error: 3.0294127626137075 + euclidean_error: 0.035470155297328436 + wrist_top_marker_pose: + angle_rotation_error: 3.1310605271515906 + euclidean_error: 0.034755031616706615 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0197604922003616 + euclidean_error: 0.03384482254542946 + base_right_marker_pose: + angle_rotation_error: 3.1312971301784343 + euclidean_error: 0.034338231982437836 + shoulder_marker_pose: + angle_rotation_error: 3.1199796217685414 + euclidean_error: 0.034197377792468994 + wrist_inside_marker_pose: + angle_rotation_error: 2.9448041713129873 + euclidean_error: 0.035061138326820965 + wrist_top_marker_pose: + angle_rotation_error: 3.064295083526222 + euclidean_error: 0.0346748052843221 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.061282371856399 + euclidean_error: 0.03398135181129682 + base_right_marker_pose: + angle_rotation_error: 3.1192018071926313 + euclidean_error: 0.03434663158456178 + shoulder_marker_pose: + angle_rotation_error: 3.039708374928132 + euclidean_error: 0.034296018487773916 + wrist_inside_marker_pose: + angle_rotation_error: 2.904358525812689 + euclidean_error: 0.03500968010057649 + wrist_top_marker_pose: + angle_rotation_error: 3.0945768841497987 + euclidean_error: 0.03495405757195817 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119365902261758 + euclidean_error: 0.03412507862315395 + base_right_marker_pose: + angle_rotation_error: 3.128123135704461 + euclidean_error: 0.034389811969358176 + shoulder_marker_pose: + angle_rotation_error: 3.0878526699486164 + euclidean_error: 0.03435170928519388 + wrist_inside_marker_pose: + angle_rotation_error: 2.992553092987348 + euclidean_error: 0.03545768892542875 + wrist_top_marker_pose: + angle_rotation_error: 3.005914201519404 + euclidean_error: 0.03489735925743504 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0625456253274264 + euclidean_error: 0.03399151885961796 + base_right_marker_pose: + angle_rotation_error: 3.102590432526714 + euclidean_error: 0.03435392754949418 + shoulder_marker_pose: + angle_rotation_error: 3.0909934466093407 + euclidean_error: 0.03422087787936561 + wrist_inside_marker_pose: + angle_rotation_error: 3.135163802990722 + euclidean_error: 0.03528725800129488 + wrist_top_marker_pose: + angle_rotation_error: 2.9296137229886274 + euclidean_error: 0.03484372564954466 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1272761775769466 + euclidean_error: 0.03443720459958729 + shoulder_marker_pose: + angle_rotation_error: 3.0780687194469794 + euclidean_error: 0.03419920451076202 + wrist_inside_marker_pose: + angle_rotation_error: 2.9505916388197124 + euclidean_error: 0.03511626820262165 + wrist_top_marker_pose: + angle_rotation_error: 3.0562264093001055 + euclidean_error: 0.03465268790683984 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0862571285648372 + euclidean_error: 0.03398520977471337 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0485213241168148 + euclidean_error: 0.03423710476311252 + wrist_inside_marker_pose: + angle_rotation_error: 3.010121448533144 + euclidean_error: 0.035418549617299774 + wrist_top_marker_pose: + angle_rotation_error: 3.1067730393037283 + euclidean_error: 0.034596405376670435 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0506753053447535 + euclidean_error: 0.03394914796487629 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.105448053679763 + euclidean_error: 0.03428964205745248 + wrist_inside_marker_pose: + angle_rotation_error: 2.9949777436099425 + euclidean_error: 0.03552695682838079 + wrist_top_marker_pose: + angle_rotation_error: 3.1360735908394957 + euclidean_error: 0.034635500087221306 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0822678908376284 + euclidean_error: 0.034060447656350905 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.087379122738528 + euclidean_error: 0.03424845397731996 + wrist_inside_marker_pose: + angle_rotation_error: 2.9632082026369404 + euclidean_error: 0.03547994373971431 + wrist_top_marker_pose: + angle_rotation_error: 3.128467165195701 + euclidean_error: 0.03471278662345572 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0978565578145774 + euclidean_error: 0.03400778436152819 + base_right_marker_pose: + angle_rotation_error: 3.134035167998964 + euclidean_error: 0.03431993424485346 + shoulder_marker_pose: + angle_rotation_error: 3.1262596471138258 + euclidean_error: 0.03412976476576422 + wrist_inside_marker_pose: + angle_rotation_error: 2.956026100269648 + euclidean_error: 0.035455041825302944 + wrist_top_marker_pose: + angle_rotation_error: 3.1229466111876434 + euclidean_error: 0.034665211281978595 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0724039614050627 + euclidean_error: 0.033993999793050345 + base_right_marker_pose: + angle_rotation_error: 3.1287446087552313 + euclidean_error: 0.034357781242136856 + shoulder_marker_pose: + angle_rotation_error: 3.112611898190246 + euclidean_error: 0.0342127224793983 + wrist_inside_marker_pose: + angle_rotation_error: 2.9713783499876634 + euclidean_error: 0.03547714137575414 + wrist_top_marker_pose: + angle_rotation_error: 3.0124096373397413 + euclidean_error: 0.034820569781790885 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1273629011973965 + euclidean_error: 0.034440406810372054 + shoulder_marker_pose: + angle_rotation_error: 3.0568822049943325 + euclidean_error: 0.03430782311172469 + wrist_inside_marker_pose: + angle_rotation_error: 2.8793247136759437 + euclidean_error: 0.03510144165019355 + wrist_top_marker_pose: + angle_rotation_error: 3.1211352996570603 + euclidean_error: 0.03463776983806082 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.133444530751914 + euclidean_error: 0.034365856708887046 + shoulder_marker_pose: + angle_rotation_error: 3.0889180116363764 + euclidean_error: 0.034177255909381754 + wrist_inside_marker_pose: + angle_rotation_error: 3.077218345399113 + euclidean_error: 0.035366347003363524 + wrist_top_marker_pose: + angle_rotation_error: 2.997666424174734 + euclidean_error: 0.03460118883383546 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9936077569654915 + euclidean_error: 0.03422522256475592 + wrist_inside_marker_pose: + angle_rotation_error: 3.0387440592901207 + euclidean_error: 0.03558807601002043 + wrist_top_marker_pose: + angle_rotation_error: 3.079140076384204 + euclidean_error: 0.03468940265766746 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.088606437989504 + euclidean_error: 0.03407987100099584 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.087646103123792 + euclidean_error: 0.034190970116382745 + wrist_inside_marker_pose: + angle_rotation_error: 3.0269071024044156 + euclidean_error: 0.03551045189789929 + wrist_top_marker_pose: + angle_rotation_error: 3.0653231744273373 + euclidean_error: 0.034633342577165264 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094858273521822 + euclidean_error: 0.034065050601622085 + base_right_marker_pose: + angle_rotation_error: 3.131080050186453 + euclidean_error: 0.03438169844958729 + shoulder_marker_pose: + angle_rotation_error: 3.0651509050395678 + euclidean_error: 0.0342537082992076 + wrist_inside_marker_pose: + angle_rotation_error: 2.993293127052383 + euclidean_error: 0.03544572116556873 + wrist_top_marker_pose: + angle_rotation_error: 3.1314399312814407 + euclidean_error: 0.034824252165790305 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1310074671072496 + euclidean_error: 0.03442934688166656 + shoulder_marker_pose: + angle_rotation_error: 3.0560284757307814 + euclidean_error: 0.034264079261207274 + wrist_inside_marker_pose: + angle_rotation_error: 2.9504359862179315 + euclidean_error: 0.035342463109212824 + wrist_top_marker_pose: + angle_rotation_error: 3.0470602517701892 + euclidean_error: 0.03489903319135231 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.096019012790166 + euclidean_error: 0.03411772231707687 + base_right_marker_pose: + angle_rotation_error: 3.1329896181757033 + euclidean_error: 0.03441645477695479 + shoulder_marker_pose: + angle_rotation_error: 3.061215386858724 + euclidean_error: 0.034279101847744846 + wrist_inside_marker_pose: + angle_rotation_error: 3.0059152774201228 + euclidean_error: 0.03536537983739657 + wrist_top_marker_pose: + angle_rotation_error: 3.136045921619455 + euclidean_error: 0.03482817513622038 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0338460077617957 + euclidean_error: 0.03432599044793796 + wrist_inside_marker_pose: + angle_rotation_error: 2.9751821100329807 + euclidean_error: 0.03549962539266225 + wrist_top_marker_pose: + angle_rotation_error: 2.9894832817690333 + euclidean_error: 0.03488090753419226 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.06775305033463 + euclidean_error: 0.033958218207398874 + base_right_marker_pose: + angle_rotation_error: 3.1163199555108054 + euclidean_error: 0.03437100151372174 + shoulder_marker_pose: + angle_rotation_error: 3.0147879169557643 + euclidean_error: 0.03419271252264373 + wrist_inside_marker_pose: + angle_rotation_error: 2.963016538498795 + euclidean_error: 0.03521396960757934 + wrist_top_marker_pose: + angle_rotation_error: 3.096938280010091 + euclidean_error: 0.03468102274885495 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.135938719772702 + euclidean_error: 0.03438794365208584 + shoulder_marker_pose: + angle_rotation_error: 3.079037286570089 + euclidean_error: 0.03429003219247229 + wrist_inside_marker_pose: + angle_rotation_error: 3.0415792611706056 + euclidean_error: 0.03553559319452134 + wrist_top_marker_pose: + angle_rotation_error: 3.134484519953754 + euclidean_error: 0.03461416558367172 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0878742712376765 + euclidean_error: 0.03395542444652515 + base_right_marker_pose: + angle_rotation_error: 3.110550852553758 + euclidean_error: 0.03436706300319828 + shoulder_marker_pose: + angle_rotation_error: 3.0238396565829366 + euclidean_error: 0.03423790416529361 + wrist_inside_marker_pose: + angle_rotation_error: 2.9529056152117787 + euclidean_error: 0.035440376546811134 + wrist_top_marker_pose: + angle_rotation_error: 3.0466947813683034 + euclidean_error: 0.034694636767075085 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0928226240336096 + euclidean_error: 0.03397740542169532 + base_right_marker_pose: + angle_rotation_error: 3.1227035925559394 + euclidean_error: 0.03437631893171214 + shoulder_marker_pose: + angle_rotation_error: 3.073839132903288 + euclidean_error: 0.03416382264809902 + wrist_inside_marker_pose: + angle_rotation_error: 2.9968766542573864 + euclidean_error: 0.03547446049741482 + wrist_top_marker_pose: + angle_rotation_error: 3.0173962006356003 + euclidean_error: 0.03457222093801893 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1406880467805824 + euclidean_error: 0.03435635352885147 + shoulder_marker_pose: + angle_rotation_error: 3.092924512040233 + euclidean_error: 0.03440942409658488 + wrist_inside_marker_pose: + angle_rotation_error: 2.972252840912893 + euclidean_error: 0.03543961940182797 + wrist_top_marker_pose: + angle_rotation_error: 3.0683936168542427 + euclidean_error: 0.03486043103822652 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0073451694221576 + euclidean_error: 0.034172273288516 + wrist_inside_marker_pose: + angle_rotation_error: 2.8803873887583884 + euclidean_error: 0.03523370048723464 + wrist_top_marker_pose: + angle_rotation_error: 3.139910875079341 + euclidean_error: 0.03459672521886437 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.064366121022397 + euclidean_error: 0.034263756416358426 + wrist_inside_marker_pose: + angle_rotation_error: 2.956656389211579 + euclidean_error: 0.03527201648034231 + wrist_top_marker_pose: + angle_rotation_error: 3.0670863677019815 + euclidean_error: 0.03468076420517345 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.048214878239758 + euclidean_error: 0.033982283068780386 + base_right_marker_pose: + angle_rotation_error: 3.132330284490662 + euclidean_error: 0.03440500432211931 + shoulder_marker_pose: + angle_rotation_error: 2.993995801007496 + euclidean_error: 0.03415335012798125 + wrist_inside_marker_pose: + angle_rotation_error: 2.893265658597296 + euclidean_error: 0.03529123752883418 + wrist_top_marker_pose: + angle_rotation_error: 3.0771889440799236 + euclidean_error: 0.034658443374044834 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.111547109061266 + euclidean_error: 0.03422847498388838 + wrist_inside_marker_pose: + angle_rotation_error: 3.069814488367954 + euclidean_error: 0.03540373478664471 + wrist_top_marker_pose: + angle_rotation_error: 3.0712424888694843 + euclidean_error: 0.03467680269249918 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0991351281495043 + euclidean_error: 0.03424832521774833 + wrist_inside_marker_pose: + angle_rotation_error: 2.953596640087808 + euclidean_error: 0.03546638100198192 + wrist_top_marker_pose: + angle_rotation_error: 3.0827707542789895 + euclidean_error: 0.034655858302977356 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.054272233925256 + euclidean_error: 0.03399380468041683 + base_right_marker_pose: + angle_rotation_error: 3.1271218246625274 + euclidean_error: 0.03435838822849564 + shoulder_marker_pose: + angle_rotation_error: 3.0563502321819698 + euclidean_error: 0.03428303819538833 + wrist_inside_marker_pose: + angle_rotation_error: 2.9358110152499077 + euclidean_error: 0.035326946293337776 + wrist_top_marker_pose: + angle_rotation_error: 3.136403585622228 + euclidean_error: 0.03481909026899269 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.011262840484388 + euclidean_error: 0.03380814874557253 + base_right_marker_pose: + angle_rotation_error: 3.110511378286729 + euclidean_error: 0.034304256877205355 + shoulder_marker_pose: + angle_rotation_error: 3.0623519800484544 + euclidean_error: 0.03415271931619582 + wrist_inside_marker_pose: + angle_rotation_error: 3.071847202765623 + euclidean_error: 0.03526951808879044 + wrist_top_marker_pose: + angle_rotation_error: 3.140495437873825 + euclidean_error: 0.03454441187709949 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.03744830903821 + euclidean_error: 0.03390992077553605 + base_right_marker_pose: + angle_rotation_error: 3.1403048802807443 + euclidean_error: 0.03436383181506625 + shoulder_marker_pose: + angle_rotation_error: 3.0177936349100998 + euclidean_error: 0.03419970131661361 + wrist_inside_marker_pose: + angle_rotation_error: 2.8581488922944533 + euclidean_error: 0.035145937503999525 + wrist_top_marker_pose: + angle_rotation_error: 2.979476138271236 + euclidean_error: 0.034496094760245816 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.032551468248235 + euclidean_error: 0.0342652194888181 + wrist_inside_marker_pose: + angle_rotation_error: 2.9053699867319707 + euclidean_error: 0.03506689475654745 + wrist_top_marker_pose: + angle_rotation_error: 3.1053047720851286 + euclidean_error: 0.03488815349097864 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0723500396324854 + euclidean_error: 0.034046232460656085 + base_right_marker_pose: + angle_rotation_error: 3.1351939046348405 + euclidean_error: 0.03434978907662626 + shoulder_marker_pose: + angle_rotation_error: 3.110104885457656 + euclidean_error: 0.034375539246980384 + wrist_inside_marker_pose: + angle_rotation_error: 2.9635792464892945 + euclidean_error: 0.03537913526689145 + wrist_top_marker_pose: + angle_rotation_error: 3.026166791058676 + euclidean_error: 0.03524222666629746 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0923209826109748 + euclidean_error: 0.034006576987187315 + base_right_marker_pose: + angle_rotation_error: 3.13326179699104 + euclidean_error: 0.03437939621278921 + shoulder_marker_pose: + angle_rotation_error: 3.1337014369443095 + euclidean_error: 0.03420401929878598 + wrist_inside_marker_pose: + angle_rotation_error: 3.136993669076205 + euclidean_error: 0.03521162887366913 + wrist_top_marker_pose: + angle_rotation_error: 3.002090470971663 + euclidean_error: 0.03465733218972098 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.023487130007296 + euclidean_error: 0.034240370463508404 + wrist_inside_marker_pose: + angle_rotation_error: 2.9738792191175962 + euclidean_error: 0.03562099801086148 + wrist_top_marker_pose: + angle_rotation_error: 3.1226628918049664 + euclidean_error: 0.034647733513724195 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0756121232837623 + euclidean_error: 0.03402334985339148 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0861004121829065 + euclidean_error: 0.034170895311624615 + wrist_inside_marker_pose: + angle_rotation_error: 2.9404695764194204 + euclidean_error: 0.035423350946492245 + wrist_top_marker_pose: + angle_rotation_error: 3.0936200230287794 + euclidean_error: 0.03457864949831325 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0758037625653922 + euclidean_error: 0.03435415829707535 + wrist_inside_marker_pose: + angle_rotation_error: 3.029818092168255 + euclidean_error: 0.03544438772154933 + wrist_top_marker_pose: + angle_rotation_error: 2.9581335838591523 + euclidean_error: 0.03480468728223755 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0877876187316744 + euclidean_error: 0.03408775223511103 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.03166997950325 + euclidean_error: 0.03423287958519743 + wrist_inside_marker_pose: + angle_rotation_error: 3.017595876681236 + euclidean_error: 0.035336351483926214 + wrist_top_marker_pose: + angle_rotation_error: 3.015309503139635 + euclidean_error: 0.03494186723449496 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1363670475900816 + euclidean_error: 0.034343800533380334 + shoulder_marker_pose: + angle_rotation_error: 3.00842422178547 + euclidean_error: 0.03419883728936327 + wrist_inside_marker_pose: + angle_rotation_error: 2.982376519571428 + euclidean_error: 0.03524786366603717 + wrist_top_marker_pose: + angle_rotation_error: 3.0912637822684195 + euclidean_error: 0.03478934400556359 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1353086001979276 + euclidean_error: 0.03435850520419661 + shoulder_marker_pose: + angle_rotation_error: 3.02553906238825 + euclidean_error: 0.034096714841340504 + wrist_inside_marker_pose: + angle_rotation_error: 3.0285289408419445 + euclidean_error: 0.03561363780899437 + wrist_top_marker_pose: + angle_rotation_error: 3.1233461605669004 + euclidean_error: 0.03457946118474141 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1328831404438837 + euclidean_error: 0.03436076024423918 + shoulder_marker_pose: + angle_rotation_error: 3.111482020292029 + euclidean_error: 0.03435570875959459 + wrist_inside_marker_pose: + angle_rotation_error: 3.0152666701540585 + euclidean_error: 0.035425285457059086 + wrist_top_marker_pose: + angle_rotation_error: 3.0028965030119648 + euclidean_error: 0.03486559655286528 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1168921348770158 + euclidean_error: 0.0343812833967233 + shoulder_marker_pose: + angle_rotation_error: 3.0791321356981496 + euclidean_error: 0.03429748390092175 + wrist_inside_marker_pose: + angle_rotation_error: 2.9387287168395972 + euclidean_error: 0.03527962534020903 + wrist_top_marker_pose: + angle_rotation_error: 2.977922358557398 + euclidean_error: 0.03518277295150857 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0516554564153373 + euclidean_error: 0.03401005922289077 + base_right_marker_pose: + angle_rotation_error: 3.133209713116077 + euclidean_error: 0.03434513278597558 + shoulder_marker_pose: + angle_rotation_error: 3.044201804984162 + euclidean_error: 0.0342324815754502 + wrist_inside_marker_pose: + angle_rotation_error: 2.956405267348784 + euclidean_error: 0.03538111573953493 + wrist_top_marker_pose: + angle_rotation_error: 3.055300278155064 + euclidean_error: 0.034722031488701406 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0513888252816317 + euclidean_error: 0.03401556602468696 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0669566267467063 + euclidean_error: 0.034205720957413845 + wrist_inside_marker_pose: + angle_rotation_error: 2.9039020318400217 + euclidean_error: 0.034972094198817506 + wrist_top_marker_pose: + angle_rotation_error: 3.1361644368775363 + euclidean_error: 0.03455529270738808 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.081199893612024 + euclidean_error: 0.03398289848181918 + base_right_marker_pose: + angle_rotation_error: 3.10283197780381 + euclidean_error: 0.034286452701284255 + shoulder_marker_pose: + angle_rotation_error: 3.0534873774576385 + euclidean_error: 0.034166212666787495 + wrist_inside_marker_pose: + angle_rotation_error: 3.0549146458474947 + euclidean_error: 0.035638899872133444 + wrist_top_marker_pose: + angle_rotation_error: 3.0982523098962833 + euclidean_error: 0.034572677557300806 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085427449051073 + euclidean_error: 0.034079011319406924 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.033414441248955 + euclidean_error: 0.034187933886418734 + wrist_inside_marker_pose: + angle_rotation_error: 2.9021740653703954 + euclidean_error: 0.03529794991335125 + wrist_top_marker_pose: + angle_rotation_error: 3.11483725079515 + euclidean_error: 0.034827648748596646 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.126224294115753 + euclidean_error: 0.034378622257693496 + shoulder_marker_pose: + angle_rotation_error: 3.0186460289394788 + euclidean_error: 0.03431490871424199 + wrist_inside_marker_pose: + angle_rotation_error: 3.0073062236702044 + euclidean_error: 0.03532918442638574 + wrist_top_marker_pose: + angle_rotation_error: 3.058965606535642 + euclidean_error: 0.0347506325679598 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1412027271227103 + euclidean_error: 0.03429200765839554 + shoulder_marker_pose: + angle_rotation_error: 2.9632286837207866 + euclidean_error: 0.034205306132798485 + wrist_inside_marker_pose: + angle_rotation_error: 2.9134964419297145 + euclidean_error: 0.035089311751783946 + wrist_top_marker_pose: + angle_rotation_error: 3.050870837581383 + euclidean_error: 0.03460221813698295 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.082169718068075 + euclidean_error: 0.034008932883678254 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.038490658401962 + euclidean_error: 0.03418477743810101 + wrist_inside_marker_pose: + angle_rotation_error: 2.9043573126377344 + euclidean_error: 0.035236448818964254 + wrist_top_marker_pose: + angle_rotation_error: 3.119480181854953 + euclidean_error: 0.03463006120372462 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.133604504929868 + euclidean_error: 0.03437546106385336 + shoulder_marker_pose: + angle_rotation_error: 3.0638805201773507 + euclidean_error: 0.03421221409028058 + wrist_inside_marker_pose: + angle_rotation_error: 3.1383160886533528 + euclidean_error: 0.03530119083480913 + wrist_top_marker_pose: + angle_rotation_error: 3.12328110573239 + euclidean_error: 0.03468629484831864 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1012257386945956 + euclidean_error: 0.034227233970299364 + wrist_inside_marker_pose: + angle_rotation_error: 2.9483336093385693 + euclidean_error: 0.03503472488647203 + wrist_top_marker_pose: + angle_rotation_error: 3.0482877671171495 + euclidean_error: 0.034731202099713844 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1055226089552708 + euclidean_error: 0.03403197523305081 + base_right_marker_pose: + angle_rotation_error: 3.1290836194474534 + euclidean_error: 0.034305483952875956 + shoulder_marker_pose: + angle_rotation_error: 3.108260296730562 + euclidean_error: 0.03438101837682433 + wrist_inside_marker_pose: + angle_rotation_error: 2.831462997120113 + euclidean_error: 0.03527306147314767 + wrist_top_marker_pose: + angle_rotation_error: 3.0714801264807505 + euclidean_error: 0.0349172904022371 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1383256254985503 + euclidean_error: 0.034378487168242176 + shoulder_marker_pose: + angle_rotation_error: 3.0691794937942483 + euclidean_error: 0.03420676529154017 + wrist_inside_marker_pose: + angle_rotation_error: 3.043622187314586 + euclidean_error: 0.03530619605086966 + wrist_top_marker_pose: + angle_rotation_error: 3.062765024236894 + euclidean_error: 0.034732679910544906 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1147259714113553 + euclidean_error: 0.034330482629396544 + shoulder_marker_pose: + angle_rotation_error: 3.010982668591842 + euclidean_error: 0.03420509156752707 + wrist_inside_marker_pose: + angle_rotation_error: 3.0105686003787047 + euclidean_error: 0.035565339038591895 + wrist_top_marker_pose: + angle_rotation_error: 3.11877066077723 + euclidean_error: 0.03483847286740665 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0787357843159215 + euclidean_error: 0.033972561044632386 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0789493395473606 + euclidean_error: 0.034258476615213015 + wrist_inside_marker_pose: + angle_rotation_error: 2.9141033055660293 + euclidean_error: 0.03538021245794876 + wrist_top_marker_pose: + angle_rotation_error: 3.138216204466484 + euclidean_error: 0.03468567234192485 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.140258162671526 + euclidean_error: 0.03439872484627056 + shoulder_marker_pose: + angle_rotation_error: 3.089530905991257 + euclidean_error: 0.03430624358766722 + wrist_inside_marker_pose: + angle_rotation_error: 2.9272717897208946 + euclidean_error: 0.035334400752853684 + wrist_top_marker_pose: + angle_rotation_error: 3.123755205218149 + euclidean_error: 0.03470461710333636 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.047879520779087 + euclidean_error: 0.0343647249446006 + wrist_inside_marker_pose: + angle_rotation_error: 2.9815524404765887 + euclidean_error: 0.035423038882736936 + wrist_top_marker_pose: + angle_rotation_error: 3.1392352800648133 + euclidean_error: 0.03479827872438866 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1189972490349254 + euclidean_error: 0.03437285320133271 + shoulder_marker_pose: + angle_rotation_error: 3.0188756670608328 + euclidean_error: 0.03419673142586461 + wrist_inside_marker_pose: + angle_rotation_error: 2.917606690124557 + euclidean_error: 0.03519784688203364 + wrist_top_marker_pose: + angle_rotation_error: 3.066350136721923 + euclidean_error: 0.0346614616084404 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.044328121033921 + euclidean_error: 0.03386600510751673 + base_right_marker_pose: + angle_rotation_error: 3.1205101201748753 + euclidean_error: 0.03447046246483629 + shoulder_marker_pose: + angle_rotation_error: 3.036139942190419 + euclidean_error: 0.034211585557599934 + wrist_inside_marker_pose: + angle_rotation_error: 2.8660248245965105 + euclidean_error: 0.03517957394730821 + wrist_top_marker_pose: + angle_rotation_error: 3.0925947844013275 + euclidean_error: 0.03464931858991009 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122618214025525 + euclidean_error: 0.03426324218849422 + shoulder_marker_pose: + angle_rotation_error: 3.129855439311242 + euclidean_error: 0.03421692810846637 + wrist_inside_marker_pose: + angle_rotation_error: 2.9048456847148434 + euclidean_error: 0.03517409836516351 + wrist_top_marker_pose: + angle_rotation_error: 3.1069652715525495 + euclidean_error: 0.034821354219641845 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1403227551379085 + euclidean_error: 0.0343592295379264 + shoulder_marker_pose: + angle_rotation_error: 3.0578944514930364 + euclidean_error: 0.03431918647090386 + wrist_inside_marker_pose: + angle_rotation_error: 3.0234473430046873 + euclidean_error: 0.035566728099572564 + wrist_top_marker_pose: + angle_rotation_error: 3.100253609297419 + euclidean_error: 0.0346837565881122 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.032799368617557 + euclidean_error: 0.03416934577660869 + wrist_inside_marker_pose: + angle_rotation_error: 2.9046758453490535 + euclidean_error: 0.03517709738655702 + wrist_top_marker_pose: + angle_rotation_error: 3.05610632485687 + euclidean_error: 0.03467606076983187 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0587319293739172 + euclidean_error: 0.03395285730824227 + base_right_marker_pose: + angle_rotation_error: 3.137139267748195 + euclidean_error: 0.034363071151969925 + shoulder_marker_pose: + angle_rotation_error: 3.0196295094706387 + euclidean_error: 0.03417045378308856 + wrist_inside_marker_pose: + angle_rotation_error: 2.93886913745937 + euclidean_error: 0.035233051883269736 + wrist_top_marker_pose: + angle_rotation_error: 3.075797220631112 + euclidean_error: 0.034620652021623864 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.13958725368698 + euclidean_error: 0.03432683010697628 + shoulder_marker_pose: + angle_rotation_error: 3.0613555092229854 + euclidean_error: 0.0343320373652152 + wrist_inside_marker_pose: + angle_rotation_error: 2.8533325710031794 + euclidean_error: 0.035238746872849745 + wrist_top_marker_pose: + angle_rotation_error: 3.1284032973808857 + euclidean_error: 0.034661424654176654 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0844275930810756 + euclidean_error: 0.03399973955006983 + base_right_marker_pose: + angle_rotation_error: 3.1227017907388843 + euclidean_error: 0.03431819984893122 + shoulder_marker_pose: + angle_rotation_error: 3.0971945592485817 + euclidean_error: 0.03420156605183676 + wrist_inside_marker_pose: + angle_rotation_error: 2.9610094073015496 + euclidean_error: 0.03518734889060173 + wrist_top_marker_pose: + angle_rotation_error: 3.0190802835096817 + euclidean_error: 0.03472642848592206 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0461722007081344 + euclidean_error: 0.03425089440347226 + wrist_inside_marker_pose: + angle_rotation_error: 2.9671615453878335 + euclidean_error: 0.03524496155284768 + wrist_top_marker_pose: + angle_rotation_error: 3.0655613868148253 + euclidean_error: 0.03480119529686752 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0234216481621283 + euclidean_error: 0.03423766993196654 + wrist_inside_marker_pose: + angle_rotation_error: 3.056874313773236 + euclidean_error: 0.03546832178904903 + wrist_top_marker_pose: + angle_rotation_error: 3.0739665604774427 + euclidean_error: 0.03492511076449706 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0874395509271246 + euclidean_error: 0.03404601301729296 + base_right_marker_pose: + angle_rotation_error: 3.123750542930805 + euclidean_error: 0.034319667031736334 + shoulder_marker_pose: + angle_rotation_error: 3.025211573459548 + euclidean_error: 0.03425606381579267 + wrist_inside_marker_pose: + angle_rotation_error: 2.881195885284019 + euclidean_error: 0.03527702108666856 + wrist_top_marker_pose: + angle_rotation_error: 3.108382666171331 + euclidean_error: 0.03480368332613573 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0218947439640766 + euclidean_error: 0.03421240673442905 + wrist_inside_marker_pose: + angle_rotation_error: 2.8320317513567885 + euclidean_error: 0.03493067183897739 + wrist_top_marker_pose: + angle_rotation_error: 3.003300707652437 + euclidean_error: 0.0344998056266008 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0819039158592267 + euclidean_error: 0.03408799193827191 + base_right_marker_pose: + angle_rotation_error: 3.141324344405611 + euclidean_error: 0.03430851911308968 + shoulder_marker_pose: + angle_rotation_error: 3.1304356650239886 + euclidean_error: 0.03419299821943245 + wrist_inside_marker_pose: + angle_rotation_error: 2.9528142191675175 + euclidean_error: 0.03543897037592071 + wrist_top_marker_pose: + angle_rotation_error: 3.0711944944685534 + euclidean_error: 0.03485386759118498 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.135435780865513 + euclidean_error: 0.03437212537507219 + shoulder_marker_pose: + angle_rotation_error: 3.0718352240608238 + euclidean_error: 0.03421064983484883 + wrist_inside_marker_pose: + angle_rotation_error: 2.96661682061568 + euclidean_error: 0.035140214873913146 + wrist_top_marker_pose: + angle_rotation_error: 2.925569790446367 + euclidean_error: 0.03469200175855787 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0310874314762484 + euclidean_error: 0.03415443860634041 + wrist_inside_marker_pose: + angle_rotation_error: 2.900933793747603 + euclidean_error: 0.035137426234733024 + wrist_top_marker_pose: + angle_rotation_error: 3.10824848781766 + euclidean_error: 0.034613748649913026 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.113766852353992 + euclidean_error: 0.03430929874301762 + shoulder_marker_pose: + angle_rotation_error: 3.013220478770324 + euclidean_error: 0.0342637403505736 + wrist_inside_marker_pose: + angle_rotation_error: 2.9748941202457795 + euclidean_error: 0.035097780933644955 + wrist_top_marker_pose: + angle_rotation_error: 3.0603531009918385 + euclidean_error: 0.03461262405822874 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.09303344368909 + euclidean_error: 0.0341331801972667 + wrist_inside_marker_pose: + angle_rotation_error: 2.9150957605228776 + euclidean_error: 0.035088721650551734 + wrist_top_marker_pose: + angle_rotation_error: 3.024187780582259 + euclidean_error: 0.034617948859714434 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0148138317345645 + euclidean_error: 0.03416338151037661 + wrist_inside_marker_pose: + angle_rotation_error: 3.0053721378131866 + euclidean_error: 0.03546263825819631 + wrist_top_marker_pose: + angle_rotation_error: 3.0635308037400377 + euclidean_error: 0.03475734220937118 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.07656804634107 + euclidean_error: 0.03399854375346455 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.023686142547844 + euclidean_error: 0.03415526557159998 + wrist_inside_marker_pose: + angle_rotation_error: 2.9250279703514876 + euclidean_error: 0.03509665841443336 + wrist_top_marker_pose: + angle_rotation_error: 3.0352373810227062 + euclidean_error: 0.03461264756450998 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.138550136865212 + euclidean_error: 0.034392903139087265 + shoulder_marker_pose: + angle_rotation_error: 3.0359694281751834 + euclidean_error: 0.034182789453256084 + wrist_inside_marker_pose: + angle_rotation_error: 2.8565169562552137 + euclidean_error: 0.03520171065035354 + wrist_top_marker_pose: + angle_rotation_error: 3.1399249665091955 + euclidean_error: 0.03477649725603226 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.072809858389126 + euclidean_error: 0.03397717368250467 + base_right_marker_pose: + angle_rotation_error: 3.13045354126396 + euclidean_error: 0.0343232618729819 + shoulder_marker_pose: + angle_rotation_error: 3.1203260562950352 + euclidean_error: 0.03429023528932023 + wrist_inside_marker_pose: + angle_rotation_error: 2.915579735086301 + euclidean_error: 0.03526036475169742 + wrist_top_marker_pose: + angle_rotation_error: 3.0506030982916608 + euclidean_error: 0.034781617521616875 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0624012892082866 + euclidean_error: 0.03401347179815587 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1159612712569222 + euclidean_error: 0.03430394566110732 + wrist_inside_marker_pose: + angle_rotation_error: 2.9962104698003995 + euclidean_error: 0.03522118015977302 + wrist_top_marker_pose: + angle_rotation_error: 3.0788806568506915 + euclidean_error: 0.03488113548415917 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0673773924473577 + euclidean_error: 0.03395582111824978 + base_right_marker_pose: + angle_rotation_error: 3.134120873081288 + euclidean_error: 0.03434102157151801 + shoulder_marker_pose: + angle_rotation_error: 3.102936682552968 + euclidean_error: 0.03427428207049109 + wrist_inside_marker_pose: + angle_rotation_error: 3.083540524071092 + euclidean_error: 0.03581092860390861 + wrist_top_marker_pose: + angle_rotation_error: 3.0427154336801676 + euclidean_error: 0.03472159730278043 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0689326514721174 + euclidean_error: 0.033921403993498876 + base_right_marker_pose: + angle_rotation_error: 3.1302579143881175 + euclidean_error: 0.0343218026496147 + shoulder_marker_pose: + angle_rotation_error: 2.9949897779987618 + euclidean_error: 0.034165841473863985 + wrist_inside_marker_pose: + angle_rotation_error: 2.957948379409488 + euclidean_error: 0.03535834544045783 + wrist_top_marker_pose: + angle_rotation_error: 3.1183043430958737 + euclidean_error: 0.03456988714521161 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0739025780002445 + euclidean_error: 0.03398386618743586 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.035809694745338 + euclidean_error: 0.03422609248207925 + wrist_inside_marker_pose: + angle_rotation_error: 2.9322877222071355 + euclidean_error: 0.03545639647001227 + wrist_top_marker_pose: + angle_rotation_error: 3.13388062045541 + euclidean_error: 0.03461701761114412 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0918632335085006 + euclidean_error: 0.03401849522805403 + base_right_marker_pose: + angle_rotation_error: 3.136402136921125 + euclidean_error: 0.034391280770570264 + shoulder_marker_pose: + angle_rotation_error: 2.991748003598205 + euclidean_error: 0.03417619873280503 + wrist_inside_marker_pose: + angle_rotation_error: 2.9667005537385616 + euclidean_error: 0.03531000584782301 + wrist_top_marker_pose: + angle_rotation_error: 3.0129870950739908 + euclidean_error: 0.0346303635854307 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1246393036205786 + euclidean_error: 0.03439418024486528 + shoulder_marker_pose: + angle_rotation_error: 3.0222888629901217 + euclidean_error: 0.034344725052543615 + wrist_inside_marker_pose: + angle_rotation_error: 2.9092561978173768 + euclidean_error: 0.03507793889551292 + wrist_top_marker_pose: + angle_rotation_error: 3.0761252564158914 + euclidean_error: 0.03486493555580461 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.121391762965818 + euclidean_error: 0.03431700889152404 + shoulder_marker_pose: + angle_rotation_error: 3.037390297157423 + euclidean_error: 0.03425154019895377 + wrist_inside_marker_pose: + angle_rotation_error: 2.9669228863529855 + euclidean_error: 0.035342552406976396 + wrist_top_marker_pose: + angle_rotation_error: 2.9199008784707017 + euclidean_error: 0.03476595009305337 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0878949636998585 + euclidean_error: 0.03401851463279053 + base_right_marker_pose: + angle_rotation_error: 3.1165899404381987 + euclidean_error: 0.034374649263034 + shoulder_marker_pose: + angle_rotation_error: 3.041345304625984 + euclidean_error: 0.034219045233771214 + wrist_inside_marker_pose: + angle_rotation_error: 2.989288999058921 + euclidean_error: 0.03538677928890605 + wrist_top_marker_pose: + angle_rotation_error: 3.1147068062284573 + euclidean_error: 0.03483961613268995 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1366992006988053 + euclidean_error: 0.03430318629920826 + shoulder_marker_pose: + angle_rotation_error: 3.0102707283036576 + euclidean_error: 0.034239431639756214 + wrist_inside_marker_pose: + angle_rotation_error: 2.94391582823738 + euclidean_error: 0.03528096237588979 + wrist_top_marker_pose: + angle_rotation_error: 3.082809637167957 + euclidean_error: 0.03459971360695503 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.081140465721243 + euclidean_error: 0.03395076434190059 + base_right_marker_pose: + angle_rotation_error: 3.1204375118059042 + euclidean_error: 0.034284541665690116 + shoulder_marker_pose: + angle_rotation_error: 3.012265867558758 + euclidean_error: 0.034278817667792574 + wrist_inside_marker_pose: + angle_rotation_error: 3.101130473824702 + euclidean_error: 0.03548961773336047 + wrist_top_marker_pose: + angle_rotation_error: 3.0782592928413 + euclidean_error: 0.034741235795270886 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0866521654750825 + euclidean_error: 0.03398823347582322 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0458844560470277 + euclidean_error: 0.034415542757966676 + wrist_inside_marker_pose: + angle_rotation_error: 2.954645600041197 + euclidean_error: 0.03530162284813818 + wrist_top_marker_pose: + angle_rotation_error: 3.0995002554343687 + euclidean_error: 0.0348297862067457 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0804093407691076 + euclidean_error: 0.033953279049976845 + base_right_marker_pose: + angle_rotation_error: 3.1366840730532672 + euclidean_error: 0.03436251356841622 + shoulder_marker_pose: + angle_rotation_error: 3.05495377450897 + euclidean_error: 0.034118436189064044 + wrist_inside_marker_pose: + angle_rotation_error: 2.872271589278169 + euclidean_error: 0.03510836288563402 + wrist_top_marker_pose: + angle_rotation_error: 3.0202815929114943 + euclidean_error: 0.034477045951607714 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0879099569018966 + euclidean_error: 0.03396609996462642 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9917769172785973 + euclidean_error: 0.03419573806805288 + wrist_inside_marker_pose: + angle_rotation_error: 2.9505954156056315 + euclidean_error: 0.035456523239787915 + wrist_top_marker_pose: + angle_rotation_error: 3.059650034643297 + euclidean_error: 0.03470290749016798 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0627492295680634 + euclidean_error: 0.033989450420965475 + base_right_marker_pose: + angle_rotation_error: 3.113180200449241 + euclidean_error: 0.034499996292827226 + shoulder_marker_pose: + angle_rotation_error: 2.9904248482381814 + euclidean_error: 0.03426089130353536 + wrist_inside_marker_pose: + angle_rotation_error: 3.063462043071193 + euclidean_error: 0.03552922523638879 + wrist_top_marker_pose: + angle_rotation_error: 3.0965362401207503 + euclidean_error: 0.034793086378836754 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0768111665263604 + euclidean_error: 0.03394947123366063 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0465169064537094 + euclidean_error: 0.034122663025338916 + wrist_inside_marker_pose: + angle_rotation_error: 3.0723523178861876 + euclidean_error: 0.035503666217664785 + wrist_top_marker_pose: + angle_rotation_error: 3.0576892159989453 + euclidean_error: 0.0347225957645309 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.037778288339665 + euclidean_error: 0.03396281913188058 + base_right_marker_pose: + angle_rotation_error: 3.1378054880558204 + euclidean_error: 0.034434748271793526 + shoulder_marker_pose: + angle_rotation_error: 3.0505680096135572 + euclidean_error: 0.034295243832128945 + wrist_inside_marker_pose: + angle_rotation_error: 3.0137297089564195 + euclidean_error: 0.035336851767137474 + wrist_top_marker_pose: + angle_rotation_error: 3.1354165490747428 + euclidean_error: 0.034633955796174655 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094163273876743 + euclidean_error: 0.03402420183384835 + base_right_marker_pose: + angle_rotation_error: 3.138977869184129 + euclidean_error: 0.03438758068719621 + shoulder_marker_pose: + angle_rotation_error: 3.0405991232176848 + euclidean_error: 0.03423978455124843 + wrist_inside_marker_pose: + angle_rotation_error: 2.8611155842059306 + euclidean_error: 0.03529802874903244 + wrist_top_marker_pose: + angle_rotation_error: 3.1145347861105965 + euclidean_error: 0.03465817887736503 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.049293742052468 + euclidean_error: 0.033977606683506224 + base_right_marker_pose: + angle_rotation_error: 3.0994642181832104 + euclidean_error: 0.03442856323818211 + shoulder_marker_pose: + angle_rotation_error: 3.0891348306996798 + euclidean_error: 0.03435120971370456 + wrist_inside_marker_pose: + angle_rotation_error: 2.963817756072258 + euclidean_error: 0.03545933871653341 + wrist_top_marker_pose: + angle_rotation_error: 3.1063277892919188 + euclidean_error: 0.03464885652274401 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1136920311090392 + euclidean_error: 0.03429907873262904 + shoulder_marker_pose: + angle_rotation_error: 3.0177134939351102 + euclidean_error: 0.03416080616908541 + wrist_inside_marker_pose: + angle_rotation_error: 3.0229487583839925 + euclidean_error: 0.03558025269401143 + wrist_top_marker_pose: + angle_rotation_error: 3.078167042309674 + euclidean_error: 0.03463074994755725 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.995798910284882 + euclidean_error: 0.03414260152297858 + wrist_inside_marker_pose: + angle_rotation_error: 2.9405241054254887 + euclidean_error: 0.035399006955860485 + wrist_top_marker_pose: + angle_rotation_error: 3.080862581965122 + euclidean_error: 0.03455850534765359 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.066657739719121 + euclidean_error: 0.03391561759569809 + base_right_marker_pose: + angle_rotation_error: 3.133002703658625 + euclidean_error: 0.03432442473505775 + shoulder_marker_pose: + angle_rotation_error: 3.021189426549655 + euclidean_error: 0.034193296094676466 + wrist_inside_marker_pose: + angle_rotation_error: 3.007437810026791 + euclidean_error: 0.03509377951429042 + wrist_top_marker_pose: + angle_rotation_error: 3.1285014591365408 + euclidean_error: 0.034633682856253754 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1052508292598233 + euclidean_error: 0.034255668116264786 + shoulder_marker_pose: + angle_rotation_error: 3.085364424240268 + euclidean_error: 0.03426319069167399 + wrist_inside_marker_pose: + angle_rotation_error: 3.0139196451331633 + euclidean_error: 0.035680869826659786 + wrist_top_marker_pose: + angle_rotation_error: 3.1262302708125493 + euclidean_error: 0.03467412392461245 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.049675401969292 + euclidean_error: 0.03389762611813895 + base_right_marker_pose: + angle_rotation_error: 3.1343050992572516 + euclidean_error: 0.03429023230056458 + shoulder_marker_pose: + angle_rotation_error: 3.1009255588706437 + euclidean_error: 0.03432572239744284 + wrist_inside_marker_pose: + angle_rotation_error: 2.8630705934303435 + euclidean_error: 0.03519214734173232 + wrist_top_marker_pose: + angle_rotation_error: 3.1350419204557345 + euclidean_error: 0.0349577376935838 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0420963712329105 + euclidean_error: 0.0342400681474862 + wrist_inside_marker_pose: + angle_rotation_error: 2.950862299838363 + euclidean_error: 0.035235734067689116 + wrist_top_marker_pose: + angle_rotation_error: 3.0925337217429787 + euclidean_error: 0.034724881637677396 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089459959097148 + euclidean_error: 0.034038126730523685 + base_right_marker_pose: + angle_rotation_error: 3.1367898779679497 + euclidean_error: 0.03433644478047178 + shoulder_marker_pose: + angle_rotation_error: 3.021365961743582 + euclidean_error: 0.03427574609462701 + wrist_inside_marker_pose: + angle_rotation_error: 3.033722336211298 + euclidean_error: 0.0355356071987212 + wrist_top_marker_pose: + angle_rotation_error: 3.0878986305994807 + euclidean_error: 0.03461111803824125 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0190493957456024 + euclidean_error: 0.03386386274955495 + base_right_marker_pose: + angle_rotation_error: 3.139979872005741 + euclidean_error: 0.034318865558530066 + shoulder_marker_pose: + angle_rotation_error: 3.017232316372 + euclidean_error: 0.034241873696170606 + wrist_inside_marker_pose: + angle_rotation_error: 2.954903795426064 + euclidean_error: 0.035265990152806154 + wrist_top_marker_pose: + angle_rotation_error: 3.070962271085068 + euclidean_error: 0.03472428247764622 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1071964054571213 + euclidean_error: 0.03431751385223288 + shoulder_marker_pose: + angle_rotation_error: 2.98456945174184 + euclidean_error: 0.034169374739893774 + wrist_inside_marker_pose: + angle_rotation_error: 2.9929044096167936 + euclidean_error: 0.03536916037390352 + wrist_top_marker_pose: + angle_rotation_error: 3.1095489852638294 + euclidean_error: 0.0345564027519898 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.058900201303818 + euclidean_error: 0.03398681282326422 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0540174082096008 + euclidean_error: 0.03421718262058012 + wrist_inside_marker_pose: + angle_rotation_error: 2.955050202609965 + euclidean_error: 0.035017822225910496 + wrist_top_marker_pose: + angle_rotation_error: 3.0315881263212106 + euclidean_error: 0.0346272683614365 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.125838110974673 + euclidean_error: 0.03433480904076425 + shoulder_marker_pose: + angle_rotation_error: 3.059751076030894 + euclidean_error: 0.034434344164109766 + wrist_inside_marker_pose: + angle_rotation_error: 2.9497900440156215 + euclidean_error: 0.035336576463872164 + wrist_top_marker_pose: + angle_rotation_error: 3.1298897818623597 + euclidean_error: 0.03465759289059167 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.057013091246895 + euclidean_error: 0.034270369127906056 + wrist_inside_marker_pose: + angle_rotation_error: 2.9072380631019006 + euclidean_error: 0.03534072549788008 + wrist_top_marker_pose: + angle_rotation_error: 3.028214373254785 + euclidean_error: 0.03460232311897832 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0620528971630945 + euclidean_error: 0.03400736315368269 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9830720794858485 + euclidean_error: 0.03411470015611223 + wrist_inside_marker_pose: + angle_rotation_error: 2.8871124406169626 + euclidean_error: 0.03514940971410002 + wrist_top_marker_pose: + angle_rotation_error: 3.0839072865022956 + euclidean_error: 0.034607494769719735 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1161922386267684 + euclidean_error: 0.034234081357354826 + wrist_inside_marker_pose: + angle_rotation_error: 3.0560442623877173 + euclidean_error: 0.035554934668827115 + wrist_top_marker_pose: + angle_rotation_error: 3.0366047783067533 + euclidean_error: 0.03478633780157221 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0314470524891393 + euclidean_error: 0.033905543541834046 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.012378353523108 + euclidean_error: 0.03425586642277413 + wrist_inside_marker_pose: + angle_rotation_error: 2.9503325183470572 + euclidean_error: 0.03528724012115326 + wrist_top_marker_pose: + angle_rotation_error: 3.109597506895935 + euclidean_error: 0.03454283961089568 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0454284271586896 + euclidean_error: 0.034163925498116005 + wrist_inside_marker_pose: + angle_rotation_error: 3.0077367570606386 + euclidean_error: 0.03524645918782673 + wrist_top_marker_pose: + angle_rotation_error: 2.956753286600857 + euclidean_error: 0.03483028378214264 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0480446302603608 + euclidean_error: 0.03384473733679472 + base_right_marker_pose: + angle_rotation_error: 3.1300707857366037 + euclidean_error: 0.034274566354967534 + shoulder_marker_pose: + angle_rotation_error: 3.070163921528692 + euclidean_error: 0.034344925847331564 + wrist_inside_marker_pose: + angle_rotation_error: 3.047932574199442 + euclidean_error: 0.03524301237385701 + wrist_top_marker_pose: + angle_rotation_error: 3.139964053494022 + euclidean_error: 0.034703217910873385 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.034746381759375 + euclidean_error: 0.03425648572308968 + wrist_inside_marker_pose: + angle_rotation_error: 3.034074945278751 + euclidean_error: 0.03535318728976019 + wrist_top_marker_pose: + angle_rotation_error: 3.132402713957711 + euclidean_error: 0.03470832450757816 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1171329757764608 + euclidean_error: 0.03442726274588092 + shoulder_marker_pose: + angle_rotation_error: 3.0256442369482817 + euclidean_error: 0.03423453164247302 + wrist_inside_marker_pose: + angle_rotation_error: 2.966818822224426 + euclidean_error: 0.03523111106823722 + wrist_top_marker_pose: + angle_rotation_error: 3.017691124546595 + euclidean_error: 0.03468709822949128 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122144590240928 + euclidean_error: 0.03441721137158983 + shoulder_marker_pose: + angle_rotation_error: 3.026917759196355 + euclidean_error: 0.03432546493608554 + wrist_inside_marker_pose: + angle_rotation_error: 2.9653513444817015 + euclidean_error: 0.03525599072453269 + wrist_top_marker_pose: + angle_rotation_error: 2.9931921506751875 + euclidean_error: 0.034556382091728205 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.059875253872111 + euclidean_error: 0.03412927747634603 + wrist_inside_marker_pose: + angle_rotation_error: 2.9266806376854184 + euclidean_error: 0.03503249584017461 + wrist_top_marker_pose: + angle_rotation_error: 3.0545699885080926 + euclidean_error: 0.03454218488395679 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0171851289741927 + euclidean_error: 0.03428657144428876 + wrist_inside_marker_pose: + angle_rotation_error: 2.9667917063457336 + euclidean_error: 0.03535689228822434 + wrist_top_marker_pose: + angle_rotation_error: 3.1057243325780663 + euclidean_error: 0.03461906465037984 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.138702430734316 + euclidean_error: 0.0343443763778682 + shoulder_marker_pose: + angle_rotation_error: 3.022928791451422 + euclidean_error: 0.034187444473991975 + wrist_inside_marker_pose: + angle_rotation_error: 3.0560789617169846 + euclidean_error: 0.035582418888279926 + wrist_top_marker_pose: + angle_rotation_error: 3.121042927292389 + euclidean_error: 0.03465399620677507 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9994804359349607 + euclidean_error: 0.03416908838414184 + wrist_inside_marker_pose: + angle_rotation_error: 3.024383300953059 + euclidean_error: 0.03573869875163629 + wrist_top_marker_pose: + angle_rotation_error: 3.1398556368985946 + euclidean_error: 0.03476800465756919 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1392622110858333 + euclidean_error: 0.03438415570044038 + shoulder_marker_pose: + angle_rotation_error: 3.084088644297241 + euclidean_error: 0.034242095837786986 + wrist_inside_marker_pose: + angle_rotation_error: 3.0167580944455876 + euclidean_error: 0.03528739752690046 + wrist_top_marker_pose: + angle_rotation_error: 3.1279155517411437 + euclidean_error: 0.03462050467477857 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1196220024393644 + euclidean_error: 0.034481660420885164 + shoulder_marker_pose: + angle_rotation_error: 3.0150995074049436 + euclidean_error: 0.0342296736217804 + wrist_inside_marker_pose: + angle_rotation_error: 2.951951705751238 + euclidean_error: 0.035292732006349394 + wrist_top_marker_pose: + angle_rotation_error: 3.12438461745881 + euclidean_error: 0.03472066178080581 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.134807329066398 + euclidean_error: 0.03433619799676826 + shoulder_marker_pose: + angle_rotation_error: 3.136122674244585 + euclidean_error: 0.0342132521149088 + wrist_inside_marker_pose: + angle_rotation_error: 2.9805260868502206 + euclidean_error: 0.03527303458025592 + wrist_top_marker_pose: + angle_rotation_error: 3.0368389245343392 + euclidean_error: 0.034726646245680295 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.098571732175162 + euclidean_error: 0.034130086304550875 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0041229130704017 + euclidean_error: 0.03421675091341658 + wrist_inside_marker_pose: + angle_rotation_error: 2.911227327238809 + euclidean_error: 0.03544163290284624 + wrist_top_marker_pose: + angle_rotation_error: 3.130386739985865 + euclidean_error: 0.03468655125397092 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0781703836357686 + euclidean_error: 0.034018978243207355 + base_right_marker_pose: + angle_rotation_error: 3.121142253909834 + euclidean_error: 0.034433502063930095 + shoulder_marker_pose: + angle_rotation_error: 3.0486862139262496 + euclidean_error: 0.03418135675223313 + wrist_inside_marker_pose: + angle_rotation_error: 3.054509249785377 + euclidean_error: 0.03547226280470729 + wrist_top_marker_pose: + angle_rotation_error: 3.1040049485687162 + euclidean_error: 0.0346608095982605 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0408279257974584 + euclidean_error: 0.0339153454444295 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0051181399876534 + euclidean_error: 0.034179649605069314 + wrist_inside_marker_pose: + angle_rotation_error: 2.8940050539661204 + euclidean_error: 0.03502198315626212 + wrist_top_marker_pose: + angle_rotation_error: 3.1059878894075377 + euclidean_error: 0.034562627431020086 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.13944079167381 + euclidean_error: 0.034353464449440756 + shoulder_marker_pose: + angle_rotation_error: 3.0711345499026157 + euclidean_error: 0.03425169813599521 + wrist_inside_marker_pose: + angle_rotation_error: 3.06202381663999 + euclidean_error: 0.03561599317947056 + wrist_top_marker_pose: + angle_rotation_error: 3.0716692715783784 + euclidean_error: 0.03463797390103326 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.017681708294737 + euclidean_error: 0.0341727054047488 + wrist_inside_marker_pose: + angle_rotation_error: 2.9756440178696946 + euclidean_error: 0.035366313894978185 + wrist_top_marker_pose: + angle_rotation_error: 3.110694120075964 + euclidean_error: 0.034653474591446146 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0180954606301746 + euclidean_error: 0.03420492505799222 + wrist_inside_marker_pose: + angle_rotation_error: 2.9877338996491236 + euclidean_error: 0.03550190463443461 + wrist_top_marker_pose: + angle_rotation_error: 3.0769732547975504 + euclidean_error: 0.03488121568451922 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0341643365557256 + euclidean_error: 0.033923366511516895 + base_right_marker_pose: + angle_rotation_error: 3.139091117561536 + euclidean_error: 0.034402911225434 + shoulder_marker_pose: + angle_rotation_error: 3.1153418978921383 + euclidean_error: 0.03440290666694208 + wrist_inside_marker_pose: + angle_rotation_error: 2.985783306176126 + euclidean_error: 0.035532672395445615 + wrist_top_marker_pose: + angle_rotation_error: 3.090070182879355 + euclidean_error: 0.03486243742433904 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.061778231118718 + euclidean_error: 0.03395588757171098 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.078100205806194 + euclidean_error: 0.034232974042831904 + wrist_inside_marker_pose: + angle_rotation_error: 2.996398390052136 + euclidean_error: 0.03522193099302884 + wrist_top_marker_pose: + angle_rotation_error: 3.100612901358495 + euclidean_error: 0.03456352888834945 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.141286596952405 + euclidean_error: 0.034348667800168896 + shoulder_marker_pose: + angle_rotation_error: 3.1137507836808815 + euclidean_error: 0.03422467969496963 + wrist_inside_marker_pose: + angle_rotation_error: 3.1254462056491787 + euclidean_error: 0.03569635129085291 + wrist_top_marker_pose: + angle_rotation_error: 3.14115310413597 + euclidean_error: 0.03476443528222703 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0870093574658664 + euclidean_error: 0.0340235198465221 + base_right_marker_pose: + angle_rotation_error: 3.1328114415547126 + euclidean_error: 0.03442396636871222 + shoulder_marker_pose: + angle_rotation_error: 3.138054863470458 + euclidean_error: 0.0341976117913882 + wrist_inside_marker_pose: + angle_rotation_error: 2.9482988334592193 + euclidean_error: 0.035270105568777306 + wrist_top_marker_pose: + angle_rotation_error: 3.0498305185810666 + euclidean_error: 0.034732302190316214 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0504141256006565 + euclidean_error: 0.034173653198261815 + wrist_inside_marker_pose: + angle_rotation_error: 2.9030531169163987 + euclidean_error: 0.03522989445825726 + wrist_top_marker_pose: + angle_rotation_error: 2.967045777765841 + euclidean_error: 0.03465798407774927 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080979805211909 + euclidean_error: 0.03402285488367993 + base_right_marker_pose: + angle_rotation_error: 3.13528154353771 + euclidean_error: 0.034348858060327156 + shoulder_marker_pose: + angle_rotation_error: 3.0505494307762846 + euclidean_error: 0.034268068108430146 + wrist_inside_marker_pose: + angle_rotation_error: 2.9333108080130645 + euclidean_error: 0.035208935143504 + wrist_top_marker_pose: + angle_rotation_error: 3.098716002018702 + euclidean_error: 0.03472845954075838 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.042067773517398 + euclidean_error: 0.03432200450350734 + wrist_inside_marker_pose: + angle_rotation_error: 2.94976734749035 + euclidean_error: 0.03527396493693491 + wrist_top_marker_pose: + angle_rotation_error: 3.011971859632696 + euclidean_error: 0.03474665580802384 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0670059245924883 + euclidean_error: 0.03398753493986571 + base_right_marker_pose: + angle_rotation_error: 3.1294944436620447 + euclidean_error: 0.034357313308129446 + shoulder_marker_pose: + angle_rotation_error: 3.0716021713694244 + euclidean_error: 0.03439488550310856 + wrist_inside_marker_pose: + angle_rotation_error: 3.0564775706237945 + euclidean_error: 0.03553361087502847 + wrist_top_marker_pose: + angle_rotation_error: 3.0468978841903662 + euclidean_error: 0.0348033913761285 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.079625796246509 + euclidean_error: 0.03433738441894386 + shoulder_marker_pose: + angle_rotation_error: 3.0981271036646776 + euclidean_error: 0.0342975633284381 + wrist_inside_marker_pose: + angle_rotation_error: 3.0273402000403697 + euclidean_error: 0.03536160412750864 + wrist_top_marker_pose: + angle_rotation_error: 3.0929550552578347 + euclidean_error: 0.03478526684656438 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1415600463725744 + euclidean_error: 0.03435554445878641 + shoulder_marker_pose: + angle_rotation_error: 3.0380864362027005 + euclidean_error: 0.03427706267034353 + wrist_inside_marker_pose: + angle_rotation_error: 3.019220157342885 + euclidean_error: 0.03522873260296755 + wrist_top_marker_pose: + angle_rotation_error: 3.085382544392648 + euclidean_error: 0.03464898797316837 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0679122331322772 + euclidean_error: 0.033929565533712604 + base_right_marker_pose: + angle_rotation_error: 3.1265807459304753 + euclidean_error: 0.03432815571007663 + shoulder_marker_pose: + angle_rotation_error: 3.04298733029677 + euclidean_error: 0.034216350248503336 + wrist_inside_marker_pose: + angle_rotation_error: 2.8995050435251786 + euclidean_error: 0.03504162681539071 + wrist_top_marker_pose: + angle_rotation_error: 2.9945801349877974 + euclidean_error: 0.034501888455827495 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085768637571069 + euclidean_error: 0.03402048158923055 + base_right_marker_pose: + angle_rotation_error: 3.114908305472671 + euclidean_error: 0.034334057966345234 + shoulder_marker_pose: + angle_rotation_error: 3.0737420220680014 + euclidean_error: 0.03429474209403223 + wrist_inside_marker_pose: + angle_rotation_error: 2.961261473030989 + euclidean_error: 0.03516271452610491 + wrist_top_marker_pose: + angle_rotation_error: 3.127791425766313 + euclidean_error: 0.03464143446870712 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.082564781228822 + euclidean_error: 0.03397477567331196 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.042712445392681 + euclidean_error: 0.034206681734168604 + wrist_inside_marker_pose: + angle_rotation_error: 2.9348832605913944 + euclidean_error: 0.035407943065496994 + wrist_top_marker_pose: + angle_rotation_error: 3.0900514189001234 + euclidean_error: 0.03465366059391805 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1384943393939984 + euclidean_error: 0.034374535573495166 + shoulder_marker_pose: + angle_rotation_error: 3.0809436239670998 + euclidean_error: 0.03423969959376801 + wrist_inside_marker_pose: + angle_rotation_error: 2.99854903303495 + euclidean_error: 0.03531859521446982 + wrist_top_marker_pose: + angle_rotation_error: 3.062955002870707 + euclidean_error: 0.03479276174533508 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.121894562114976 + euclidean_error: 0.03440463332710618 + shoulder_marker_pose: + angle_rotation_error: 3.0614868656674203 + euclidean_error: 0.034197551112852505 + wrist_inside_marker_pose: + angle_rotation_error: 2.989874519320094 + euclidean_error: 0.035423926588466825 + wrist_top_marker_pose: + angle_rotation_error: 3.1302180292778625 + euclidean_error: 0.034775916050831926 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.069922213316725 + euclidean_error: 0.033976679460135766 + base_right_marker_pose: + angle_rotation_error: 3.1260512092486814 + euclidean_error: 0.03437485583024343 + shoulder_marker_pose: + angle_rotation_error: 3.0690357314349472 + euclidean_error: 0.03442641000241145 + wrist_inside_marker_pose: + angle_rotation_error: 2.958064185764642 + euclidean_error: 0.035198707800938034 + wrist_top_marker_pose: + angle_rotation_error: 3.095138341519289 + euclidean_error: 0.03459355263445206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.046929554718228 + euclidean_error: 0.03399612831262026 + base_right_marker_pose: + angle_rotation_error: 3.130516010827411 + euclidean_error: 0.03435367649801838 + shoulder_marker_pose: + angle_rotation_error: 3.080054417118687 + euclidean_error: 0.03433838618955569 + wrist_inside_marker_pose: + angle_rotation_error: 2.99627583143737 + euclidean_error: 0.0353354495013119 + wrist_top_marker_pose: + angle_rotation_error: 3.0818645294128575 + euclidean_error: 0.03467897751372328 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1083632564100037 + euclidean_error: 0.03406786981302229 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.084355237387891 + euclidean_error: 0.03420275536029397 + wrist_inside_marker_pose: + angle_rotation_error: 2.999175002031282 + euclidean_error: 0.03547167867243433 + wrist_top_marker_pose: + angle_rotation_error: 2.9727993710871936 + euclidean_error: 0.034846516860274616 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0448095654352914 + euclidean_error: 0.033961960339235236 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0685884348196346 + euclidean_error: 0.03416731507838159 + wrist_inside_marker_pose: + angle_rotation_error: 2.8948395858755736 + euclidean_error: 0.03513029280909542 + wrist_top_marker_pose: + angle_rotation_error: 3.08308924796496 + euclidean_error: 0.0347010142157547 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0779206980318388 + euclidean_error: 0.03400543574449005 + base_right_marker_pose: + angle_rotation_error: 3.1357085862522283 + euclidean_error: 0.034350500661695774 + shoulder_marker_pose: + angle_rotation_error: 3.0763248813847857 + euclidean_error: 0.03429491170858461 + wrist_inside_marker_pose: + angle_rotation_error: 2.956745447323276 + euclidean_error: 0.03525167810503764 + wrist_top_marker_pose: + angle_rotation_error: 3.0599672478335425 + euclidean_error: 0.034695068622770005 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.14136897029215 + euclidean_error: 0.034412809207559424 + shoulder_marker_pose: + angle_rotation_error: 3.020498417927883 + euclidean_error: 0.03422746666660081 + wrist_inside_marker_pose: + angle_rotation_error: 2.875179072810713 + euclidean_error: 0.035141181255502744 + wrist_top_marker_pose: + angle_rotation_error: 3.059422889912435 + euclidean_error: 0.03450927580800516 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0501032396056935 + euclidean_error: 0.03397313762436745 + base_right_marker_pose: + angle_rotation_error: 3.136623334403378 + euclidean_error: 0.0343779178392805 + shoulder_marker_pose: + angle_rotation_error: 3.080802135989796 + euclidean_error: 0.03424318240546185 + wrist_inside_marker_pose: + angle_rotation_error: 3.022102666744172 + euclidean_error: 0.035350692113189405 + wrist_top_marker_pose: + angle_rotation_error: 3.020491093003558 + euclidean_error: 0.03459697652843746 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1399520575704063 + euclidean_error: 0.034339013486316884 + shoulder_marker_pose: + angle_rotation_error: 3.096374432827297 + euclidean_error: 0.03427500581187513 + wrist_inside_marker_pose: + angle_rotation_error: 2.8748768527938036 + euclidean_error: 0.03513758283949495 + wrist_top_marker_pose: + angle_rotation_error: 3.124145827456787 + euclidean_error: 0.034662001981966874 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.135267100599795 + euclidean_error: 0.03435489993455961 + shoulder_marker_pose: + angle_rotation_error: 3.0461069975163673 + euclidean_error: 0.03413741396462077 + wrist_inside_marker_pose: + angle_rotation_error: 3.039289926200471 + euclidean_error: 0.03566623670886218 + wrist_top_marker_pose: + angle_rotation_error: 3.050422249471712 + euclidean_error: 0.03459206149728191 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0789989160212055 + euclidean_error: 0.0339934183607413 + base_right_marker_pose: + angle_rotation_error: 3.141218145266402 + euclidean_error: 0.034392010030932764 + shoulder_marker_pose: + angle_rotation_error: 3.024616664098501 + euclidean_error: 0.03427604441608766 + wrist_inside_marker_pose: + angle_rotation_error: 2.960696836106944 + euclidean_error: 0.035308336893322224 + wrist_top_marker_pose: + angle_rotation_error: 3.0743904534927373 + euclidean_error: 0.03472748304690186 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1333429700956077 + euclidean_error: 0.03435259319196169 + shoulder_marker_pose: + angle_rotation_error: 3.014850900037618 + euclidean_error: 0.03412838485809149 + wrist_inside_marker_pose: + angle_rotation_error: 3.062018510570385 + euclidean_error: 0.03572011220170802 + wrist_top_marker_pose: + angle_rotation_error: 3.1367421799512463 + euclidean_error: 0.03464203193193225 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.077445018872315 + euclidean_error: 0.034240532229604506 + wrist_inside_marker_pose: + angle_rotation_error: 3.035865984916693 + euclidean_error: 0.035710794123532494 + wrist_top_marker_pose: + angle_rotation_error: 3.008191778322719 + euclidean_error: 0.034761652227045095 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10744963419684 + euclidean_error: 0.0340509265577613 + base_right_marker_pose: + angle_rotation_error: 3.13252749856776 + euclidean_error: 0.03437531327215486 + shoulder_marker_pose: + angle_rotation_error: 3.0347603791737923 + euclidean_error: 0.03431058499222354 + wrist_inside_marker_pose: + angle_rotation_error: 2.9009710788681526 + euclidean_error: 0.035302726975522634 + wrist_top_marker_pose: + angle_rotation_error: 3.102998411726426 + euclidean_error: 0.03479912437578393 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.079485671045064 + euclidean_error: 0.03396261852670407 + base_right_marker_pose: + angle_rotation_error: 3.107008132554706 + euclidean_error: 0.03424630037535531 + shoulder_marker_pose: + angle_rotation_error: 3.063075276325496 + euclidean_error: 0.03424240195992967 + wrist_inside_marker_pose: + angle_rotation_error: 2.983238464098845 + euclidean_error: 0.03527327589655981 + wrist_top_marker_pose: + angle_rotation_error: 3.054443299572779 + euclidean_error: 0.03469057264857455 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0387451495342264 + euclidean_error: 0.03393403226385028 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.038462477759539 + euclidean_error: 0.034182480325696624 + wrist_inside_marker_pose: + angle_rotation_error: 2.9689946700792262 + euclidean_error: 0.0353688586794278 + wrist_top_marker_pose: + angle_rotation_error: 3.1210115859822523 + euclidean_error: 0.034601113165903 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.053930800567838 + euclidean_error: 0.03429141180633279 + wrist_inside_marker_pose: + angle_rotation_error: 2.9662856201078176 + euclidean_error: 0.0353509738941334 + wrist_top_marker_pose: + angle_rotation_error: 3.075458112431276 + euclidean_error: 0.0347090553569329 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.064506937279098 + euclidean_error: 0.03400450787834689 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.066277122071147 + euclidean_error: 0.03426802295149759 + wrist_inside_marker_pose: + angle_rotation_error: 2.9516684327551914 + euclidean_error: 0.03544699300627183 + wrist_top_marker_pose: + angle_rotation_error: 3.1149985555939304 + euclidean_error: 0.03487548450456439 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0811985742535857 + euclidean_error: 0.03398153209400364 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1331057685697745 + euclidean_error: 0.0342102837485788 + wrist_inside_marker_pose: + angle_rotation_error: 3.047901103330275 + euclidean_error: 0.03554721170146213 + wrist_top_marker_pose: + angle_rotation_error: 2.9302219919540122 + euclidean_error: 0.0349045586607362 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1400086143766104 + euclidean_error: 0.03434727711595227 + shoulder_marker_pose: + angle_rotation_error: 2.9984727868155407 + euclidean_error: 0.03427698461957259 + wrist_inside_marker_pose: + angle_rotation_error: 2.988870490887317 + euclidean_error: 0.03524812666190284 + wrist_top_marker_pose: + angle_rotation_error: 2.994174436049683 + euclidean_error: 0.034746493721787286 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122615900492865 + euclidean_error: 0.034327541057664564 + shoulder_marker_pose: + angle_rotation_error: 3.0360207297468556 + euclidean_error: 0.034245876969290504 + wrist_inside_marker_pose: + angle_rotation_error: 3.03141005657479 + euclidean_error: 0.03556134980323177 + wrist_top_marker_pose: + angle_rotation_error: 3.126658551798492 + euclidean_error: 0.034678771738269394 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1404666439778106 + euclidean_error: 0.03434452446339229 + shoulder_marker_pose: + angle_rotation_error: 3.0854812005739483 + euclidean_error: 0.034297112056566506 + wrist_inside_marker_pose: + angle_rotation_error: 3.105245224698095 + euclidean_error: 0.03549310321570757 + wrist_top_marker_pose: + angle_rotation_error: 2.8779350873799756 + euclidean_error: 0.03507944929844026 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1146414982451507 + euclidean_error: 0.03432095473382796 + shoulder_marker_pose: + angle_rotation_error: 3.0575029567072023 + euclidean_error: 0.034139834419365654 + wrist_inside_marker_pose: + angle_rotation_error: 3.0746567456850844 + euclidean_error: 0.03553080724508044 + wrist_top_marker_pose: + angle_rotation_error: 3.115129875821127 + euclidean_error: 0.03471371354884527 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.053352755405825 + euclidean_error: 0.0339379142240781 + base_right_marker_pose: + angle_rotation_error: 3.126064941977102 + euclidean_error: 0.03430819340559231 + shoulder_marker_pose: + angle_rotation_error: 3.0093659775052912 + euclidean_error: 0.034246856400693325 + wrist_inside_marker_pose: + angle_rotation_error: 3.1249862730687537 + euclidean_error: 0.035192675277239134 + wrist_top_marker_pose: + angle_rotation_error: 3.0050188949428582 + euclidean_error: 0.03475617520040622 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0701646655419967 + euclidean_error: 0.03401991150557089 + base_right_marker_pose: + angle_rotation_error: 3.1160787738568727 + euclidean_error: 0.034284683585491534 + shoulder_marker_pose: + angle_rotation_error: 3.061732252627683 + euclidean_error: 0.034184465402694424 + wrist_inside_marker_pose: + angle_rotation_error: 2.9483637184454876 + euclidean_error: 0.03550804341752068 + wrist_top_marker_pose: + angle_rotation_error: 3.1040184447699994 + euclidean_error: 0.03480076362664641 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0553412263811617 + euclidean_error: 0.03399355824057312 + base_right_marker_pose: + angle_rotation_error: 3.139437239176388 + euclidean_error: 0.03434372802207923 + shoulder_marker_pose: + angle_rotation_error: 3.012079602399373 + euclidean_error: 0.03412932999340804 + wrist_inside_marker_pose: + angle_rotation_error: 2.879432408232173 + euclidean_error: 0.03522927659074744 + wrist_top_marker_pose: + angle_rotation_error: 3.008332204788841 + euclidean_error: 0.0345124291632049 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1187057080740272 + euclidean_error: 0.03406238604598497 + base_right_marker_pose: + angle_rotation_error: 3.1343812518151473 + euclidean_error: 0.03432542531716274 + shoulder_marker_pose: + angle_rotation_error: 3.085329416915802 + euclidean_error: 0.03420630905745301 + wrist_inside_marker_pose: + angle_rotation_error: 3.1003908155451425 + euclidean_error: 0.035654196412770074 + wrist_top_marker_pose: + angle_rotation_error: 3.0904570762784815 + euclidean_error: 0.03463943236369338 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9964669378685747 + euclidean_error: 0.03414419765144632 + wrist_inside_marker_pose: + angle_rotation_error: 2.958311632079342 + euclidean_error: 0.035387804630784156 + wrist_top_marker_pose: + angle_rotation_error: 3.111073623825044 + euclidean_error: 0.03469916304529624 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0489559739132597 + euclidean_error: 0.03386699317979113 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.05754521466353 + euclidean_error: 0.034130880856067115 + wrist_inside_marker_pose: + angle_rotation_error: 2.7984158561606485 + euclidean_error: 0.03475611498393984 + wrist_top_marker_pose: + angle_rotation_error: 3.1345947020909626 + euclidean_error: 0.03449623488581996 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0371716148199193 + euclidean_error: 0.03421805602221522 + wrist_inside_marker_pose: + angle_rotation_error: 2.9873481237565103 + euclidean_error: 0.03528213007753896 + wrist_top_marker_pose: + angle_rotation_error: 3.0864623355720022 + euclidean_error: 0.03468267668687102 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.052097328049982 + euclidean_error: 0.03390266184482702 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.077957201360318 + euclidean_error: 0.034247286086097534 + wrist_inside_marker_pose: + angle_rotation_error: 2.994594188463559 + euclidean_error: 0.03548427875104221 + wrist_top_marker_pose: + angle_rotation_error: 3.0528032498951956 + euclidean_error: 0.034775575481121486 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.053222549446357 + euclidean_error: 0.03433498926489515 + wrist_inside_marker_pose: + angle_rotation_error: 3.0060783760399303 + euclidean_error: 0.03529951518308814 + wrist_top_marker_pose: + angle_rotation_error: 3.007825689336266 + euclidean_error: 0.03492743803258545 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1264575722375922 + euclidean_error: 0.03433010115273532 + shoulder_marker_pose: + angle_rotation_error: 3.0938617427277824 + euclidean_error: 0.034335903268604404 + wrist_inside_marker_pose: + angle_rotation_error: 3.009074518124182 + euclidean_error: 0.03525709297734735 + wrist_top_marker_pose: + angle_rotation_error: 3.0259063821672707 + euclidean_error: 0.034938960162280694 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.108709111016631 + euclidean_error: 0.0342182641402218 + shoulder_marker_pose: + angle_rotation_error: 3.121308416141004 + euclidean_error: 0.03424541061029541 + wrist_inside_marker_pose: + angle_rotation_error: 3.13906352088329 + euclidean_error: 0.03555126245349034 + wrist_top_marker_pose: + angle_rotation_error: 3.0431658902908736 + euclidean_error: 0.03464653371682629 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1282117628248294 + euclidean_error: 0.034379405995166985 + shoulder_marker_pose: + angle_rotation_error: 3.1125602115375974 + euclidean_error: 0.03432645928757669 + wrist_inside_marker_pose: + angle_rotation_error: 2.9475364217388242 + euclidean_error: 0.03533861940299069 + wrist_top_marker_pose: + angle_rotation_error: 3.1028620072891253 + euclidean_error: 0.03480486608823135 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085949407741059 + euclidean_error: 0.033964807646607906 + base_right_marker_pose: + angle_rotation_error: 3.138957364544534 + euclidean_error: 0.034374185373468334 + shoulder_marker_pose: + angle_rotation_error: 3.0198131234090835 + euclidean_error: 0.034140728416013476 + wrist_inside_marker_pose: + angle_rotation_error: 2.9609917300920046 + euclidean_error: 0.035489450826550195 + wrist_top_marker_pose: + angle_rotation_error: 3.080854161849776 + euclidean_error: 0.03464389505118168 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1321806289611795 + euclidean_error: 0.03427157645667867 + shoulder_marker_pose: + angle_rotation_error: 3.0080709558467777 + euclidean_error: 0.03421673696241145 + wrist_inside_marker_pose: + angle_rotation_error: 2.989893476190723 + euclidean_error: 0.035163679029180016 + wrist_top_marker_pose: + angle_rotation_error: 3.0556744288575386 + euclidean_error: 0.034768128081502876 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.126858705504775 + euclidean_error: 0.03434306063374415 + shoulder_marker_pose: + angle_rotation_error: 3.0288823222518584 + euclidean_error: 0.03427054425149214 + wrist_inside_marker_pose: + angle_rotation_error: 2.937693382569673 + euclidean_error: 0.035269913367869964 + wrist_top_marker_pose: + angle_rotation_error: 3.0744904264486896 + euclidean_error: 0.03465544301635537 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085543444724363 + euclidean_error: 0.03402886693563706 + base_right_marker_pose: + angle_rotation_error: 3.1206591228451273 + euclidean_error: 0.034328782104524155 + shoulder_marker_pose: + angle_rotation_error: 3.057127570722238 + euclidean_error: 0.03421915958422905 + wrist_inside_marker_pose: + angle_rotation_error: 2.9713514092249698 + euclidean_error: 0.0352016905767637 + wrist_top_marker_pose: + angle_rotation_error: 3.1234683244587824 + euclidean_error: 0.03457802485253819 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0612045418095546 + euclidean_error: 0.03431281315841485 + wrist_inside_marker_pose: + angle_rotation_error: 2.9221835827800606 + euclidean_error: 0.0351859707879639 + wrist_top_marker_pose: + angle_rotation_error: 3.0934788841126313 + euclidean_error: 0.03471525675308334 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.047254283291496 + euclidean_error: 0.03382884006436064 + base_right_marker_pose: + angle_rotation_error: 3.137244319869773 + euclidean_error: 0.03442599801979089 + shoulder_marker_pose: + angle_rotation_error: 3.0259296148024606 + euclidean_error: 0.03420518336982507 + wrist_inside_marker_pose: + angle_rotation_error: 3.1156973390002065 + euclidean_error: 0.035617179911441164 + wrist_top_marker_pose: + angle_rotation_error: 3.0028095728346464 + euclidean_error: 0.034729792548734754 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1071263657459296 + euclidean_error: 0.03419057221365147 + wrist_inside_marker_pose: + angle_rotation_error: 2.9811613652130142 + euclidean_error: 0.03514472442037901 + wrist_top_marker_pose: + angle_rotation_error: 3.11303742572619 + euclidean_error: 0.03463676407926761 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.039612537220662 + euclidean_error: 0.033947309105535985 + base_right_marker_pose: + angle_rotation_error: 3.130818922154277 + euclidean_error: 0.034403824477806565 + shoulder_marker_pose: + angle_rotation_error: 3.0445773212991014 + euclidean_error: 0.03426726426414435 + wrist_inside_marker_pose: + angle_rotation_error: 2.9097854823503093 + euclidean_error: 0.035120971555304484 + wrist_top_marker_pose: + angle_rotation_error: 3.028671150603943 + euclidean_error: 0.0348916530331554 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0800439778780726 + euclidean_error: 0.03397397020714579 + base_right_marker_pose: + angle_rotation_error: 3.1346532337624744 + euclidean_error: 0.03435306527531632 + shoulder_marker_pose: + angle_rotation_error: 3.0209569026630536 + euclidean_error: 0.03430186969188021 + wrist_inside_marker_pose: + angle_rotation_error: 3.0393834844327015 + euclidean_error: 0.03543608518694763 + wrist_top_marker_pose: + angle_rotation_error: 3.021572229352898 + euclidean_error: 0.03462445793402 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089136703405101 + euclidean_error: 0.03406005359468617 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.085457886888869 + euclidean_error: 0.0342186323590759 + wrist_inside_marker_pose: + angle_rotation_error: 2.977494079643749 + euclidean_error: 0.03554804237819321 + wrist_top_marker_pose: + angle_rotation_error: 3.0847574852921227 + euclidean_error: 0.03489150599479318 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.138443708174579 + euclidean_error: 0.0343423347668652 + shoulder_marker_pose: + angle_rotation_error: 3.0614438746260393 + euclidean_error: 0.03428940900620824 + wrist_inside_marker_pose: + angle_rotation_error: 3.046875160664338 + euclidean_error: 0.03536712112699511 + wrist_top_marker_pose: + angle_rotation_error: 2.978486138930376 + euclidean_error: 0.03486519124788706 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0913159126652205 + euclidean_error: 0.03404673708071182 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.113752932259072 + euclidean_error: 0.034214768484260416 + wrist_inside_marker_pose: + angle_rotation_error: 3.13365895674621 + euclidean_error: 0.03574999151765276 + wrist_top_marker_pose: + angle_rotation_error: 3.0783308006274552 + euclidean_error: 0.034806772232730585 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.121405682271466 + euclidean_error: 0.03435162468224705 + shoulder_marker_pose: + angle_rotation_error: 3.1333119566427903 + euclidean_error: 0.034358968983075 + wrist_inside_marker_pose: + angle_rotation_error: 2.9995442062395314 + euclidean_error: 0.03531354341393415 + wrist_top_marker_pose: + angle_rotation_error: 3.0220516707024765 + euclidean_error: 0.03487740472890787 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0959759157916062 + euclidean_error: 0.03400307574366898 + base_right_marker_pose: + angle_rotation_error: 3.13494160843293 + euclidean_error: 0.03439839943213848 + shoulder_marker_pose: + angle_rotation_error: 3.0229935580771623 + euclidean_error: 0.03416577770459937 + wrist_inside_marker_pose: + angle_rotation_error: 2.8595377740052808 + euclidean_error: 0.03510762462124741 + wrist_top_marker_pose: + angle_rotation_error: 2.9665591377301634 + euclidean_error: 0.03447911063414392 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.052610419918993 + euclidean_error: 0.033915010342798056 + base_right_marker_pose: + angle_rotation_error: 3.1119501345128997 + euclidean_error: 0.03444036443323413 + shoulder_marker_pose: + angle_rotation_error: 3.0374126688701293 + euclidean_error: 0.034280096777980565 + wrist_inside_marker_pose: + angle_rotation_error: 3.029064658946431 + euclidean_error: 0.03531656551422526 + wrist_top_marker_pose: + angle_rotation_error: 3.0697828170828063 + euclidean_error: 0.03490459112670311 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.048528574574964 + euclidean_error: 0.03437171254641909 + wrist_inside_marker_pose: + angle_rotation_error: 3.0840639797806912 + euclidean_error: 0.03531707864504277 + wrist_top_marker_pose: + angle_rotation_error: 3.0840556162423223 + euclidean_error: 0.03491893092753072 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0843027634552045 + euclidean_error: 0.033985973682924574 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0560099415635777 + euclidean_error: 0.03428663016202637 + wrist_inside_marker_pose: + angle_rotation_error: 3.125088828419238 + euclidean_error: 0.035658863237681436 + wrist_top_marker_pose: + angle_rotation_error: 3.0253374134412843 + euclidean_error: 0.034963473303874414 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0931900686079863 + euclidean_error: 0.03399847943077031 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.058879432719208 + euclidean_error: 0.034264901013927915 + wrist_inside_marker_pose: + angle_rotation_error: 3.0862167238192595 + euclidean_error: 0.03546858982775921 + wrist_top_marker_pose: + angle_rotation_error: 3.0645615616036257 + euclidean_error: 0.03467715977620402 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.07744203037652 + euclidean_error: 0.03396127159747782 + base_right_marker_pose: + angle_rotation_error: 3.140486453045665 + euclidean_error: 0.03437289269337005 + shoulder_marker_pose: + angle_rotation_error: 3.1070499518555352 + euclidean_error: 0.03419515601303034 + wrist_inside_marker_pose: + angle_rotation_error: 2.9969628356351827 + euclidean_error: 0.03504475412436005 + wrist_top_marker_pose: + angle_rotation_error: 3.0311504608295885 + euclidean_error: 0.03468391846518248 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0750110298313866 + euclidean_error: 0.03394076677033699 + base_right_marker_pose: + angle_rotation_error: 3.1159902387540024 + euclidean_error: 0.034305348643024716 + shoulder_marker_pose: + angle_rotation_error: 3.0434414333570774 + euclidean_error: 0.03426720739233125 + wrist_inside_marker_pose: + angle_rotation_error: 2.958299247458458 + euclidean_error: 0.0354124428403252 + wrist_top_marker_pose: + angle_rotation_error: 3.0991885757575033 + euclidean_error: 0.03468187447881601 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1269856615402887 + euclidean_error: 0.03440560661620608 + shoulder_marker_pose: + angle_rotation_error: 3.025555334439867 + euclidean_error: 0.03426214198954498 + wrist_inside_marker_pose: + angle_rotation_error: 2.993510845103496 + euclidean_error: 0.03532225952910704 + wrist_top_marker_pose: + angle_rotation_error: 3.081408799415647 + euclidean_error: 0.03485385782019699 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0877842563155524 + euclidean_error: 0.03398401056933036 + base_right_marker_pose: + angle_rotation_error: 3.133084842439148 + euclidean_error: 0.03438524398243298 + shoulder_marker_pose: + angle_rotation_error: 3.0588553965479046 + euclidean_error: 0.03417629679388296 + wrist_inside_marker_pose: + angle_rotation_error: 2.9326316233042085 + euclidean_error: 0.03503715802510365 + wrist_top_marker_pose: + angle_rotation_error: 3.1142375946927103 + euclidean_error: 0.034753402842265156 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0704521368568667 + euclidean_error: 0.033889532205404506 + base_right_marker_pose: + angle_rotation_error: 3.1311601588313036 + euclidean_error: 0.034310112311596246 + shoulder_marker_pose: + angle_rotation_error: 3.007303579119017 + euclidean_error: 0.034216414369282654 + wrist_inside_marker_pose: + angle_rotation_error: 3.065666521982509 + euclidean_error: 0.03542929212391329 + wrist_top_marker_pose: + angle_rotation_error: 3.0844739505381256 + euclidean_error: 0.03456382718971707 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.983740466125655 + euclidean_error: 0.03417975357578417 + wrist_inside_marker_pose: + angle_rotation_error: 2.943878018470913 + euclidean_error: 0.03532439378555882 + wrist_top_marker_pose: + angle_rotation_error: 3.12481832157869 + euclidean_error: 0.0345920357733138 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.118390953254361 + euclidean_error: 0.03438499462938837 + shoulder_marker_pose: + angle_rotation_error: 2.975717149790273 + euclidean_error: 0.034147702906887595 + wrist_inside_marker_pose: + angle_rotation_error: 2.9014954486444515 + euclidean_error: 0.03515823300226973 + wrist_top_marker_pose: + angle_rotation_error: 2.9577874239303217 + euclidean_error: 0.034494470594275344 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.12871436540919 + euclidean_error: 0.034346742616064976 + shoulder_marker_pose: + angle_rotation_error: 3.124801418344655 + euclidean_error: 0.03425078998303003 + wrist_inside_marker_pose: + angle_rotation_error: 2.963401389115324 + euclidean_error: 0.03519929628704548 + wrist_top_marker_pose: + angle_rotation_error: 3.0090494207887857 + euclidean_error: 0.034730403570958024 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.134637080682782 + euclidean_error: 0.03429347096447271 + shoulder_marker_pose: + angle_rotation_error: 3.0076207052251602 + euclidean_error: 0.03418812640363539 + wrist_inside_marker_pose: + angle_rotation_error: 3.012032953243933 + euclidean_error: 0.035545705737183526 + wrist_top_marker_pose: + angle_rotation_error: 3.138171062896209 + euclidean_error: 0.034744020352307385 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0701573134848 + euclidean_error: 0.03395813695577093 + base_right_marker_pose: + angle_rotation_error: 3.1409815439290685 + euclidean_error: 0.03438012840310788 + shoulder_marker_pose: + angle_rotation_error: 3.0816175806832784 + euclidean_error: 0.034314428776422434 + wrist_inside_marker_pose: + angle_rotation_error: 3.0542157268729584 + euclidean_error: 0.03529153557990642 + wrist_top_marker_pose: + angle_rotation_error: 3.064508638292374 + euclidean_error: 0.034672345379801746 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1030088653675043 + euclidean_error: 0.034036846919960964 + base_right_marker_pose: + angle_rotation_error: 3.114273769755155 + euclidean_error: 0.034280348814885155 + shoulder_marker_pose: + angle_rotation_error: 3.0738459619518346 + euclidean_error: 0.03419320419543911 + wrist_inside_marker_pose: + angle_rotation_error: 2.9372672175527414 + euclidean_error: 0.03536301984489909 + wrist_top_marker_pose: + angle_rotation_error: 3.0967556668824208 + euclidean_error: 0.03467282483331055 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.044616492876691 + euclidean_error: 0.03389879838057299 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0654680412448516 + euclidean_error: 0.03421162548804945 + wrist_inside_marker_pose: + angle_rotation_error: 3.039466449257714 + euclidean_error: 0.03539600561678465 + wrist_top_marker_pose: + angle_rotation_error: 3.101758806628157 + euclidean_error: 0.0346334691544866 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078074764179882 + euclidean_error: 0.03397150504799764 + base_right_marker_pose: + angle_rotation_error: 3.1076650240780586 + euclidean_error: 0.034278217991834996 + shoulder_marker_pose: + angle_rotation_error: 3.063839196765814 + euclidean_error: 0.03419535738275778 + wrist_inside_marker_pose: + angle_rotation_error: 2.995825503677506 + euclidean_error: 0.035169106286383485 + wrist_top_marker_pose: + angle_rotation_error: 3.009843155432581 + euclidean_error: 0.03479779010888203 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.092759957064728 + euclidean_error: 0.0342430012333397 + shoulder_marker_pose: + angle_rotation_error: 3.0382006246457456 + euclidean_error: 0.034146678438400316 + wrist_inside_marker_pose: + angle_rotation_error: 2.9495174519568397 + euclidean_error: 0.03524141964467304 + wrist_top_marker_pose: + angle_rotation_error: 3.086441344459989 + euclidean_error: 0.034573031110714386 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.126325974882838 + euclidean_error: 0.03435367665425951 + shoulder_marker_pose: + angle_rotation_error: 3.0469843670104666 + euclidean_error: 0.03422208428517547 + wrist_inside_marker_pose: + angle_rotation_error: 3.0260658439682513 + euclidean_error: 0.0353768192000238 + wrist_top_marker_pose: + angle_rotation_error: 3.009975330181439 + euclidean_error: 0.03474947522826836 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1272501482982746 + euclidean_error: 0.034280173004771736 + shoulder_marker_pose: + angle_rotation_error: 3.071541682100659 + euclidean_error: 0.03431398587771842 + wrist_inside_marker_pose: + angle_rotation_error: 2.983946583615006 + euclidean_error: 0.03538374525398846 + wrist_top_marker_pose: + angle_rotation_error: 3.071253563127628 + euclidean_error: 0.034803607197625194 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0935392095513414 + euclidean_error: 0.033985745623221986 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.054621887359346 + euclidean_error: 0.034130072706962555 + wrist_inside_marker_pose: + angle_rotation_error: 2.9088177956672703 + euclidean_error: 0.03529464801963303 + wrist_top_marker_pose: + angle_rotation_error: 3.1005825181463096 + euclidean_error: 0.03464948678095767 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0718536225868243 + euclidean_error: 0.03395112860875658 + base_right_marker_pose: + angle_rotation_error: 3.141265800743504 + euclidean_error: 0.034366180312373644 + shoulder_marker_pose: + angle_rotation_error: 3.023476324582893 + euclidean_error: 0.0341440145563762 + wrist_inside_marker_pose: + angle_rotation_error: 2.9207509082175944 + euclidean_error: 0.035238265984617684 + wrist_top_marker_pose: + angle_rotation_error: 3.085779841222684 + euclidean_error: 0.03485333386143735 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0642665518896792 + euclidean_error: 0.03391960489665014 + base_right_marker_pose: + angle_rotation_error: 3.094401935869335 + euclidean_error: 0.03430984832508755 + shoulder_marker_pose: + angle_rotation_error: 3.0180043847068054 + euclidean_error: 0.03418942989712822 + wrist_inside_marker_pose: + angle_rotation_error: 2.972190196148366 + euclidean_error: 0.035449156382694406 + wrist_top_marker_pose: + angle_rotation_error: 3.090327494222408 + euclidean_error: 0.03464580881630772 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1334612538336986 + euclidean_error: 0.03441204744434696 + shoulder_marker_pose: + angle_rotation_error: 3.080024505006964 + euclidean_error: 0.0342184308519361 + wrist_inside_marker_pose: + angle_rotation_error: 2.9652301230347593 + euclidean_error: 0.03513079279966562 + wrist_top_marker_pose: + angle_rotation_error: 3.0995158934657714 + euclidean_error: 0.03470145699233457 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.033038548924749 + euclidean_error: 0.034134852940309414 + wrist_inside_marker_pose: + angle_rotation_error: 2.95267001505056 + euclidean_error: 0.03530165476137492 + wrist_top_marker_pose: + angle_rotation_error: 3.1327085770409613 + euclidean_error: 0.034749691640831734 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1158412139192513 + euclidean_error: 0.03427580160076049 + shoulder_marker_pose: + angle_rotation_error: 3.0051200027427902 + euclidean_error: 0.034259217692677514 + wrist_inside_marker_pose: + angle_rotation_error: 2.947656473931732 + euclidean_error: 0.035105845424743425 + wrist_top_marker_pose: + angle_rotation_error: 3.0993970444771883 + euclidean_error: 0.03474726822343345 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.031290617611369 + euclidean_error: 0.034223650407668046 + wrist_inside_marker_pose: + angle_rotation_error: 2.9977266907500137 + euclidean_error: 0.03542701427504424 + wrist_top_marker_pose: + angle_rotation_error: 3.1136523875064532 + euclidean_error: 0.03467683359528485 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1160949264547404 + euclidean_error: 0.03425047233532231 + shoulder_marker_pose: + angle_rotation_error: 3.094636720335497 + euclidean_error: 0.034170847076996635 + wrist_inside_marker_pose: + angle_rotation_error: 2.9989319254447677 + euclidean_error: 0.035109405456440174 + wrist_top_marker_pose: + angle_rotation_error: 3.003434732565907 + euclidean_error: 0.034689705410802 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.107787012319801 + euclidean_error: 0.0344169565492018 + shoulder_marker_pose: + angle_rotation_error: 3.029544158377351 + euclidean_error: 0.03419291331578339 + wrist_inside_marker_pose: + angle_rotation_error: 2.962916455690836 + euclidean_error: 0.03540781267060104 + wrist_top_marker_pose: + angle_rotation_error: 3.027556350726048 + euclidean_error: 0.034762893443082345 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.140023386246121 + euclidean_error: 0.034299234518959776 + shoulder_marker_pose: + angle_rotation_error: 3.035039134675613 + euclidean_error: 0.03424214847436305 + wrist_inside_marker_pose: + angle_rotation_error: 2.9998131431106962 + euclidean_error: 0.035409325631993525 + wrist_top_marker_pose: + angle_rotation_error: 3.099083222451432 + euclidean_error: 0.03466585617900849 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.122102634669192 + euclidean_error: 0.03427104054014132 + shoulder_marker_pose: + angle_rotation_error: 3.0985687071181296 + euclidean_error: 0.03419752175060694 + wrist_inside_marker_pose: + angle_rotation_error: 2.9235196719709666 + euclidean_error: 0.03521484334799563 + wrist_top_marker_pose: + angle_rotation_error: 3.029332964386205 + euclidean_error: 0.03469359485364917 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.050857259849723 + euclidean_error: 0.03399255813910105 + base_right_marker_pose: + angle_rotation_error: 3.112747784181054 + euclidean_error: 0.03434550496720976 + shoulder_marker_pose: + angle_rotation_error: 3.043022555309754 + euclidean_error: 0.0341597718506183 + wrist_inside_marker_pose: + angle_rotation_error: 3.058073383413679 + euclidean_error: 0.03545551703853588 + wrist_top_marker_pose: + angle_rotation_error: 3.0807963997265873 + euclidean_error: 0.03461658435587758 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.13117553997399 + euclidean_error: 0.0344046505501807 + shoulder_marker_pose: + angle_rotation_error: 2.9990497954344084 + euclidean_error: 0.03420431382471233 + wrist_inside_marker_pose: + angle_rotation_error: 2.9138321886002525 + euclidean_error: 0.03485588361589075 + wrist_top_marker_pose: + angle_rotation_error: 3.133909040313957 + euclidean_error: 0.034545914524872864 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0944232331757013 + euclidean_error: 0.033968230986491425 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0900978876202747 + euclidean_error: 0.03416109235284767 + wrist_inside_marker_pose: + angle_rotation_error: 3.0425639917435343 + euclidean_error: 0.03526742551256476 + wrist_top_marker_pose: + angle_rotation_error: 3.0425785319156815 + euclidean_error: 0.03458570484680758 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.08183405395388 + euclidean_error: 0.03400785732805701 + base_right_marker_pose: + angle_rotation_error: 3.0896226437068677 + euclidean_error: 0.03425623891621873 + shoulder_marker_pose: + angle_rotation_error: 3.0255991733153325 + euclidean_error: 0.03407291028774648 + wrist_inside_marker_pose: + angle_rotation_error: 2.896634942455143 + euclidean_error: 0.03531858908688742 + wrist_top_marker_pose: + angle_rotation_error: 3.057417806127019 + euclidean_error: 0.03448889834880288 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.072034805283195 + euclidean_error: 0.033979960469041844 + base_right_marker_pose: + angle_rotation_error: 3.1292260959128235 + euclidean_error: 0.03428437747590223 + shoulder_marker_pose: + angle_rotation_error: 3.040389380396865 + euclidean_error: 0.03417342541797044 + wrist_inside_marker_pose: + angle_rotation_error: 2.9563270154916292 + euclidean_error: 0.03536118658891572 + wrist_top_marker_pose: + angle_rotation_error: 3.1217785956079287 + euclidean_error: 0.034862723065609315 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.125119714796203 + euclidean_error: 0.034013542288555 + base_right_marker_pose: + angle_rotation_error: 3.139577067765515 + euclidean_error: 0.03429896280480155 + shoulder_marker_pose: + angle_rotation_error: 3.073395737658108 + euclidean_error: 0.03438606081979964 + wrist_inside_marker_pose: + angle_rotation_error: 3.046511631408513 + euclidean_error: 0.035304219194042384 + wrist_top_marker_pose: + angle_rotation_error: 3.1052460399618522 + euclidean_error: 0.0348882120589848 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.07149283904944 + euclidean_error: 0.03393200978685353 + base_right_marker_pose: + angle_rotation_error: 3.134748440443718 + euclidean_error: 0.03436040123758541 + shoulder_marker_pose: + angle_rotation_error: 3.0278201444916695 + euclidean_error: 0.034191776955571296 + wrist_inside_marker_pose: + angle_rotation_error: 2.8871185447019645 + euclidean_error: 0.035051628566860685 + wrist_top_marker_pose: + angle_rotation_error: 3.0500771748631803 + euclidean_error: 0.03464589398282662 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1047858424837407 + euclidean_error: 0.03433869963865495 + shoulder_marker_pose: + angle_rotation_error: 2.987750789078765 + euclidean_error: 0.03419972501170856 + wrist_inside_marker_pose: + angle_rotation_error: 2.9537517724951097 + euclidean_error: 0.035270955454480196 + wrist_top_marker_pose: + angle_rotation_error: 3.141552664633604 + euclidean_error: 0.034662217636260526 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078228148749332 + euclidean_error: 0.03398286202240332 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0306211093680777 + euclidean_error: 0.03420683197735608 + wrist_inside_marker_pose: + angle_rotation_error: 2.8654413948263695 + euclidean_error: 0.03498476763329778 + wrist_top_marker_pose: + angle_rotation_error: 3.039737737492768 + euclidean_error: 0.03450432293424425 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0636020541407225 + euclidean_error: 0.033948587000072375 + base_right_marker_pose: + angle_rotation_error: 3.141259235414785 + euclidean_error: 0.034314180455573835 + shoulder_marker_pose: + angle_rotation_error: 2.9726068211057526 + euclidean_error: 0.03412000093375598 + wrist_inside_marker_pose: + angle_rotation_error: 2.938800654192858 + euclidean_error: 0.03499555399205553 + wrist_top_marker_pose: + angle_rotation_error: 3.0876924311144824 + euclidean_error: 0.0345096596595416 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0909295148744045 + euclidean_error: 0.03394680697284734 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.947019376577609 + euclidean_error: 0.03413923500893454 + wrist_inside_marker_pose: + angle_rotation_error: 3.0536920286358527 + euclidean_error: 0.035348734502570915 + wrist_top_marker_pose: + angle_rotation_error: 3.136288910667239 + euclidean_error: 0.03455638207872303 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1359042125142347 + euclidean_error: 0.034378256938772084 + shoulder_marker_pose: + angle_rotation_error: 3.0504336662276246 + euclidean_error: 0.03416799962316912 + wrist_inside_marker_pose: + angle_rotation_error: 3.035867893306843 + euclidean_error: 0.035589677315340636 + wrist_top_marker_pose: + angle_rotation_error: 3.071493246780951 + euclidean_error: 0.034797103881131844 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0835876864655978 + euclidean_error: 0.03394863152124335 + base_right_marker_pose: + angle_rotation_error: 3.1323138775186234 + euclidean_error: 0.034355538587141125 + shoulder_marker_pose: + angle_rotation_error: 3.085422485942997 + euclidean_error: 0.034287144986111025 + wrist_inside_marker_pose: + angle_rotation_error: 2.9187825635176567 + euclidean_error: 0.035235615792088705 + wrist_top_marker_pose: + angle_rotation_error: 3.1361609442571283 + euclidean_error: 0.03472241140384973 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.062680971446514 + euclidean_error: 0.03392380130862107 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0836674459268205 + euclidean_error: 0.03432016353653806 + wrist_inside_marker_pose: + angle_rotation_error: 2.9922523670057926 + euclidean_error: 0.03544608548288846 + wrist_top_marker_pose: + angle_rotation_error: 3.129779005188896 + euclidean_error: 0.03471574632697728 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.109274930623518 + euclidean_error: 0.03429102067424441 + shoulder_marker_pose: + angle_rotation_error: 3.058552741956084 + euclidean_error: 0.034229692096443394 + wrist_inside_marker_pose: + angle_rotation_error: 2.9972347364557548 + euclidean_error: 0.035282545778468746 + wrist_top_marker_pose: + angle_rotation_error: 3.088577340264507 + euclidean_error: 0.03460777476629178 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117414102293346 + euclidean_error: 0.03410259787649822 + base_right_marker_pose: + angle_rotation_error: 3.1349454350169337 + euclidean_error: 0.03441049209072523 + shoulder_marker_pose: + angle_rotation_error: 3.1245625478166943 + euclidean_error: 0.034396004726867574 + wrist_inside_marker_pose: + angle_rotation_error: 3.0491274097604206 + euclidean_error: 0.03546306307989765 + wrist_top_marker_pose: + angle_rotation_error: 3.004983545963126 + euclidean_error: 0.035018314094191316 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1368025624899687 + euclidean_error: 0.03432566752282305 + shoulder_marker_pose: + angle_rotation_error: 2.991419150240844 + euclidean_error: 0.0340934431562059 + wrist_inside_marker_pose: + angle_rotation_error: 2.899411473666476 + euclidean_error: 0.03502440161471625 + wrist_top_marker_pose: + angle_rotation_error: 3.0167939361010587 + euclidean_error: 0.034586894058871616 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.071876910790387 + euclidean_error: 0.033907008377850316 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0016119974820974 + euclidean_error: 0.03423673782728878 + wrist_inside_marker_pose: + angle_rotation_error: 3.098435318114835 + euclidean_error: 0.03563735719569934 + wrist_top_marker_pose: + angle_rotation_error: 3.1407689511727663 + euclidean_error: 0.034677361490863576 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1114842444893385 + euclidean_error: 0.033990268636900405 + base_right_marker_pose: + angle_rotation_error: 3.1294276519389537 + euclidean_error: 0.03425558465368656 + shoulder_marker_pose: + angle_rotation_error: 3.1335690846676147 + euclidean_error: 0.03419891274447065 + wrist_inside_marker_pose: + angle_rotation_error: 3.0115372076687277 + euclidean_error: 0.03548944665416287 + wrist_top_marker_pose: + angle_rotation_error: 3.133872299841844 + euclidean_error: 0.0345620165361064 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.059731803574438 + euclidean_error: 0.03393721687032983 + base_right_marker_pose: + angle_rotation_error: 3.1299598092572336 + euclidean_error: 0.03440735836235997 + shoulder_marker_pose: + angle_rotation_error: 3.0237074771145838 + euclidean_error: 0.03422780311391281 + wrist_inside_marker_pose: + angle_rotation_error: 3.0300792159818934 + euclidean_error: 0.035360797941482475 + wrist_top_marker_pose: + angle_rotation_error: 3.130101760660171 + euclidean_error: 0.034720166951678795 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0830352985600302 + euclidean_error: 0.03407352486638069 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0209947308520113 + euclidean_error: 0.03418377822026292 + wrist_inside_marker_pose: + angle_rotation_error: 3.02493034177665 + euclidean_error: 0.03541720206194286 + wrist_top_marker_pose: + angle_rotation_error: 3.1017034001048924 + euclidean_error: 0.034742145057146206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0533079747773284 + euclidean_error: 0.03390572245558894 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.068287462649736 + euclidean_error: 0.03416599788966439 + wrist_inside_marker_pose: + angle_rotation_error: 3.0326751966689134 + euclidean_error: 0.03519683434008389 + wrist_top_marker_pose: + angle_rotation_error: 3.054097437111014 + euclidean_error: 0.034648442336284634 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.0961523632081085 + euclidean_error: 0.03423246112083753 + shoulder_marker_pose: + angle_rotation_error: 3.1315295482426633 + euclidean_error: 0.03424084803704212 + wrist_inside_marker_pose: + angle_rotation_error: 3.024868344245469 + euclidean_error: 0.03518988875597431 + wrist_top_marker_pose: + angle_rotation_error: 2.9359358458964944 + euclidean_error: 0.0347602718789682 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.075832202654987 + euclidean_error: 0.03401470731289823 + base_right_marker_pose: + angle_rotation_error: 3.126869160555593 + euclidean_error: 0.03436821587372473 + shoulder_marker_pose: + angle_rotation_error: 3.0154702566415366 + euclidean_error: 0.03416625253715089 + wrist_inside_marker_pose: + angle_rotation_error: 2.903364034031994 + euclidean_error: 0.034969447201958666 + wrist_top_marker_pose: + angle_rotation_error: 3.079938488164901 + euclidean_error: 0.03459805747889809 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.098933944224866 + euclidean_error: 0.033987941375576626 + base_right_marker_pose: + angle_rotation_error: 3.123244714828974 + euclidean_error: 0.03432896751301213 + shoulder_marker_pose: + angle_rotation_error: 3.089528870032027 + euclidean_error: 0.034271811180363244 + wrist_inside_marker_pose: + angle_rotation_error: 2.923743575202938 + euclidean_error: 0.035129041438595424 + wrist_top_marker_pose: + angle_rotation_error: 3.107714396418064 + euclidean_error: 0.03466360095375602 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0599738861323282 + euclidean_error: 0.03389961538666941 + base_right_marker_pose: + angle_rotation_error: 3.138746017586885 + euclidean_error: 0.03434851508601363 + shoulder_marker_pose: + angle_rotation_error: 2.978717094623358 + euclidean_error: 0.034154449161339556 + wrist_inside_marker_pose: + angle_rotation_error: 2.9345804315984854 + euclidean_error: 0.03520129838654067 + wrist_top_marker_pose: + angle_rotation_error: 3.089208232695256 + euclidean_error: 0.0345926529730246 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1180464288806564 + euclidean_error: 0.034068135083942214 + base_right_marker_pose: + angle_rotation_error: 3.10258994025188 + euclidean_error: 0.0341872537004318 + shoulder_marker_pose: + angle_rotation_error: 3.1029053658576493 + euclidean_error: 0.03420777653774831 + wrist_inside_marker_pose: + angle_rotation_error: 3.0325548903099286 + euclidean_error: 0.035488151880593774 + wrist_top_marker_pose: + angle_rotation_error: 3.0126018214142984 + euclidean_error: 0.034795449692992864 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0791707680144373 + euclidean_error: 0.03392709840893115 + base_right_marker_pose: + angle_rotation_error: 3.1165001724095704 + euclidean_error: 0.03432953409334583 + shoulder_marker_pose: + angle_rotation_error: 2.9971304565754036 + euclidean_error: 0.03410975516811192 + wrist_inside_marker_pose: + angle_rotation_error: 2.9632240453141194 + euclidean_error: 0.035181448088190216 + wrist_top_marker_pose: + angle_rotation_error: 3.0324383171704343 + euclidean_error: 0.0345779274416918 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0869028894827806 + euclidean_error: 0.03411073563883902 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.032927762850374 + euclidean_error: 0.03415396792362554 + wrist_inside_marker_pose: + angle_rotation_error: 2.8658562039058584 + euclidean_error: 0.035131050156024315 + wrist_top_marker_pose: + angle_rotation_error: 3.078832663515867 + euclidean_error: 0.034622811076347966 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0828451884192107 + euclidean_error: 0.03396165769719055 + base_right_marker_pose: + angle_rotation_error: 3.129752894012533 + euclidean_error: 0.03431317777927544 + shoulder_marker_pose: + angle_rotation_error: 3.079706601895169 + euclidean_error: 0.0341343869862912 + wrist_inside_marker_pose: + angle_rotation_error: 3.0749839756078132 + euclidean_error: 0.03544374687120923 + wrist_top_marker_pose: + angle_rotation_error: 3.0885510252138153 + euclidean_error: 0.03464281813325254 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1399350003986926 + euclidean_error: 0.034344098891971354 + shoulder_marker_pose: + angle_rotation_error: 3.062023943801086 + euclidean_error: 0.03426866237284329 + wrist_inside_marker_pose: + angle_rotation_error: 2.9010367494322766 + euclidean_error: 0.03520450335821495 + wrist_top_marker_pose: + angle_rotation_error: 3.094038338135332 + euclidean_error: 0.03479176716162737 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.05170532026135 + euclidean_error: 0.0342067735030658 + wrist_inside_marker_pose: + angle_rotation_error: 2.9094771780537667 + euclidean_error: 0.035219676475539 + wrist_top_marker_pose: + angle_rotation_error: 3.094104173372608 + euclidean_error: 0.03473606174304696 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.066172249892067 + euclidean_error: 0.03398549630127146 + base_right_marker_pose: + angle_rotation_error: 3.1323735793188496 + euclidean_error: 0.034326997236530696 + shoulder_marker_pose: + angle_rotation_error: 3.1125603623045164 + euclidean_error: 0.03430494004407387 + wrist_inside_marker_pose: + angle_rotation_error: 3.0634788089394296 + euclidean_error: 0.035626234769017995 + wrist_top_marker_pose: + angle_rotation_error: 2.97241087352199 + euclidean_error: 0.03494074125689857 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0523951454522757 + euclidean_error: 0.03394762588779166 + base_right_marker_pose: + angle_rotation_error: 3.11886436012815 + euclidean_error: 0.034296898414662796 + shoulder_marker_pose: + angle_rotation_error: 3.0197633237110546 + euclidean_error: 0.034186999741836074 + wrist_inside_marker_pose: + angle_rotation_error: 3.0017813349476308 + euclidean_error: 0.03534731007284151 + wrist_top_marker_pose: + angle_rotation_error: 3.1411045776255926 + euclidean_error: 0.034770939143797 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0967285001672824 + euclidean_error: 0.034061203748505464 + base_right_marker_pose: + angle_rotation_error: 3.1110915375331354 + euclidean_error: 0.03429611336847663 + shoulder_marker_pose: + angle_rotation_error: 3.0692762393856805 + euclidean_error: 0.034305469607080905 + wrist_inside_marker_pose: + angle_rotation_error: 2.98310103236109 + euclidean_error: 0.03540772247932712 + wrist_top_marker_pose: + angle_rotation_error: 3.0891205612461126 + euclidean_error: 0.03471566707845223 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0758803646391413 + euclidean_error: 0.034127045867455054 + base_right_marker_pose: + angle_rotation_error: 3.129746762566327 + euclidean_error: 0.03434686307858688 + shoulder_marker_pose: + angle_rotation_error: 3.0473575222629745 + euclidean_error: 0.03424042049224278 + wrist_inside_marker_pose: + angle_rotation_error: 3.0171463316544878 + euclidean_error: 0.03543109645914737 + wrist_top_marker_pose: + angle_rotation_error: 3.118689588258491 + euclidean_error: 0.03463005703218588 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100569972090733 + euclidean_error: 0.03399822172748336 + base_right_marker_pose: + angle_rotation_error: 3.1092150863231987 + euclidean_error: 0.03426533460691194 + shoulder_marker_pose: + angle_rotation_error: 2.9858946872243597 + euclidean_error: 0.034147260032137305 + wrist_inside_marker_pose: + angle_rotation_error: 2.855012172162975 + euclidean_error: 0.03527529359276349 + wrist_top_marker_pose: + angle_rotation_error: 3.1211058629543134 + euclidean_error: 0.034675701584967106 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.08598518684855 + euclidean_error: 0.034245784019013445 + wrist_inside_marker_pose: + angle_rotation_error: 3.0259811520237303 + euclidean_error: 0.035497310277906334 + wrist_top_marker_pose: + angle_rotation_error: 3.0521852643822487 + euclidean_error: 0.03458742789832287 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0716421551863333 + euclidean_error: 0.0339802694090879 + base_right_marker_pose: + angle_rotation_error: 3.13601672181286 + euclidean_error: 0.03426312446056938 + shoulder_marker_pose: + angle_rotation_error: 3.0183262101124413 + euclidean_error: 0.0341457657445534 + wrist_inside_marker_pose: + angle_rotation_error: 2.9403235794180897 + euclidean_error: 0.03535376290274166 + wrist_top_marker_pose: + angle_rotation_error: 3.1080089271086386 + euclidean_error: 0.034606225106423576 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0385761432638563 + euclidean_error: 0.0338892147658065 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.037462682082511 + euclidean_error: 0.034255771242588856 + wrist_inside_marker_pose: + angle_rotation_error: 3.0812794860016326 + euclidean_error: 0.035234763713036375 + wrist_top_marker_pose: + angle_rotation_error: 3.1034713436747556 + euclidean_error: 0.03459809293748716 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0664364562767314 + euclidean_error: 0.03394471058641721 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0060781562690195 + euclidean_error: 0.03421200491953933 + wrist_inside_marker_pose: + angle_rotation_error: 3.0179818346395595 + euclidean_error: 0.03545384267929467 + wrist_top_marker_pose: + angle_rotation_error: 3.0920118906221004 + euclidean_error: 0.03488915197515308 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.061343081075903 + euclidean_error: 0.033852800779176094 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0543429456925084 + euclidean_error: 0.03419628722359706 + wrist_inside_marker_pose: + angle_rotation_error: 3.0960870854936227 + euclidean_error: 0.03532886515874974 + wrist_top_marker_pose: + angle_rotation_error: 2.987240042719738 + euclidean_error: 0.03476916080224238 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0331987773938445 + euclidean_error: 0.033834569228371594 + base_right_marker_pose: + angle_rotation_error: 3.1308511300864192 + euclidean_error: 0.03434500411947485 + shoulder_marker_pose: + angle_rotation_error: 3.007320601146308 + euclidean_error: 0.03414769973946568 + wrist_inside_marker_pose: + angle_rotation_error: 3.016307439010133 + euclidean_error: 0.03530727159618887 + wrist_top_marker_pose: + angle_rotation_error: 3.0558545163765913 + euclidean_error: 0.034770608466473875 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0502278977249646 + euclidean_error: 0.03396960631082756 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.089641725075882 + euclidean_error: 0.03432992249248839 + wrist_inside_marker_pose: + angle_rotation_error: 2.845615205719977 + euclidean_error: 0.0350610162004389 + wrist_top_marker_pose: + angle_rotation_error: 3.0975824961106677 + euclidean_error: 0.03480769439742078 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1263084262433996 + euclidean_error: 0.034398250184071805 + shoulder_marker_pose: + angle_rotation_error: 3.0197144602013495 + euclidean_error: 0.03427322498456911 + wrist_inside_marker_pose: + angle_rotation_error: 3.031224347014436 + euclidean_error: 0.03543059229164723 + wrist_top_marker_pose: + angle_rotation_error: 3.0474034908257632 + euclidean_error: 0.03465422597172695 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1325162183461015 + euclidean_error: 0.034321298954272494 + shoulder_marker_pose: + angle_rotation_error: 3.0042360502757317 + euclidean_error: 0.034093946932205466 + wrist_inside_marker_pose: + angle_rotation_error: 3.0227633309774684 + euclidean_error: 0.035235383983003146 + wrist_top_marker_pose: + angle_rotation_error: 3.052718445550824 + euclidean_error: 0.034643513783238995 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.053456036525334 + euclidean_error: 0.0338629796700713 + base_right_marker_pose: + angle_rotation_error: 3.1305844812258883 + euclidean_error: 0.034316412045843694 + shoulder_marker_pose: + angle_rotation_error: 3.036067862391163 + euclidean_error: 0.034213160408796316 + wrist_inside_marker_pose: + angle_rotation_error: 3.014153667734995 + euclidean_error: 0.035211071416439706 + wrist_top_marker_pose: + angle_rotation_error: 3.1368527495533267 + euclidean_error: 0.03471196095199315 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0641030443018518 + euclidean_error: 0.0339537823585576 + base_right_marker_pose: + angle_rotation_error: 3.118250160824662 + euclidean_error: 0.03430501349138692 + shoulder_marker_pose: + angle_rotation_error: 3.043682118334595 + euclidean_error: 0.034150463971151825 + wrist_inside_marker_pose: + angle_rotation_error: 2.9634052493028764 + euclidean_error: 0.03524876291768207 + wrist_top_marker_pose: + angle_rotation_error: 3.076638216784159 + euclidean_error: 0.0345620268668767 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0489265454244476 + euclidean_error: 0.03393532371173745 + base_right_marker_pose: + angle_rotation_error: 3.1353959294946043 + euclidean_error: 0.03437194165951303 + shoulder_marker_pose: + angle_rotation_error: 3.038143352026267 + euclidean_error: 0.034229326728231625 + wrist_inside_marker_pose: + angle_rotation_error: 3.0808432250799 + euclidean_error: 0.035592098598084064 + wrist_top_marker_pose: + angle_rotation_error: 3.1003857571719404 + euclidean_error: 0.03481018620734094 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0735263032580917 + euclidean_error: 0.03394495969530849 + base_right_marker_pose: + angle_rotation_error: 3.1318955899542145 + euclidean_error: 0.034339732735736705 + shoulder_marker_pose: + angle_rotation_error: 3.1145090620989277 + euclidean_error: 0.034236198425565266 + wrist_inside_marker_pose: + angle_rotation_error: 3.0900575079129124 + euclidean_error: 0.03542336915021555 + wrist_top_marker_pose: + angle_rotation_error: 3.0558800588011983 + euclidean_error: 0.03471522380317308 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1351896578004825 + euclidean_error: 0.03439987421009076 + shoulder_marker_pose: + angle_rotation_error: 3.1282122598140774 + euclidean_error: 0.034301915215630044 + wrist_inside_marker_pose: + angle_rotation_error: 3.0119899579822187 + euclidean_error: 0.03540396518491589 + wrist_top_marker_pose: + angle_rotation_error: 3.1040359793215506 + euclidean_error: 0.034879918350049985 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0495143528309576 + euclidean_error: 0.03395130351688421 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.034961497367884 + euclidean_error: 0.034157365650147126 + wrist_inside_marker_pose: + angle_rotation_error: 2.9926470208019147 + euclidean_error: 0.03525730465296466 + wrist_top_marker_pose: + angle_rotation_error: 3.083337088004515 + euclidean_error: 0.034617168765622125 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1092090777630577 + euclidean_error: 0.03406776474138585 + base_right_marker_pose: + angle_rotation_error: 3.1194225075834967 + euclidean_error: 0.03436364310465595 + shoulder_marker_pose: + angle_rotation_error: 3.089321347624168 + euclidean_error: 0.03424775155337412 + wrist_inside_marker_pose: + angle_rotation_error: 2.9715464306201125 + euclidean_error: 0.03524728081638637 + wrist_top_marker_pose: + angle_rotation_error: 3.1221388073827274 + euclidean_error: 0.03460398990194479 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0711993926728023 + euclidean_error: 0.03418828939200961 + wrist_inside_marker_pose: + angle_rotation_error: 3.0880091008881783 + euclidean_error: 0.03532012626857172 + wrist_top_marker_pose: + angle_rotation_error: 3.0246894629675443 + euclidean_error: 0.03471808438809138 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.128050005416194 + euclidean_error: 0.0344281954702771 + shoulder_marker_pose: + angle_rotation_error: 3.072184550685846 + euclidean_error: 0.03420808514166605 + wrist_inside_marker_pose: + angle_rotation_error: 2.898484391918816 + euclidean_error: 0.03525738728449252 + wrist_top_marker_pose: + angle_rotation_error: 3.0587556394258337 + euclidean_error: 0.034624027781359014 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.068167346742138 + euclidean_error: 0.03392592963302104 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0836407075300603 + euclidean_error: 0.03432343433995951 + wrist_inside_marker_pose: + angle_rotation_error: 2.9385480333292278 + euclidean_error: 0.03548679829064706 + wrist_top_marker_pose: + angle_rotation_error: 3.120649424420574 + euclidean_error: 0.03478989494117047 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.132849089123742 + euclidean_error: 0.034358229455461305 + shoulder_marker_pose: + angle_rotation_error: 3.1381687407782164 + euclidean_error: 0.034167718263027426 + wrist_inside_marker_pose: + angle_rotation_error: 3.0234599287209294 + euclidean_error: 0.035287008663142765 + wrist_top_marker_pose: + angle_rotation_error: 3.028364525935706 + euclidean_error: 0.034553122907927565 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085512014702642 + euclidean_error: 0.0340169514742636 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0041140866588134 + euclidean_error: 0.03416937872459065 + wrist_inside_marker_pose: + angle_rotation_error: 3.138214676239817 + euclidean_error: 0.03565694986425318 + wrist_top_marker_pose: + angle_rotation_error: 3.0881335420269416 + euclidean_error: 0.034825133706114515 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0889645397335905 + euclidean_error: 0.034214836149609844 + wrist_inside_marker_pose: + angle_rotation_error: 2.9510816308727827 + euclidean_error: 0.03510595633120579 + wrist_top_marker_pose: + angle_rotation_error: 3.0530113071678873 + euclidean_error: 0.03463739242967703 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097787206296196 + euclidean_error: 0.034022871570146676 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.068267530114528 + euclidean_error: 0.03421710668528048 + wrist_inside_marker_pose: + angle_rotation_error: 2.9796711861000755 + euclidean_error: 0.03537936493073189 + wrist_top_marker_pose: + angle_rotation_error: 3.1385102537626595 + euclidean_error: 0.03464941011028451 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1244472011530355 + euclidean_error: 0.03440175093075788 + shoulder_marker_pose: + angle_rotation_error: 3.0491073199728653 + euclidean_error: 0.034182667521616986 + wrist_inside_marker_pose: + angle_rotation_error: 2.95322234808168 + euclidean_error: 0.03510558394251924 + wrist_top_marker_pose: + angle_rotation_error: 3.122998619649988 + euclidean_error: 0.03459494734378726 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0593804617203935 + euclidean_error: 0.034015411426201146 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.104223702078772 + euclidean_error: 0.034139686394068974 + wrist_inside_marker_pose: + angle_rotation_error: 2.9402613517285214 + euclidean_error: 0.035342736383850624 + wrist_top_marker_pose: + angle_rotation_error: 3.0704424168627127 + euclidean_error: 0.034695989091943505 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.04572550820738 + euclidean_error: 0.034242483110295235 + wrist_inside_marker_pose: + angle_rotation_error: 3.0397333416035948 + euclidean_error: 0.03563067877887755 + wrist_top_marker_pose: + angle_rotation_error: 3.1312614673414445 + euclidean_error: 0.03468172618437834 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1314514937551516 + euclidean_error: 0.034368441267026456 + shoulder_marker_pose: + angle_rotation_error: 3.0710027331363277 + euclidean_error: 0.034279410318177314 + wrist_inside_marker_pose: + angle_rotation_error: 3.0518173936206314 + euclidean_error: 0.03541205932432201 + wrist_top_marker_pose: + angle_rotation_error: 3.0553412886097124 + euclidean_error: 0.034769934708445534 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0853059973575974 + euclidean_error: 0.03401940724143621 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0861437465450132 + euclidean_error: 0.03429318410470823 + wrist_inside_marker_pose: + angle_rotation_error: 3.0693104229786257 + euclidean_error: 0.03558910444030158 + wrist_top_marker_pose: + angle_rotation_error: 3.1174799936875153 + euclidean_error: 0.03471248817502825 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.087318259790959 + euclidean_error: 0.033960350688790164 + base_right_marker_pose: + angle_rotation_error: 3.1267692493694597 + euclidean_error: 0.03440866525639059 + shoulder_marker_pose: + angle_rotation_error: 3.0367332557468023 + euclidean_error: 0.034191144557155925 + wrist_inside_marker_pose: + angle_rotation_error: 2.925708352830586 + euclidean_error: 0.035254309764403795 + wrist_top_marker_pose: + angle_rotation_error: 3.0443333011477582 + euclidean_error: 0.03460261105085685 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0707969023549913 + euclidean_error: 0.03401704884481461 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1047709169181488 + euclidean_error: 0.03431913139585212 + wrist_inside_marker_pose: + angle_rotation_error: 2.9629931456507683 + euclidean_error: 0.03516008348433569 + wrist_top_marker_pose: + angle_rotation_error: 3.0002119251530863 + euclidean_error: 0.03493593103410655 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1364795827054905 + euclidean_error: 0.03429275910626168 + shoulder_marker_pose: + angle_rotation_error: 3.0149786340880285 + euclidean_error: 0.03423008328954844 + wrist_inside_marker_pose: + angle_rotation_error: 2.8407022199956935 + euclidean_error: 0.03500614124916022 + wrist_top_marker_pose: + angle_rotation_error: 3.1119056706406063 + euclidean_error: 0.03453697182434624 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0667473843108386 + euclidean_error: 0.033984257034144386 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0244571628185275 + euclidean_error: 0.03413057418663177 + wrist_inside_marker_pose: + angle_rotation_error: 2.8913032398386425 + euclidean_error: 0.03511741305727185 + wrist_top_marker_pose: + angle_rotation_error: 3.10101531428222 + euclidean_error: 0.03455858103433574 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0667080420012103 + euclidean_error: 0.03402593273766536 + base_right_marker_pose: + angle_rotation_error: 3.1318233684068533 + euclidean_error: 0.03434809186518856 + shoulder_marker_pose: + angle_rotation_error: 3.0587280010929008 + euclidean_error: 0.03418053310189281 + wrist_inside_marker_pose: + angle_rotation_error: 2.9410436003339697 + euclidean_error: 0.03516399491661533 + wrist_top_marker_pose: + angle_rotation_error: 3.1371630147474243 + euclidean_error: 0.03475529486053843 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.055690758109841 + euclidean_error: 0.033948216304641614 + base_right_marker_pose: + angle_rotation_error: 3.1332968849994267 + euclidean_error: 0.034326000655074525 + shoulder_marker_pose: + angle_rotation_error: 3.1041185211079902 + euclidean_error: 0.03432200786125213 + wrist_inside_marker_pose: + angle_rotation_error: 2.9491309286586804 + euclidean_error: 0.03536776703572949 + wrist_top_marker_pose: + angle_rotation_error: 3.1204645933174855 + euclidean_error: 0.03467737332793631 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074930064079808 + euclidean_error: 0.03403360479129112 + base_right_marker_pose: + angle_rotation_error: 3.128025186216086 + euclidean_error: 0.03443696488010124 + shoulder_marker_pose: + angle_rotation_error: 3.0242777676836012 + euclidean_error: 0.0340922845739567 + wrist_inside_marker_pose: + angle_rotation_error: 2.9326356159813427 + euclidean_error: 0.03532523249124862 + wrist_top_marker_pose: + angle_rotation_error: 3.095743967209105 + euclidean_error: 0.034591125457191375 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0647400110782548 + euclidean_error: 0.03392931366221525 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0757910556559156 + euclidean_error: 0.03435492248300703 + wrist_inside_marker_pose: + angle_rotation_error: 3.0033689544452504 + euclidean_error: 0.035397852128689 + wrist_top_marker_pose: + angle_rotation_error: 3.0620795640864635 + euclidean_error: 0.03488436122501728 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0701178139020446 + euclidean_error: 0.03398745055791152 + base_right_marker_pose: + angle_rotation_error: 3.1367048207065733 + euclidean_error: 0.0343508481533928 + shoulder_marker_pose: + angle_rotation_error: 3.118062504100411 + euclidean_error: 0.03429613316314325 + wrist_inside_marker_pose: + angle_rotation_error: 3.078456081683623 + euclidean_error: 0.03557150282750026 + wrist_top_marker_pose: + angle_rotation_error: 2.9451532422419753 + euclidean_error: 0.034777731471834716 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1354100758678336 + euclidean_error: 0.034364969598510764 + shoulder_marker_pose: + angle_rotation_error: 2.9694736715584686 + euclidean_error: 0.034107416042216086 + wrist_inside_marker_pose: + angle_rotation_error: 2.890760422122069 + euclidean_error: 0.03520029232049181 + wrist_top_marker_pose: + angle_rotation_error: 3.1334251566827005 + euclidean_error: 0.03458202232851603 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.087920293795857 + euclidean_error: 0.034336219490743544 + wrist_inside_marker_pose: + angle_rotation_error: 2.9727606135450206 + euclidean_error: 0.03528865785750709 + wrist_top_marker_pose: + angle_rotation_error: 3.107229858409486 + euclidean_error: 0.03483773374444684 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078466724341467 + euclidean_error: 0.03402120399136697 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0268342742800707 + euclidean_error: 0.03424091285844309 + wrist_inside_marker_pose: + angle_rotation_error: 2.902794515032678 + euclidean_error: 0.03522796395926392 + wrist_top_marker_pose: + angle_rotation_error: 3.0727724583969445 + euclidean_error: 0.03458082316429856 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0676885882641534 + euclidean_error: 0.03404169680852057 + base_right_marker_pose: + angle_rotation_error: 3.1361726411159836 + euclidean_error: 0.034399686106669755 + shoulder_marker_pose: + angle_rotation_error: 3.030031512384357 + euclidean_error: 0.034175135689703234 + wrist_inside_marker_pose: + angle_rotation_error: 2.9127186132628093 + euclidean_error: 0.03514335499941979 + wrist_top_marker_pose: + angle_rotation_error: 3.091059795450635 + euclidean_error: 0.03465908437016829 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.071153792441181 + euclidean_error: 0.03393769311356333 + base_right_marker_pose: + angle_rotation_error: 3.115134538457686 + euclidean_error: 0.034342164171300774 + shoulder_marker_pose: + angle_rotation_error: 3.026574549368979 + euclidean_error: 0.03423767593576025 + wrist_inside_marker_pose: + angle_rotation_error: 2.902747888158998 + euclidean_error: 0.03527400538605067 + wrist_top_marker_pose: + angle_rotation_error: 3.077791024579108 + euclidean_error: 0.034682830972807006 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1374868378682543 + euclidean_error: 0.03430732804581959 + shoulder_marker_pose: + angle_rotation_error: 3.105068173811856 + euclidean_error: 0.03427765049789261 + wrist_inside_marker_pose: + angle_rotation_error: 3.0167525013482184 + euclidean_error: 0.03537691141795009 + wrist_top_marker_pose: + angle_rotation_error: 3.116539759485356 + euclidean_error: 0.03479101805262592 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.068316476017288 + euclidean_error: 0.033975900813418836 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.08806049236237 + euclidean_error: 0.03425358702729546 + wrist_inside_marker_pose: + angle_rotation_error: 2.9624855438348154 + euclidean_error: 0.03527072954760173 + wrist_top_marker_pose: + angle_rotation_error: 3.137529397780771 + euclidean_error: 0.034740365157331116 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.113578329365676 + euclidean_error: 0.03436980890153756 + shoulder_marker_pose: + angle_rotation_error: 3.0267528041983933 + euclidean_error: 0.0341501963500994 + wrist_inside_marker_pose: + angle_rotation_error: 2.9292543213680546 + euclidean_error: 0.03504086992901275 + wrist_top_marker_pose: + angle_rotation_error: 3.047182015368231 + euclidean_error: 0.03464846903475536 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0599676083051306 + euclidean_error: 0.034070529198520716 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.061852573286944 + euclidean_error: 0.03422686438886812 + wrist_inside_marker_pose: + angle_rotation_error: 3.052040803834296 + euclidean_error: 0.03548511989553146 + wrist_top_marker_pose: + angle_rotation_error: 3.1111233664106286 + euclidean_error: 0.03474017306702382 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0628424073292266 + euclidean_error: 0.03402261080009855 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.068120818100725 + euclidean_error: 0.034153506640032257 + wrist_inside_marker_pose: + angle_rotation_error: 2.9612444021191937 + euclidean_error: 0.03546542089007548 + wrist_top_marker_pose: + angle_rotation_error: 3.140446276580159 + euclidean_error: 0.03460745397169406 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.036644204125141 + euclidean_error: 0.03392973905521626 + base_right_marker_pose: + angle_rotation_error: 3.121065322965648 + euclidean_error: 0.03432479818159612 + shoulder_marker_pose: + angle_rotation_error: 3.074260190813464 + euclidean_error: 0.034172456640682226 + wrist_inside_marker_pose: + angle_rotation_error: 2.9079652322456933 + euclidean_error: 0.035144234776664944 + wrist_top_marker_pose: + angle_rotation_error: 3.1366607661644186 + euclidean_error: 0.03457170638600738 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.056695910781352 + euclidean_error: 0.03413530771823688 + wrist_inside_marker_pose: + angle_rotation_error: 2.9527502672766155 + euclidean_error: 0.035082084205101366 + wrist_top_marker_pose: + angle_rotation_error: 3.065255958382487 + euclidean_error: 0.03470727356246521 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.10000834955153 + euclidean_error: 0.03431158264333145 + shoulder_marker_pose: + angle_rotation_error: 3.052007393076489 + euclidean_error: 0.03419429366126199 + wrist_inside_marker_pose: + angle_rotation_error: 2.8855719206371173 + euclidean_error: 0.03508443986841064 + wrist_top_marker_pose: + angle_rotation_error: 3.0572598004006437 + euclidean_error: 0.03451041169863443 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.058199388758902 + euclidean_error: 0.03409179428056077 + base_right_marker_pose: + angle_rotation_error: 3.1218459074042983 + euclidean_error: 0.034349829743966505 + shoulder_marker_pose: + angle_rotation_error: 3.0640295192123674 + euclidean_error: 0.0342532239127435 + wrist_inside_marker_pose: + angle_rotation_error: 2.898437060680614 + euclidean_error: 0.0352624499687397 + wrist_top_marker_pose: + angle_rotation_error: 3.0415419780725124 + euclidean_error: 0.034744050995192885 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1249897319192854 + euclidean_error: 0.03439101460354137 + shoulder_marker_pose: + angle_rotation_error: 3.0606352631792046 + euclidean_error: 0.03423261132178124 + wrist_inside_marker_pose: + angle_rotation_error: 3.021653900381302 + euclidean_error: 0.0353311387513931 + wrist_top_marker_pose: + angle_rotation_error: 3.134105272979977 + euclidean_error: 0.03470000859017204 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0245796834898813 + euclidean_error: 0.03422646649209342 + wrist_inside_marker_pose: + angle_rotation_error: 2.9087728543050053 + euclidean_error: 0.03520356124870425 + wrist_top_marker_pose: + angle_rotation_error: 3.13419800680358 + euclidean_error: 0.034692758368380754 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0639281208814633 + euclidean_error: 0.03397908303909836 + base_right_marker_pose: + angle_rotation_error: 3.1245090286904063 + euclidean_error: 0.03440584586590152 + shoulder_marker_pose: + angle_rotation_error: 3.019830909554788 + euclidean_error: 0.0341886167305297 + wrist_inside_marker_pose: + angle_rotation_error: 2.867222752326789 + euclidean_error: 0.0350208401046892 + wrist_top_marker_pose: + angle_rotation_error: 2.9472256117914246 + euclidean_error: 0.03450283318505845 +- error_data: + base_left_marker_pose: + angle_rotation_error: 2.993452681056964 + euclidean_error: 0.03381527964546525 + base_right_marker_pose: + angle_rotation_error: 3.124170042623646 + euclidean_error: 0.03433452373631223 + shoulder_marker_pose: + angle_rotation_error: 3.096666841347653 + euclidean_error: 0.034141136170330884 + wrist_inside_marker_pose: + angle_rotation_error: 3.0936165023749886 + euclidean_error: 0.03554075317569358 + wrist_top_marker_pose: + angle_rotation_error: 3.137283688280857 + euclidean_error: 0.034616812353888554 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.135806290545828 + euclidean_error: 0.03431838114889755 + shoulder_marker_pose: + angle_rotation_error: 3.0013684407905985 + euclidean_error: 0.03407257391207926 + wrist_inside_marker_pose: + angle_rotation_error: 3.035470282228519 + euclidean_error: 0.03548367690762035 + wrist_top_marker_pose: + angle_rotation_error: 3.0944011185874376 + euclidean_error: 0.03455946879974025 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0830391654861726 + euclidean_error: 0.0339944858251221 + base_right_marker_pose: + angle_rotation_error: 3.132241599118737 + euclidean_error: 0.034365955416479556 + shoulder_marker_pose: + angle_rotation_error: 3.0586268574415323 + euclidean_error: 0.034177907240778266 + wrist_inside_marker_pose: + angle_rotation_error: 2.9802547593347333 + euclidean_error: 0.034960491383129746 + wrist_top_marker_pose: + angle_rotation_error: 3.0898944078021073 + euclidean_error: 0.03451830327023674 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.129729159214261 + euclidean_error: 0.03431256360824361 + shoulder_marker_pose: + angle_rotation_error: 3.0243417879468475 + euclidean_error: 0.03415764429629437 + wrist_inside_marker_pose: + angle_rotation_error: 2.995617387122568 + euclidean_error: 0.03529839208822036 + wrist_top_marker_pose: + angle_rotation_error: 3.137944326855136 + euclidean_error: 0.03455310275754646 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0360168681648974 + euclidean_error: 0.03395230307272705 + base_right_marker_pose: + angle_rotation_error: 3.124290428257599 + euclidean_error: 0.034359832212895604 + shoulder_marker_pose: + angle_rotation_error: 3.043557508754471 + euclidean_error: 0.03423339939719846 + wrist_inside_marker_pose: + angle_rotation_error: 2.966980275044613 + euclidean_error: 0.03526892670136732 + wrist_top_marker_pose: + angle_rotation_error: 3.1415549339204576 + euclidean_error: 0.034700305449001656 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1326016000769643 + euclidean_error: 0.034350537202644804 + shoulder_marker_pose: + angle_rotation_error: 3.0293156120944733 + euclidean_error: 0.034164741134593515 + wrist_inside_marker_pose: + angle_rotation_error: 2.9910196170860286 + euclidean_error: 0.03539838369679332 + wrist_top_marker_pose: + angle_rotation_error: 3.138342807802036 + euclidean_error: 0.03461051483479841 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.014663566701621 + euclidean_error: 0.034110244951168 + wrist_inside_marker_pose: + angle_rotation_error: 3.0410013382075065 + euclidean_error: 0.0354652898527959 + wrist_top_marker_pose: + angle_rotation_error: 3.072797471267136 + euclidean_error: 0.034614635955420074 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.067201195421838 + euclidean_error: 0.034273328640265346 + wrist_inside_marker_pose: + angle_rotation_error: 2.9085509838927037 + euclidean_error: 0.0351733710659838 + wrist_top_marker_pose: + angle_rotation_error: 3.139695310711562 + euclidean_error: 0.034883983006834894 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0315762233461214 + euclidean_error: 0.0339931333916488 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0076205219040855 + euclidean_error: 0.034188732281891725 + wrist_inside_marker_pose: + angle_rotation_error: 2.905084935350926 + euclidean_error: 0.03523827873196784 + wrist_top_marker_pose: + angle_rotation_error: 3.13591728813579 + euclidean_error: 0.034578709240275 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0262562038967817 + euclidean_error: 0.03418808029152829 + wrist_inside_marker_pose: + angle_rotation_error: 2.952364089143684 + euclidean_error: 0.035277617683914 + wrist_top_marker_pose: + angle_rotation_error: 3.080347324967659 + euclidean_error: 0.03459893239839387 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.13120348005357 + euclidean_error: 0.03427857227183687 + shoulder_marker_pose: + angle_rotation_error: 3.0306309170497303 + euclidean_error: 0.034298827456867687 + wrist_inside_marker_pose: + angle_rotation_error: 2.9805950013643105 + euclidean_error: 0.035383510536957846 + wrist_top_marker_pose: + angle_rotation_error: 3.1110443333044984 + euclidean_error: 0.034791780867406794 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0707452476936146 + euclidean_error: 0.033988859965945396 + base_right_marker_pose: + angle_rotation_error: 3.1201182150695823 + euclidean_error: 0.0343555329776754 + shoulder_marker_pose: + angle_rotation_error: 3.0893799196962193 + euclidean_error: 0.0341701197278244 + wrist_inside_marker_pose: + angle_rotation_error: 2.9061693765340273 + euclidean_error: 0.035426156849072375 + wrist_top_marker_pose: + angle_rotation_error: 3.0837392129027883 + euclidean_error: 0.034628572922450224 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.130829950507805 + euclidean_error: 0.034339109226952984 + shoulder_marker_pose: + angle_rotation_error: 3.0383260518263744 + euclidean_error: 0.03419141697229414 + wrist_inside_marker_pose: + angle_rotation_error: 2.9729590114719433 + euclidean_error: 0.03543100012817639 + wrist_top_marker_pose: + angle_rotation_error: 3.0945370118946127 + euclidean_error: 0.03480123336530408 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.016519559130525 + euclidean_error: 0.03415135028913544 + wrist_inside_marker_pose: + angle_rotation_error: 2.9792492598461076 + euclidean_error: 0.03517365220435003 + wrist_top_marker_pose: + angle_rotation_error: 3.0720756111036094 + euclidean_error: 0.03467463626534492 diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_202204261414.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_202204261414.yaml new file mode 100644 index 0000000..5867f39 --- /dev/null +++ b/stretch_camera_testrig/data/results/testrig_errors_data_202204261414.yaml @@ -0,0 +1,9600 @@ +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0927450782862107 + euclidean_error: 0.9704921327776219 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1346426912976586 + euclidean_error: 0.983669880437159 + wrist_inside_marker_pose: + angle_rotation_error: 3.0308386184568414 + euclidean_error: 0.9806715273555044 + wrist_top_marker_pose: + angle_rotation_error: 2.855486989597947 + euclidean_error: 0.9801347093509956 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097188200545845 + euclidean_error: 0.9704636880053247 + base_right_marker_pose: + angle_rotation_error: 3.118746402952351 + euclidean_error: 0.973037095438223 + shoulder_marker_pose: + angle_rotation_error: 3.084007742258856 + euclidean_error: 0.9845815772027949 + wrist_inside_marker_pose: + angle_rotation_error: 3.0040457932642526 + euclidean_error: 0.979540774434375 + wrist_top_marker_pose: + angle_rotation_error: 3.010151181623143 + euclidean_error: 0.9761699618584722 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0958637544511487 + euclidean_error: 0.9708128227300895 + base_right_marker_pose: + angle_rotation_error: 3.128404837487414 + euclidean_error: 0.9729062966948633 + shoulder_marker_pose: + angle_rotation_error: 3.1314549929837443 + euclidean_error: 0.983864605847598 + wrist_inside_marker_pose: + angle_rotation_error: 3.072611475097729 + euclidean_error: 0.9808594392267389 + wrist_top_marker_pose: + angle_rotation_error: 3.022283661781495 + euclidean_error: 0.9763335295551926 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.065521175914791 + euclidean_error: 0.9711330996035648 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0401368345777375 + euclidean_error: 0.9847177281152645 + wrist_inside_marker_pose: + angle_rotation_error: 2.9524941081490623 + euclidean_error: 0.9808414804446842 + wrist_top_marker_pose: + angle_rotation_error: 2.955777298092886 + euclidean_error: 0.97718532916082 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104067039440974 + euclidean_error: 0.9704818253058786 + base_right_marker_pose: + angle_rotation_error: 3.1219149722145905 + euclidean_error: 0.9728854557082565 + shoulder_marker_pose: + angle_rotation_error: 3.126741356018207 + euclidean_error: 0.983840183807459 + wrist_inside_marker_pose: + angle_rotation_error: 3.0395896068885726 + euclidean_error: 0.9800661763451277 + wrist_top_marker_pose: + angle_rotation_error: 2.951702226671307 + euclidean_error: 0.9773443139882405 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1074659513712457 + euclidean_error: 0.9703205975608818 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.098243984338011 + euclidean_error: 0.9834584356716173 + wrist_inside_marker_pose: + angle_rotation_error: 3.114264295140217 + euclidean_error: 0.9789206331862695 + wrist_top_marker_pose: + angle_rotation_error: 2.9580228047205774 + euclidean_error: 0.9775533163641315 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0578317635910195 + euclidean_error: 0.9709715403890259 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0101450721069956 + euclidean_error: 0.984899565777759 + wrist_inside_marker_pose: + angle_rotation_error: 2.9474069918960293 + euclidean_error: 0.9802862561459567 + wrist_top_marker_pose: + angle_rotation_error: 2.7702200040499 + euclidean_error: 0.978229211466269 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0703480212968377 + euclidean_error: 0.9708680925026053 + base_right_marker_pose: + angle_rotation_error: 3.104863495769405 + euclidean_error: 0.973357484689317 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.12368397703968 + euclidean_error: 0.9789501256139288 + wrist_top_marker_pose: + angle_rotation_error: 2.930259080749195 + euclidean_error: 0.9785972850293232 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1105208817468464 + euclidean_error: 0.9702659325023331 + base_right_marker_pose: + angle_rotation_error: 3.1232770476311003 + euclidean_error: 0.9727059029502662 + shoulder_marker_pose: + angle_rotation_error: 3.0304784673825913 + euclidean_error: 0.9848637856446091 + wrist_inside_marker_pose: + angle_rotation_error: 3.0755007481155574 + euclidean_error: 0.9806203716162619 + wrist_top_marker_pose: + angle_rotation_error: 2.862740445675584 + euclidean_error: 0.9794001912034362 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0655463390714104 + euclidean_error: 0.9706958130244498 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1010093212139602 + euclidean_error: 0.9841705199692721 + wrist_inside_marker_pose: + angle_rotation_error: 3.046875870249351 + euclidean_error: 0.9792549346738701 + wrist_top_marker_pose: + angle_rotation_error: 3.1348876628922513 + euclidean_error: 0.9762312283959877 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103628223562033 + euclidean_error: 0.9706525457540078 + base_right_marker_pose: + angle_rotation_error: 3.1259763623221324 + euclidean_error: 0.9724781231232371 + shoulder_marker_pose: + angle_rotation_error: 3.017117938237804 + euclidean_error: 0.9845053390695088 + wrist_inside_marker_pose: + angle_rotation_error: 3.11783588911036 + euclidean_error: 0.9800101665443876 + wrist_top_marker_pose: + angle_rotation_error: 2.9237846292775806 + euclidean_error: 0.9784284616675969 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0722043450785015 + euclidean_error: 0.9706963689712073 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.99246249029358 + euclidean_error: 0.9855691312996261 + wrist_inside_marker_pose: + angle_rotation_error: 3.1299341750420235 + euclidean_error: 0.9797597883343703 + wrist_top_marker_pose: + angle_rotation_error: 2.960556092657557 + euclidean_error: 0.9803253181769132 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0981631359574346 + euclidean_error: 0.9708259590522978 + base_right_marker_pose: + angle_rotation_error: 3.120389052258577 + euclidean_error: 0.9730013276273668 + shoulder_marker_pose: + angle_rotation_error: 3.0469240883109823 + euclidean_error: 0.9846402410682342 + wrist_inside_marker_pose: + angle_rotation_error: 3.0233378238484154 + euclidean_error: 0.9797031483320569 + wrist_top_marker_pose: + angle_rotation_error: 2.9208895193261384 + euclidean_error: 0.977197847851465 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0845977444723403 + euclidean_error: 0.9707681285818309 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.127151892179273 + euclidean_error: 0.9836772367214422 + wrist_inside_marker_pose: + angle_rotation_error: 3.057621551749136 + euclidean_error: 0.9786815842432781 + wrist_top_marker_pose: + angle_rotation_error: 2.9948155243535495 + euclidean_error: 0.9779898365865768 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092568171299111 + euclidean_error: 0.9702399490032882 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0224005784621824 + euclidean_error: 0.9848891065756064 + wrist_inside_marker_pose: + angle_rotation_error: 2.959973143899555 + euclidean_error: 0.9806426264524971 + wrist_top_marker_pose: + angle_rotation_error: 2.9622741819600504 + euclidean_error: 0.978287152022239 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.096498836066014 + euclidean_error: 0.9702161842087647 + base_right_marker_pose: + angle_rotation_error: 3.12116890045551 + euclidean_error: 0.9729442221535548 + shoulder_marker_pose: + angle_rotation_error: 3.0440008093310915 + euclidean_error: 0.9851087793848488 + wrist_inside_marker_pose: + angle_rotation_error: 2.9885872470963544 + euclidean_error: 0.9804552975022824 + wrist_top_marker_pose: + angle_rotation_error: 2.7894607410583485 + euclidean_error: 0.9802230479869211 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.061106418642261 + euclidean_error: 0.9708850901884514 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9950710126092077 + euclidean_error: 0.9846165946227357 + wrist_inside_marker_pose: + angle_rotation_error: 2.9554280261692454 + euclidean_error: 0.9801986625335624 + wrist_top_marker_pose: + angle_rotation_error: 2.9014737952987217 + euclidean_error: 0.9778499734929189 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0657472214517334 + euclidean_error: 0.9707978817221864 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.130245787697925 + euclidean_error: 0.9845676616883323 + wrist_inside_marker_pose: + angle_rotation_error: 2.9808614103775417 + euclidean_error: 0.9800081134493481 + wrist_top_marker_pose: + angle_rotation_error: 3.039792541283589 + euclidean_error: 0.9768228046935838 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086563354488217 + euclidean_error: 0.9709102647745176 + base_right_marker_pose: + angle_rotation_error: 3.127078960251943 + euclidean_error: 0.9730376166834465 + shoulder_marker_pose: + angle_rotation_error: 3.0953429584210306 + euclidean_error: 0.9840681571900988 + wrist_inside_marker_pose: + angle_rotation_error: 2.8818045750786303 + euclidean_error: 0.9805909049640306 + wrist_top_marker_pose: + angle_rotation_error: 2.900668357244971 + euclidean_error: 0.9775468404620662 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0942887691826484 + euclidean_error: 0.9704286295027487 + base_right_marker_pose: + angle_rotation_error: 3.1056193252162037 + euclidean_error: 0.9730280057659509 + shoulder_marker_pose: + angle_rotation_error: 3.0843638904332353 + euclidean_error: 0.9844034038916619 + wrist_inside_marker_pose: + angle_rotation_error: 3.0633059817667796 + euclidean_error: 0.980590080684923 + wrist_top_marker_pose: + angle_rotation_error: 2.9265726533813243 + euclidean_error: 0.9777354930842279 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1326179981892426 + euclidean_error: 0.9730289574793977 + shoulder_marker_pose: + angle_rotation_error: 3.095976434987563 + euclidean_error: 0.9843011870732552 + wrist_inside_marker_pose: + angle_rotation_error: 3.0662837207789306 + euclidean_error: 0.9790774479267587 + wrist_top_marker_pose: + angle_rotation_error: 3.073487531392319 + euclidean_error: 0.9769314901834538 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1053215146018474 + euclidean_error: 0.9709450446111132 + base_right_marker_pose: + angle_rotation_error: 3.1243720747396955 + euclidean_error: 0.9725972334942752 + shoulder_marker_pose: + angle_rotation_error: 3.1090709047214777 + euclidean_error: 0.9838334458767629 + wrist_inside_marker_pose: + angle_rotation_error: 2.9376495154123075 + euclidean_error: 0.9802756762982776 + wrist_top_marker_pose: + angle_rotation_error: 2.9671723004805366 + euclidean_error: 0.9792785339258343 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.076295072840715 + euclidean_error: 0.971121969683847 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0829087512451023 + euclidean_error: 0.9846550701419496 + wrist_inside_marker_pose: + angle_rotation_error: 2.9804294745217517 + euclidean_error: 0.979124731517758 + wrist_top_marker_pose: + angle_rotation_error: 2.8286340517913278 + euclidean_error: 0.979244376442387 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082408438471782 + euclidean_error: 0.9701636611945333 + base_right_marker_pose: + angle_rotation_error: 3.1374397549383475 + euclidean_error: 0.9729420042920214 + shoulder_marker_pose: + angle_rotation_error: 3.034427482647943 + euclidean_error: 0.9848246514648665 + wrist_inside_marker_pose: + angle_rotation_error: 2.8738832819941815 + euclidean_error: 0.9816097656139385 + wrist_top_marker_pose: + angle_rotation_error: 2.9646004657348612 + euclidean_error: 0.9788851421127647 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.058083281952469 + euclidean_error: 0.9710026950477545 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.104622356695917 + euclidean_error: 0.9835479549785237 + wrist_inside_marker_pose: + angle_rotation_error: 3.1236971157492928 + euclidean_error: 0.979737771675477 + wrist_top_marker_pose: + angle_rotation_error: 2.853089208172692 + euclidean_error: 0.9789486409693064 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0602968089764477 + euclidean_error: 0.9711063893064827 + base_right_marker_pose: + angle_rotation_error: 3.127789432794642 + euclidean_error: 0.9730199990175119 + shoulder_marker_pose: + angle_rotation_error: 3.044454055228895 + euclidean_error: 0.9846423799288219 + wrist_inside_marker_pose: + angle_rotation_error: 3.0247865018922995 + euclidean_error: 0.9797382870990097 + wrist_top_marker_pose: + angle_rotation_error: 2.822429014737521 + euclidean_error: 0.9791553364077106 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083851522326366 + euclidean_error: 0.9709573972943417 + base_right_marker_pose: + angle_rotation_error: 3.1203507110518545 + euclidean_error: 0.9729511159630314 + shoulder_marker_pose: + angle_rotation_error: 3.0388972400210332 + euclidean_error: 0.9840486135597191 + wrist_inside_marker_pose: + angle_rotation_error: 3.0423024769542435 + euclidean_error: 0.9803885638017714 + wrist_top_marker_pose: + angle_rotation_error: 2.8655428428435332 + euclidean_error: 0.9801502734067351 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1096444627672883 + euclidean_error: 0.9839703363641669 + wrist_inside_marker_pose: + angle_rotation_error: 3.004063212799234 + euclidean_error: 0.9790347838027611 + wrist_top_marker_pose: + angle_rotation_error: 2.8806801463367533 + euclidean_error: 0.9776014892956373 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.11251917645981 + euclidean_error: 0.9728336828063903 + shoulder_marker_pose: + angle_rotation_error: 3.0707089346582577 + euclidean_error: 0.9843627639536549 + wrist_inside_marker_pose: + angle_rotation_error: 2.9730076076558896 + euclidean_error: 0.9802564414352806 + wrist_top_marker_pose: + angle_rotation_error: 3.032166041280648 + euclidean_error: 0.977936619099177 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0713543358608275 + euclidean_error: 0.9709148063954328 + base_right_marker_pose: + angle_rotation_error: 3.1332508316299594 + euclidean_error: 0.9730435504019171 + shoulder_marker_pose: + angle_rotation_error: 3.0500558678500607 + euclidean_error: 0.9845185967012485 + wrist_inside_marker_pose: + angle_rotation_error: 3.0593446599720706 + euclidean_error: 0.9800228786574088 + wrist_top_marker_pose: + angle_rotation_error: 2.9753819999162756 + euclidean_error: 0.9777515182158371 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0711897950551803 + euclidean_error: 0.971058079927107 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0897484089631204 + euclidean_error: 0.9843428918863282 + wrist_inside_marker_pose: + angle_rotation_error: 3.010647339597299 + euclidean_error: 0.9795430080639588 + wrist_top_marker_pose: + angle_rotation_error: 2.981336954232864 + euclidean_error: 0.9791006729376955 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092059267768888 + euclidean_error: 0.9705507742282452 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0782917393204863 + euclidean_error: 0.9843534034238881 + wrist_inside_marker_pose: + angle_rotation_error: 2.9261936290955846 + euclidean_error: 0.9806464583008775 + wrist_top_marker_pose: + angle_rotation_error: 2.8352036933829026 + euclidean_error: 0.9796343253813055 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0964325731227613 + euclidean_error: 0.9702035886554214 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.131799568315869 + euclidean_error: 0.9839343861189751 + wrist_inside_marker_pose: + angle_rotation_error: 3.1142176050808548 + euclidean_error: 0.9781740679812174 + wrist_top_marker_pose: + angle_rotation_error: 2.8193512352715344 + euclidean_error: 0.9787396539276989 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.098600093670777 + euclidean_error: 0.9707036629876818 + base_right_marker_pose: + angle_rotation_error: 3.1348665957144055 + euclidean_error: 0.9730413215181042 + shoulder_marker_pose: + angle_rotation_error: 3.113477409056893 + euclidean_error: 0.9840879353142735 + wrist_inside_marker_pose: + angle_rotation_error: 3.0515027150160576 + euclidean_error: 0.9792528441964784 + wrist_top_marker_pose: + angle_rotation_error: 2.935273331617431 + euclidean_error: 0.977543530447386 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.079024993811507 + euclidean_error: 0.9711157843761695 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0333203406666196 + euclidean_error: 0.984610373195299 + wrist_inside_marker_pose: + angle_rotation_error: 2.9997800042276213 + euclidean_error: 0.9795377711537037 + wrist_top_marker_pose: + angle_rotation_error: 2.9779172391324598 + euclidean_error: 0.9778850463399845 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0623420780397272 + euclidean_error: 0.9711598329510461 + base_right_marker_pose: + angle_rotation_error: 3.1217453656889727 + euclidean_error: 0.9730186247279059 + shoulder_marker_pose: + angle_rotation_error: 3.045282660066757 + euclidean_error: 0.9849944454531081 + wrist_inside_marker_pose: + angle_rotation_error: 3.10452348558745 + euclidean_error: 0.9803569636069618 + wrist_top_marker_pose: + angle_rotation_error: 2.916285850136474 + euclidean_error: 0.9791514684413876 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1030323997988116 + euclidean_error: 0.9705557256330706 + base_right_marker_pose: + angle_rotation_error: 3.1366130132598773 + euclidean_error: 0.9728250049400178 + shoulder_marker_pose: + angle_rotation_error: 3.0939716719125308 + euclidean_error: 0.9848156138574278 + wrist_inside_marker_pose: + angle_rotation_error: 2.8586693819047806 + euclidean_error: 0.9809813131818639 + wrist_top_marker_pose: + angle_rotation_error: 2.889135695887522 + euclidean_error: 0.9773669123309039 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.073827854956263 + euclidean_error: 0.9705987724412711 + base_right_marker_pose: + angle_rotation_error: 3.101122983309655 + euclidean_error: 0.9731470685823269 + shoulder_marker_pose: + angle_rotation_error: 3.1176093877311435 + euclidean_error: 0.9837069328055352 + wrist_inside_marker_pose: + angle_rotation_error: 3.002341778492894 + euclidean_error: 0.9800870631256015 + wrist_top_marker_pose: + angle_rotation_error: 3.00907710747397 + euclidean_error: 0.9765081579195497 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0715312789362783 + euclidean_error: 0.9709840527417367 + base_right_marker_pose: + angle_rotation_error: 3.139283287480842 + euclidean_error: 0.9729648692703433 + shoulder_marker_pose: + angle_rotation_error: 3.0934518400812263 + euclidean_error: 0.98468930083861 + wrist_inside_marker_pose: + angle_rotation_error: 3.0696573696960083 + euclidean_error: 0.9803135553324439 + wrist_top_marker_pose: + angle_rotation_error: 2.982495549203655 + euclidean_error: 0.9780501677264859 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083810283502645 + euclidean_error: 0.9706957172155601 + base_right_marker_pose: + angle_rotation_error: 3.1345278580401206 + euclidean_error: 0.9726729643825921 + shoulder_marker_pose: + angle_rotation_error: 3.037236396322026 + euclidean_error: 0.9852597231488077 + wrist_inside_marker_pose: + angle_rotation_error: 3.033891562409002 + euclidean_error: 0.9793707764020617 + wrist_top_marker_pose: + angle_rotation_error: 2.9847790989313725 + euclidean_error: 0.9778734924072205 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.126033481956499 + euclidean_error: 0.9730050311222828 + shoulder_marker_pose: + angle_rotation_error: 3.108025488074009 + euclidean_error: 0.984346998666845 + wrist_inside_marker_pose: + angle_rotation_error: 3.0518434828899443 + euclidean_error: 0.980568390426626 + wrist_top_marker_pose: + angle_rotation_error: 2.8708847676200455 + euclidean_error: 0.9785900400496633 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1040810891154362 + euclidean_error: 0.9709178939103652 + base_right_marker_pose: + angle_rotation_error: 3.1233377019873667 + euclidean_error: 0.9732408119378705 + shoulder_marker_pose: + angle_rotation_error: 3.11099343464948 + euclidean_error: 0.9840500696756485 + wrist_inside_marker_pose: + angle_rotation_error: 3.1322941652567096 + euclidean_error: 0.9785387873937877 + wrist_top_marker_pose: + angle_rotation_error: 3.0290263188238256 + euclidean_error: 0.9769838648995048 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0931284373965884 + euclidean_error: 0.9706342896696457 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0685565623418665 + euclidean_error: 0.9839570529914806 + wrist_inside_marker_pose: + angle_rotation_error: 3.026056903467687 + euclidean_error: 0.9813339011980936 + wrist_top_marker_pose: + angle_rotation_error: 2.952931890356719 + euclidean_error: 0.9774163622798173 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085097819340918 + euclidean_error: 0.9708027519442739 + base_right_marker_pose: + angle_rotation_error: 3.1362218008547034 + euclidean_error: 0.972987554142676 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.130659831182219 + euclidean_error: 0.9790211257206383 + wrist_top_marker_pose: + angle_rotation_error: 2.933104864290487 + euclidean_error: 0.9781549588627015 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0814238776136973 + euclidean_error: 0.9706517414959558 + base_right_marker_pose: + angle_rotation_error: 3.130218074249319 + euclidean_error: 0.9729236164589367 + shoulder_marker_pose: + angle_rotation_error: 3.133817899243476 + euclidean_error: 0.9838123112332295 + wrist_inside_marker_pose: + angle_rotation_error: 3.096017507531676 + euclidean_error: 0.9803103027981794 + wrist_top_marker_pose: + angle_rotation_error: 2.902993212785311 + euclidean_error: 0.9779389452287207 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1212182879304753 + euclidean_error: 0.9707727307730944 + base_right_marker_pose: + angle_rotation_error: 3.0754692100378076 + euclidean_error: 0.9733299697852515 + shoulder_marker_pose: + angle_rotation_error: 3.1159618927477064 + euclidean_error: 0.984153024709281 + wrist_inside_marker_pose: + angle_rotation_error: 3.0368717098342968 + euclidean_error: 0.9805289255309125 + wrist_top_marker_pose: + angle_rotation_error: 2.8921786928765405 + euclidean_error: 0.9780690270012423 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1034588910657415 + euclidean_error: 0.9703456512053816 + base_right_marker_pose: + angle_rotation_error: 3.1203243380552563 + euclidean_error: 0.9727866271265605 + shoulder_marker_pose: + angle_rotation_error: 3.0503299997337607 + euclidean_error: 0.9846012168189522 + wrist_inside_marker_pose: + angle_rotation_error: 3.014766170922088 + euclidean_error: 0.9804908411354366 + wrist_top_marker_pose: + angle_rotation_error: 3.0388954255779415 + euclidean_error: 0.9768877782330598 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.119069650671219 + euclidean_error: 0.972951148740539 + shoulder_marker_pose: + angle_rotation_error: 3.0645719420561592 + euclidean_error: 0.984234094912425 + wrist_inside_marker_pose: + angle_rotation_error: 2.8982933078611426 + euclidean_error: 0.9806786894021484 + wrist_top_marker_pose: + angle_rotation_error: 3.138017206397344 + euclidean_error: 0.9760148885684264 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0776167274625177 + euclidean_error: 0.9706308775494839 + base_right_marker_pose: + angle_rotation_error: 3.141425775628427 + euclidean_error: 0.9730229867441638 + shoulder_marker_pose: + angle_rotation_error: 3.1310803859510106 + euclidean_error: 0.9843478327696342 + wrist_inside_marker_pose: + angle_rotation_error: 2.9584512230740705 + euclidean_error: 0.9797561396649466 + wrist_top_marker_pose: + angle_rotation_error: 2.958627568980613 + euclidean_error: 0.9771476001529158 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0505581077114092 + euclidean_error: 0.9843343940614879 + wrist_inside_marker_pose: + angle_rotation_error: 3.0168518499226122 + euclidean_error: 0.9799020792128426 + wrist_top_marker_pose: + angle_rotation_error: 2.8616650343444965 + euclidean_error: 0.9783639892540723 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0565587675252437 + euclidean_error: 0.9713613383209343 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0986596543411635 + euclidean_error: 0.9847533091311698 + wrist_inside_marker_pose: + angle_rotation_error: 3.024286377900483 + euclidean_error: 0.9798916911346656 + wrist_top_marker_pose: + angle_rotation_error: 2.8520657672053327 + euclidean_error: 0.9798517313435889 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0594904702408052 + euclidean_error: 0.9713160425113825 + base_right_marker_pose: + angle_rotation_error: 3.1401720719710564 + euclidean_error: 0.9731413162112423 + shoulder_marker_pose: + angle_rotation_error: 2.972879886163036 + euclidean_error: 0.9857744158697396 + wrist_inside_marker_pose: + angle_rotation_error: 3.033165378184671 + euclidean_error: 0.9802369979132395 + wrist_top_marker_pose: + angle_rotation_error: 2.986219982328947 + euclidean_error: 0.9779339898411138 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.099645634611083 + euclidean_error: 0.9707870598539975 + base_right_marker_pose: + angle_rotation_error: 3.137687989006277 + euclidean_error: 0.9730989519443518 + shoulder_marker_pose: + angle_rotation_error: 3.1105530111664823 + euclidean_error: 0.9841268896280363 + wrist_inside_marker_pose: + angle_rotation_error: 3.055301259645666 + euclidean_error: 0.9804306055361227 + wrist_top_marker_pose: + angle_rotation_error: 2.9679232818143015 + euclidean_error: 0.9782435046744014 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0953304528814076 + euclidean_error: 0.970781908914961 + base_right_marker_pose: + angle_rotation_error: 3.1167415043658755 + euclidean_error: 0.9731159641561358 + shoulder_marker_pose: + angle_rotation_error: 3.054053286170185 + euclidean_error: 0.9846907894205045 + wrist_inside_marker_pose: + angle_rotation_error: 2.863526443792738 + euclidean_error: 0.9806670262570953 + wrist_top_marker_pose: + angle_rotation_error: 2.879429405925397 + euclidean_error: 0.9794167194849641 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0918688590038457 + euclidean_error: 0.9711321861136988 + base_right_marker_pose: + angle_rotation_error: 3.1075400340391135 + euclidean_error: 0.9731829297378007 + shoulder_marker_pose: + angle_rotation_error: 3.104044844089157 + euclidean_error: 0.9844000286620079 + wrist_inside_marker_pose: + angle_rotation_error: 3.1276564608569015 + euclidean_error: 0.9800401358165476 + wrist_top_marker_pose: + angle_rotation_error: 3.008766005361684 + euclidean_error: 0.9769100653597266 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.091788517422338 + euclidean_error: 0.970872342737307 + base_right_marker_pose: + angle_rotation_error: 3.1404549999052613 + euclidean_error: 0.9730434477561665 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0061310212773553 + euclidean_error: 0.98121491746369 + wrist_top_marker_pose: + angle_rotation_error: 2.9497580414577125 + euclidean_error: 0.9796692439579263 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.105252319893439 + euclidean_error: 0.9844891413806469 + wrist_inside_marker_pose: + angle_rotation_error: 2.976952063618781 + euclidean_error: 0.9804146844355007 + wrist_top_marker_pose: + angle_rotation_error: 3.062553481309545 + euclidean_error: 0.9783695538656699 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0793135499957374 + euclidean_error: 0.9708774593028668 + base_right_marker_pose: + angle_rotation_error: 3.1359135224293886 + euclidean_error: 0.9730177052992789 + shoulder_marker_pose: + angle_rotation_error: 3.1217158058987544 + euclidean_error: 0.9844592381993923 + wrist_inside_marker_pose: + angle_rotation_error: 3.092893195935865 + euclidean_error: 0.9790104529733911 + wrist_top_marker_pose: + angle_rotation_error: 3.0217310212025095 + euclidean_error: 0.9776979665322193 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080090053239336 + euclidean_error: 0.9706066689723153 + base_right_marker_pose: + angle_rotation_error: 3.1389018138320313 + euclidean_error: 0.9729132511021065 + shoulder_marker_pose: + angle_rotation_error: 3.132318255927891 + euclidean_error: 0.9842828207095176 + wrist_inside_marker_pose: + angle_rotation_error: 3.091866593895051 + euclidean_error: 0.9794898162736053 + wrist_top_marker_pose: + angle_rotation_error: 3.054059394792442 + euclidean_error: 0.9784984141922466 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0958423903301386 + euclidean_error: 0.9707645267701892 + base_right_marker_pose: + angle_rotation_error: 3.1048417512531903 + euclidean_error: 0.9731559807069937 + shoulder_marker_pose: + angle_rotation_error: 3.032258588386885 + euclidean_error: 0.9849273613769602 + wrist_inside_marker_pose: + angle_rotation_error: 3.005651947479563 + euclidean_error: 0.9805893586895258 + wrist_top_marker_pose: + angle_rotation_error: 2.892519893059444 + euclidean_error: 0.9799698350550958 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0715498065526 + euclidean_error: 0.9710357966188035 + base_right_marker_pose: + angle_rotation_error: 3.1335832569767303 + euclidean_error: 0.9731206831398584 + shoulder_marker_pose: + angle_rotation_error: 3.1394817497401575 + euclidean_error: 0.983764932805313 + wrist_inside_marker_pose: + angle_rotation_error: 3.1318683201096222 + euclidean_error: 0.9798602820960383 + wrist_top_marker_pose: + angle_rotation_error: 3.0374393921106253 + euclidean_error: 0.9779736176872502 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0702131572474967 + euclidean_error: 0.9711352558667969 + base_right_marker_pose: + angle_rotation_error: 3.1340620810118907 + euclidean_error: 0.9730856190614435 + shoulder_marker_pose: + angle_rotation_error: 3.030942132581313 + euclidean_error: 0.98457936451856 + wrist_inside_marker_pose: + angle_rotation_error: 3.057002532791985 + euclidean_error: 0.9797049807759787 + wrist_top_marker_pose: + angle_rotation_error: 2.8938137141817832 + euclidean_error: 0.9797078036976535 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074362244256622 + euclidean_error: 0.9708310174234305 + base_right_marker_pose: + angle_rotation_error: 3.1193941549617055 + euclidean_error: 0.9727669774462946 + shoulder_marker_pose: + angle_rotation_error: 3.111728945552753 + euclidean_error: 0.9839877189140188 + wrist_inside_marker_pose: + angle_rotation_error: 3.066845751517071 + euclidean_error: 0.9801328433176779 + wrist_top_marker_pose: + angle_rotation_error: 2.8822705999303753 + euclidean_error: 0.9800439924233512 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0938088705239806 + euclidean_error: 0.9705933779635881 + base_right_marker_pose: + angle_rotation_error: 3.127275887714422 + euclidean_error: 0.9730929548222566 + shoulder_marker_pose: + angle_rotation_error: 3.1193570028455353 + euclidean_error: 0.98400384338582 + wrist_inside_marker_pose: + angle_rotation_error: 2.992165479581524 + euclidean_error: 0.979886513173025 + wrist_top_marker_pose: + angle_rotation_error: 2.8842923037823875 + euclidean_error: 0.9785029851211827 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10251199708361 + euclidean_error: 0.9705132558955695 + base_right_marker_pose: + angle_rotation_error: 3.114058337813491 + euclidean_error: 0.9731860198141961 + shoulder_marker_pose: + angle_rotation_error: 3.1078056599386765 + euclidean_error: 0.9835730268187377 + wrist_inside_marker_pose: + angle_rotation_error: 3.06877359272758 + euclidean_error: 0.9796487522268101 + wrist_top_marker_pose: + angle_rotation_error: 2.9642123235092064 + euclidean_error: 0.9785011435468056 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0701245735135183 + euclidean_error: 0.9712714193287116 + base_right_marker_pose: + angle_rotation_error: 3.1113373631428467 + euclidean_error: 0.9734333984817256 + shoulder_marker_pose: + angle_rotation_error: 3.125914774043532 + euclidean_error: 0.9841732028346215 + wrist_inside_marker_pose: + angle_rotation_error: 3.026796840858558 + euclidean_error: 0.979116655942812 + wrist_top_marker_pose: + angle_rotation_error: 3.0126145288310564 + euclidean_error: 0.9788818937637442 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063080392346218 + euclidean_error: 0.9710824583356682 + base_right_marker_pose: + angle_rotation_error: 3.118624806987048 + euclidean_error: 0.97332102470676 + shoulder_marker_pose: + angle_rotation_error: 2.9943493587305583 + euclidean_error: 0.9856891244002426 + wrist_inside_marker_pose: + angle_rotation_error: 3.0836882739723306 + euclidean_error: 0.9809853799426016 + wrist_top_marker_pose: + angle_rotation_error: 3.0260582955022497 + euclidean_error: 0.9779333256680064 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0198400457392935 + euclidean_error: 0.9716586859095743 + base_right_marker_pose: + angle_rotation_error: 3.1266355595267497 + euclidean_error: 0.9732752075003279 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0829974134197475 + euclidean_error: 0.9795622198231636 + wrist_top_marker_pose: + angle_rotation_error: 3.0386114247332605 + euclidean_error: 0.9795677417486149 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0616845690715944 + euclidean_error: 0.9714955561725435 + base_right_marker_pose: + angle_rotation_error: 3.103333378471478 + euclidean_error: 0.9730186134835856 + shoulder_marker_pose: + angle_rotation_error: 3.0806720182475837 + euclidean_error: 0.9842342513566978 + wrist_inside_marker_pose: + angle_rotation_error: 3.1228659926031086 + euclidean_error: 0.9802007572673099 + wrist_top_marker_pose: + angle_rotation_error: 3.02476479598785 + euclidean_error: 0.9784410857783716 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.08797282987051 + euclidean_error: 0.9707435543095633 + base_right_marker_pose: + angle_rotation_error: 3.123928658221148 + euclidean_error: 0.9733305594162734 + shoulder_marker_pose: + angle_rotation_error: 3.1020816893060648 + euclidean_error: 0.984637165657474 + wrist_inside_marker_pose: + angle_rotation_error: 3.1296440361950415 + euclidean_error: 0.9808876835330655 + wrist_top_marker_pose: + angle_rotation_error: 3.1102627900629867 + euclidean_error: 0.9768958032958152 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1078640741825145 + euclidean_error: 0.9706773441418011 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1338765218322218 + euclidean_error: 0.9837299945201361 + wrist_inside_marker_pose: + angle_rotation_error: 3.0147286045022073 + euclidean_error: 0.979959636239159 + wrist_top_marker_pose: + angle_rotation_error: 2.86203058578576 + euclidean_error: 0.9793138288542452 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0950808120017594 + euclidean_error: 0.9708803914034272 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0511324179350945 + euclidean_error: 0.985080600561778 + wrist_inside_marker_pose: + angle_rotation_error: 2.8980219271720493 + euclidean_error: 0.9816628341277953 + wrist_top_marker_pose: + angle_rotation_error: 2.968598229868882 + euclidean_error: 0.9786707373263372 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0849819424678264 + euclidean_error: 0.9709042358896389 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.126538283870321 + euclidean_error: 0.9844230941563313 + wrist_inside_marker_pose: + angle_rotation_error: 3.091785379308957 + euclidean_error: 0.9803254257551157 + wrist_top_marker_pose: + angle_rotation_error: 2.9838993167633174 + euclidean_error: 0.9781959060201755 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0701449190684027 + euclidean_error: 0.971525959536518 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.047776562250107 + euclidean_error: 0.9848718285501317 + wrist_inside_marker_pose: + angle_rotation_error: 3.124751420845413 + euclidean_error: 0.9799550083910672 + wrist_top_marker_pose: + angle_rotation_error: 3.051592398872641 + euclidean_error: 0.9781310884720442 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.090970350346687 + euclidean_error: 0.9708347510065308 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.115907000914534 + euclidean_error: 0.9844879290289592 + wrist_inside_marker_pose: + angle_rotation_error: 3.127398288996625 + euclidean_error: 0.9792733623044905 + wrist_top_marker_pose: + angle_rotation_error: 2.9513378954177862 + euclidean_error: 0.9774507927124129 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.094261036632868 + euclidean_error: 0.9845264950275675 + wrist_inside_marker_pose: + angle_rotation_error: 2.9789238603892922 + euclidean_error: 0.9800336949965417 + wrist_top_marker_pose: + angle_rotation_error: 2.9733834939647306 + euclidean_error: 0.9772946399698235 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.048735866988316 + euclidean_error: 0.9709460879062255 + base_right_marker_pose: + angle_rotation_error: 3.1085824185814808 + euclidean_error: 0.9729995585400577 + shoulder_marker_pose: + angle_rotation_error: 3.0317411886725414 + euclidean_error: 0.9847186030036871 + wrist_inside_marker_pose: + angle_rotation_error: 3.1087386696628654 + euclidean_error: 0.9804687078653532 + wrist_top_marker_pose: + angle_rotation_error: 2.988868507401039 + euclidean_error: 0.9791829982151601 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086998641303404 + euclidean_error: 0.9709743982372655 + base_right_marker_pose: + angle_rotation_error: 3.131150274987427 + euclidean_error: 0.9730202961189127 + shoulder_marker_pose: + angle_rotation_error: 3.1398681751404043 + euclidean_error: 0.983885838953792 + wrist_inside_marker_pose: + angle_rotation_error: 3.1064623144235575 + euclidean_error: 0.9798014787425838 + wrist_top_marker_pose: + angle_rotation_error: 2.993553037536508 + euclidean_error: 0.9768518130549445 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.053792862405246 + euclidean_error: 0.9708459933929341 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.063610324835837 + euclidean_error: 0.9851072241553637 + wrist_inside_marker_pose: + angle_rotation_error: 3.0965124410720053 + euclidean_error: 0.9796101835080067 + wrist_top_marker_pose: + angle_rotation_error: 2.9534045255716386 + euclidean_error: 0.9779425306339439 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.068470222826028 + euclidean_error: 0.9708921867564834 + base_right_marker_pose: + angle_rotation_error: 3.101921703000705 + euclidean_error: 0.9729039308512156 + shoulder_marker_pose: + angle_rotation_error: 3.050467888154461 + euclidean_error: 0.9844898335268815 + wrist_inside_marker_pose: + angle_rotation_error: 3.026284756572742 + euclidean_error: 0.9812939523191433 + wrist_top_marker_pose: + angle_rotation_error: 2.8720007154032188 + euclidean_error: 0.9798163108782048 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1009596838738163 + euclidean_error: 0.9706449215051098 + base_right_marker_pose: + angle_rotation_error: 3.116196148689314 + euclidean_error: 0.9733019440457797 + shoulder_marker_pose: + angle_rotation_error: 3.10458012036183 + euclidean_error: 0.9845443526521748 + wrist_inside_marker_pose: + angle_rotation_error: 3.09390739287817 + euclidean_error: 0.978854144867399 + wrist_top_marker_pose: + angle_rotation_error: 2.9754014755217324 + euclidean_error: 0.977431859159483 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082051315641737 + euclidean_error: 0.9708356064896001 + base_right_marker_pose: + angle_rotation_error: 3.134566348739782 + euclidean_error: 0.9730908334739267 + shoulder_marker_pose: + angle_rotation_error: 3.0098183767354683 + euclidean_error: 0.9851488075519813 + wrist_inside_marker_pose: + angle_rotation_error: 2.937672463013337 + euclidean_error: 0.9809951388743353 + wrist_top_marker_pose: + angle_rotation_error: 2.90150940938338 + euclidean_error: 0.9786155245834903 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0609823175891653 + euclidean_error: 0.9711427375453975 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.12538889895601 + euclidean_error: 0.9838149644045014 + wrist_inside_marker_pose: + angle_rotation_error: 3.132981053655974 + euclidean_error: 0.9807874531785689 + wrist_top_marker_pose: + angle_rotation_error: 2.9269337346491526 + euclidean_error: 0.9779346640972798 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1398688062436473 + euclidean_error: 0.9731092199984558 + shoulder_marker_pose: + angle_rotation_error: 3.0498668209105952 + euclidean_error: 0.9852311377085189 + wrist_inside_marker_pose: + angle_rotation_error: 3.092066592608413 + euclidean_error: 0.9795958741673196 + wrist_top_marker_pose: + angle_rotation_error: 3.032731787116339 + euclidean_error: 0.9776239883546153 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.065807475377782 + euclidean_error: 0.9708585114836827 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0249545005390592 + euclidean_error: 0.9844187723608965 + wrist_inside_marker_pose: + angle_rotation_error: 2.9448602641374215 + euclidean_error: 0.9813933766811626 + wrist_top_marker_pose: + angle_rotation_error: 2.9940659993982544 + euclidean_error: 0.9777036146644966 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0965197646593015 + euclidean_error: 0.9708222052554748 + base_right_marker_pose: + angle_rotation_error: 3.139016423363454 + euclidean_error: 0.9729584819859612 + shoulder_marker_pose: + angle_rotation_error: 3.090888071163322 + euclidean_error: 0.9846053975490346 + wrist_inside_marker_pose: + angle_rotation_error: 3.0478549915690367 + euclidean_error: 0.9799927656897159 + wrist_top_marker_pose: + angle_rotation_error: 2.938388492626314 + euclidean_error: 0.9780817483291401 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1037185576130897 + euclidean_error: 0.9709126873353631 + base_right_marker_pose: + angle_rotation_error: 3.124392858274067 + euclidean_error: 0.9731327028082531 + shoulder_marker_pose: + angle_rotation_error: 3.0495473476176094 + euclidean_error: 0.9852938300114455 + wrist_inside_marker_pose: + angle_rotation_error: 3.0120304059100222 + euclidean_error: 0.9811541677057469 + wrist_top_marker_pose: + angle_rotation_error: 2.92062028499011 + euclidean_error: 0.9788248554041395 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0790181355040973 + euclidean_error: 0.971388908104501 + base_right_marker_pose: + angle_rotation_error: 3.1202264285571757 + euclidean_error: 0.97308205388466 + shoulder_marker_pose: + angle_rotation_error: 3.1081489979430006 + euclidean_error: 0.9850250386782458 + wrist_inside_marker_pose: + angle_rotation_error: 3.112523449744307 + euclidean_error: 0.9799340950220528 + wrist_top_marker_pose: + angle_rotation_error: 3.045558395475157 + euclidean_error: 0.9770473200226467 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0723550014727423 + euclidean_error: 0.9710358583388012 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0835271342532162 + euclidean_error: 0.9848687620906782 + wrist_inside_marker_pose: + angle_rotation_error: 3.0343621646083734 + euclidean_error: 0.9795311921614184 + wrist_top_marker_pose: + angle_rotation_error: 2.9320604176894016 + euclidean_error: 0.97836242044572 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0808092573998906 + euclidean_error: 0.9705132540027079 + base_right_marker_pose: + angle_rotation_error: 3.133002458101786 + euclidean_error: 0.9730558283844779 + shoulder_marker_pose: + angle_rotation_error: 3.0513144428697316 + euclidean_error: 0.9841805645941161 + wrist_inside_marker_pose: + angle_rotation_error: 2.971181998301554 + euclidean_error: 0.9808082184263828 + wrist_top_marker_pose: + angle_rotation_error: 2.9010450526111646 + euclidean_error: 0.9782520357876799 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0856219359125543 + euclidean_error: 0.9703255374686104 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1175839698040195 + euclidean_error: 0.9846512819772864 + wrist_inside_marker_pose: + angle_rotation_error: 2.972217497044813 + euclidean_error: 0.9807123055095 + wrist_top_marker_pose: + angle_rotation_error: 2.8574505272040387 + euclidean_error: 0.9788149368184174 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0987422038640644 + euclidean_error: 0.9705480763632164 + base_right_marker_pose: + angle_rotation_error: 3.0688110199701604 + euclidean_error: 0.9734078969575543 + shoulder_marker_pose: + angle_rotation_error: 3.0541762132262744 + euclidean_error: 0.984681959779281 + wrist_inside_marker_pose: + angle_rotation_error: 2.9871552702531994 + euclidean_error: 0.9800121047762854 + wrist_top_marker_pose: + angle_rotation_error: 2.821091441550436 + euclidean_error: 0.9788881974512972 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.076986734361522 + euclidean_error: 0.9705087686092004 + base_right_marker_pose: + angle_rotation_error: 3.1372595287506444 + euclidean_error: 0.9730918125081065 + shoulder_marker_pose: + angle_rotation_error: 3.0096432142134777 + euclidean_error: 0.9852001689726723 + wrist_inside_marker_pose: + angle_rotation_error: 3.0794726462697475 + euclidean_error: 0.9801240839716377 + wrist_top_marker_pose: + angle_rotation_error: 2.9497489411726874 + euclidean_error: 0.9797535134931437 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0920150540528346 + euclidean_error: 0.9706179286904004 + base_right_marker_pose: + angle_rotation_error: 3.1389389716080416 + euclidean_error: 0.9730784347109782 + shoulder_marker_pose: + angle_rotation_error: 3.0655642469452467 + euclidean_error: 0.9836667290722909 + wrist_inside_marker_pose: + angle_rotation_error: 3.132816791597773 + euclidean_error: 0.9786683593919008 + wrist_top_marker_pose: + angle_rotation_error: 2.9322327205093788 + euclidean_error: 0.977490962333489 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0996768132188715 + euclidean_error: 0.9711187185256263 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.132116417687007 + euclidean_error: 0.9843062232821604 + wrist_inside_marker_pose: + angle_rotation_error: 2.969465539902853 + euclidean_error: 0.9804268729220244 + wrist_top_marker_pose: + angle_rotation_error: 2.9357571610726723 + euclidean_error: 0.9774254825814038 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0948407755638794 + euclidean_error: 0.9705535260350902 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.033407364475448 + euclidean_error: 0.9847564406742203 + wrist_inside_marker_pose: + angle_rotation_error: 2.989438269100547 + euclidean_error: 0.9802805972634101 + wrist_top_marker_pose: + angle_rotation_error: 2.8224404052290604 + euclidean_error: 0.9792408150680215 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097092836368319 + euclidean_error: 0.9708350250010979 + base_right_marker_pose: + angle_rotation_error: 3.1352224088494545 + euclidean_error: 0.9731349960104093 + shoulder_marker_pose: + angle_rotation_error: 3.0511282571218876 + euclidean_error: 0.9846709615232446 + wrist_inside_marker_pose: + angle_rotation_error: 2.9571540177156344 + euclidean_error: 0.9812098675412103 + wrist_top_marker_pose: + angle_rotation_error: 2.891439185398529 + euclidean_error: 0.9780649335799366 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1204101404610016 + euclidean_error: 0.9700182242382157 + base_right_marker_pose: + angle_rotation_error: 3.1156691058756754 + euclidean_error: 0.9733535007906503 + shoulder_marker_pose: + angle_rotation_error: 2.9619448862086135 + euclidean_error: 0.9859263807753403 + wrist_inside_marker_pose: + angle_rotation_error: 3.008922395988861 + euclidean_error: 0.980661605767527 + wrist_top_marker_pose: + angle_rotation_error: 2.8078437449775935 + euclidean_error: 0.9797823688909489 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.053504302482894 + euclidean_error: 0.9710468263888948 + base_right_marker_pose: + angle_rotation_error: 3.1219159731469426 + euclidean_error: 0.9733631009545703 + shoulder_marker_pose: + angle_rotation_error: 3.0284341249547744 + euclidean_error: 0.9852063270402155 + wrist_inside_marker_pose: + angle_rotation_error: 3.128394190239747 + euclidean_error: 0.9800852136637136 + wrist_top_marker_pose: + angle_rotation_error: 3.010947615764653 + euclidean_error: 0.9783890889006389 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0677029943019187 + euclidean_error: 0.971487079652199 + base_right_marker_pose: + angle_rotation_error: 3.1226014486636933 + euclidean_error: 0.9729724865592193 + shoulder_marker_pose: + angle_rotation_error: 3.098701513290881 + euclidean_error: 0.9845959843826069 + wrist_inside_marker_pose: + angle_rotation_error: 3.017501567221908 + euclidean_error: 0.9802494833296578 + wrist_top_marker_pose: + angle_rotation_error: 3.0811827542278682 + euclidean_error: 0.9766046246851763 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0916475567151585 + euclidean_error: 0.9708748535695023 + base_right_marker_pose: + angle_rotation_error: 3.1281943772017837 + euclidean_error: 0.9730545311019353 + shoulder_marker_pose: + angle_rotation_error: 3.0305849940285317 + euclidean_error: 0.9850472550971737 + wrist_inside_marker_pose: + angle_rotation_error: 2.982592123958238 + euclidean_error: 0.9802838172203384 + wrist_top_marker_pose: + angle_rotation_error: 2.966660812608492 + euclidean_error: 0.977533742992308 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1187808806752284 + euclidean_error: 0.9730148985299282 + shoulder_marker_pose: + angle_rotation_error: 3.054294969816564 + euclidean_error: 0.9850009502911236 + wrist_inside_marker_pose: + angle_rotation_error: 3.121820320771211 + euclidean_error: 0.9802406529185348 + wrist_top_marker_pose: + angle_rotation_error: 2.924132228470364 + euclidean_error: 0.9789453820532923 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1342075357779287 + euclidean_error: 0.973070871455277 + shoulder_marker_pose: + angle_rotation_error: 3.0888580370459175 + euclidean_error: 0.9844595801918469 + wrist_inside_marker_pose: + angle_rotation_error: 3.046861521561526 + euclidean_error: 0.9804288249870304 + wrist_top_marker_pose: + angle_rotation_error: 2.9196754184763596 + euclidean_error: 0.9779451157489566 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0952965936341945 + euclidean_error: 0.9711596695078563 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1001582299652517 + euclidean_error: 0.9845392795805219 + wrist_inside_marker_pose: + angle_rotation_error: 3.0048281303946487 + euclidean_error: 0.9807680236410982 + wrist_top_marker_pose: + angle_rotation_error: 2.814996086380029 + euclidean_error: 0.9792382316402073 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1002796109761994 + euclidean_error: 0.9709467217912362 + base_right_marker_pose: + angle_rotation_error: 3.119880709770892 + euclidean_error: 0.9731935506414423 + shoulder_marker_pose: + angle_rotation_error: 3.0533876398564157 + euclidean_error: 0.9848437050151307 + wrist_inside_marker_pose: + angle_rotation_error: 3.0916591832072955 + euclidean_error: 0.9793941235747116 + wrist_top_marker_pose: + angle_rotation_error: 3.0270311475759137 + euclidean_error: 0.9783729490927127 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0318168793877938 + euclidean_error: 0.9715306533029231 + base_right_marker_pose: + angle_rotation_error: 3.1351306498737452 + euclidean_error: 0.97287191684049 + shoulder_marker_pose: + angle_rotation_error: 3.041507391694865 + euclidean_error: 0.9848750620166643 + wrist_inside_marker_pose: + angle_rotation_error: 3.0990508840271382 + euclidean_error: 0.9806311452214037 + wrist_top_marker_pose: + angle_rotation_error: 2.937662868411877 + euclidean_error: 0.9799471157600895 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.049418355348467 + euclidean_error: 0.9710363161897199 + base_right_marker_pose: + angle_rotation_error: 3.1317820031896013 + euclidean_error: 0.972975005811465 + shoulder_marker_pose: + angle_rotation_error: 3.0427828737948586 + euclidean_error: 0.9848122022310953 + wrist_inside_marker_pose: + angle_rotation_error: 3.0813608778018824 + euclidean_error: 0.9791317279497983 + wrist_top_marker_pose: + angle_rotation_error: 2.9284422217038806 + euclidean_error: 0.9786652784317285 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0960923324360685 + euclidean_error: 0.9704489266163802 + base_right_marker_pose: + angle_rotation_error: 3.134380439146191 + euclidean_error: 0.9732903018877563 + shoulder_marker_pose: + angle_rotation_error: 3.123785660021422 + euclidean_error: 0.9841891028709912 + wrist_inside_marker_pose: + angle_rotation_error: 2.9463704464023355 + euclidean_error: 0.9810326499760453 + wrist_top_marker_pose: + angle_rotation_error: 2.83551415742412 + euclidean_error: 0.9789034635949666 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0720936833746 + euclidean_error: 0.9708208530150256 + base_right_marker_pose: + angle_rotation_error: 3.1391298044809783 + euclidean_error: 0.9729976970623043 + shoulder_marker_pose: + angle_rotation_error: 3.1196860264432003 + euclidean_error: 0.9839002512004542 + wrist_inside_marker_pose: + angle_rotation_error: 3.02046551389986 + euclidean_error: 0.9802596701405475 + wrist_top_marker_pose: + angle_rotation_error: 2.973060248691828 + euclidean_error: 0.9781090800426314 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094820329774835 + euclidean_error: 0.9705222855414661 + base_right_marker_pose: + angle_rotation_error: 3.1356767724256063 + euclidean_error: 0.9729891496586835 + shoulder_marker_pose: + angle_rotation_error: 3.0258231525842403 + euclidean_error: 0.9843842491974558 + wrist_inside_marker_pose: + angle_rotation_error: 3.140033572342562 + euclidean_error: 0.980115516182869 + wrist_top_marker_pose: + angle_rotation_error: 2.8625891776856247 + euclidean_error: 0.9795864867169763 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063635747141226 + euclidean_error: 0.9711826527867997 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.128065721288465 + euclidean_error: 0.9844150695426112 + wrist_inside_marker_pose: + angle_rotation_error: 3.1161784625665607 + euclidean_error: 0.9798511576151451 + wrist_top_marker_pose: + angle_rotation_error: 3.0344896188580694 + euclidean_error: 0.9805293289694722 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1090817917657185 + euclidean_error: 0.9706063370984814 + base_right_marker_pose: + angle_rotation_error: 3.10980055175401 + euclidean_error: 0.9731312884862696 + shoulder_marker_pose: + angle_rotation_error: 3.127893416903009 + euclidean_error: 0.9840466007225492 + wrist_inside_marker_pose: + angle_rotation_error: 2.9101519953920505 + euclidean_error: 0.9819846631320629 + wrist_top_marker_pose: + angle_rotation_error: 2.975311933811441 + euclidean_error: 0.9782408989749896 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0662823776119463 + euclidean_error: 0.9713317484164627 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.104216271629056 + euclidean_error: 0.9847533190635899 + wrist_inside_marker_pose: + angle_rotation_error: 3.1335328547074157 + euclidean_error: 0.9800165218666442 + wrist_top_marker_pose: + angle_rotation_error: 3.004419667588508 + euclidean_error: 0.9774752560875989 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0659368711660364 + euclidean_error: 0.971055001448185 + base_right_marker_pose: + angle_rotation_error: 3.1215157688788935 + euclidean_error: 0.9728953043528952 + shoulder_marker_pose: + angle_rotation_error: 3.0969035976933816 + euclidean_error: 0.9840865935076338 + wrist_inside_marker_pose: + angle_rotation_error: 3.1116780755619406 + euclidean_error: 0.9804060336210322 + wrist_top_marker_pose: + angle_rotation_error: 2.9083230390956794 + euclidean_error: 0.9783218649268506 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085326980345614 + euclidean_error: 0.9709072796451149 + base_right_marker_pose: + angle_rotation_error: 3.123061142463709 + euclidean_error: 0.97308907097496 + shoulder_marker_pose: + angle_rotation_error: 3.047839793405117 + euclidean_error: 0.9848342085636224 + wrist_inside_marker_pose: + angle_rotation_error: 3.1200052862249303 + euclidean_error: 0.9797786497014277 + wrist_top_marker_pose: + angle_rotation_error: 2.8289512049173977 + euclidean_error: 0.9785697263697289 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.084507300682999 + euclidean_error: 0.970825215162002 + base_right_marker_pose: + angle_rotation_error: 3.121892810888528 + euclidean_error: 0.9732387364437444 + shoulder_marker_pose: + angle_rotation_error: 3.0072268780314704 + euclidean_error: 0.984999519500627 + wrist_inside_marker_pose: + angle_rotation_error: 2.9346187905053807 + euclidean_error: 0.9799590730156884 + wrist_top_marker_pose: + angle_rotation_error: 2.8529386055669095 + euclidean_error: 0.9781168537880095 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.09322445617896 + euclidean_error: 0.9708918905257169 + base_right_marker_pose: + angle_rotation_error: 3.130480548374693 + euclidean_error: 0.9726751540282796 + shoulder_marker_pose: + angle_rotation_error: 3.0110357731328428 + euclidean_error: 0.9852376280712067 + wrist_inside_marker_pose: + angle_rotation_error: 2.9170245014651894 + euclidean_error: 0.980017110627919 + wrist_top_marker_pose: + angle_rotation_error: 2.929730045897054 + euclidean_error: 0.9787216504046367 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0770582569712737 + euclidean_error: 0.971013189417656 + base_right_marker_pose: + angle_rotation_error: 3.127941837644834 + euclidean_error: 0.9730988730862289 + shoulder_marker_pose: + angle_rotation_error: 3.031689618238655 + euclidean_error: 0.9850886855069685 + wrist_inside_marker_pose: + angle_rotation_error: 2.963984825346241 + euclidean_error: 0.9820441118149956 + wrist_top_marker_pose: + angle_rotation_error: 2.8880309377982134 + euclidean_error: 0.9787448913016897 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1022093517455795 + euclidean_error: 0.9707547220094553 + base_right_marker_pose: + angle_rotation_error: 3.1396466832501315 + euclidean_error: 0.9730386901540081 + shoulder_marker_pose: + angle_rotation_error: 3.0949750102252 + euclidean_error: 0.9842145838567771 + wrist_inside_marker_pose: + angle_rotation_error: 3.0116198246206904 + euclidean_error: 0.9809485991546668 + wrist_top_marker_pose: + angle_rotation_error: 2.786146196582834 + euclidean_error: 0.9795435303072338 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.027571217118134 + euclidean_error: 0.9719486989616278 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.043078381802055 + euclidean_error: 0.9849283040137549 + wrist_inside_marker_pose: + angle_rotation_error: 2.9915983939363184 + euclidean_error: 0.978167591701624 + wrist_top_marker_pose: + angle_rotation_error: 2.959767829425951 + euclidean_error: 0.9803648033374049 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.071581729001968 + euclidean_error: 0.9709986405394702 + base_right_marker_pose: + angle_rotation_error: 3.1393334150903827 + euclidean_error: 0.9730118289364865 + shoulder_marker_pose: + angle_rotation_error: 3.132596398090159 + euclidean_error: 0.9839755127618476 + wrist_inside_marker_pose: + angle_rotation_error: 3.1014625299894667 + euclidean_error: 0.9799171288643629 + wrist_top_marker_pose: + angle_rotation_error: 2.794070956434172 + euclidean_error: 0.9800004846905207 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0746309548219695 + euclidean_error: 0.9711797044873315 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1031387830001647 + euclidean_error: 0.9840489192726123 + wrist_inside_marker_pose: + angle_rotation_error: 3.1212935141729807 + euclidean_error: 0.9812145500118027 + wrist_top_marker_pose: + angle_rotation_error: 3.1293086936208447 + euclidean_error: 0.9777916531250062 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0714648183438134 + euclidean_error: 0.9711278473223062 + base_right_marker_pose: + angle_rotation_error: 3.121968867710606 + euclidean_error: 0.973021059506916 + shoulder_marker_pose: + angle_rotation_error: 3.0632533998302183 + euclidean_error: 0.9852056479379309 + wrist_inside_marker_pose: + angle_rotation_error: 3.032264685654358 + euclidean_error: 0.9797224252402067 + wrist_top_marker_pose: + angle_rotation_error: 2.8785482087625183 + euclidean_error: 0.9811170290610604 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0665506666581606 + euclidean_error: 0.9711690726009662 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.063867910128899 + euclidean_error: 0.9850696107380227 + wrist_inside_marker_pose: + angle_rotation_error: 3.108083466885563 + euclidean_error: 0.9799123732217472 + wrist_top_marker_pose: + angle_rotation_error: 2.922849854161651 + euclidean_error: 0.9787016021790882 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0522570840299985 + euclidean_error: 0.9713626732294748 + base_right_marker_pose: + angle_rotation_error: 3.1215178551421343 + euclidean_error: 0.9728084414115004 + shoulder_marker_pose: + angle_rotation_error: 3.053720884850427 + euclidean_error: 0.9849397850139555 + wrist_inside_marker_pose: + angle_rotation_error: 3.1062122609931357 + euclidean_error: 0.980667426793324 + wrist_top_marker_pose: + angle_rotation_error: 2.9453846216460833 + euclidean_error: 0.9784937342858901 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0516939339217544 + euclidean_error: 0.9712242256715432 + base_right_marker_pose: + angle_rotation_error: 3.1244824642721567 + euclidean_error: 0.9732591997715134 + shoulder_marker_pose: + angle_rotation_error: 3.0694301316375476 + euclidean_error: 0.9845699049859193 + wrist_inside_marker_pose: + angle_rotation_error: 3.0918314931028403 + euclidean_error: 0.9798645946375815 + wrist_top_marker_pose: + angle_rotation_error: 2.8916237702110474 + euclidean_error: 0.979501462712585 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1264865533423953 + euclidean_error: 0.9731423705840085 + shoulder_marker_pose: + angle_rotation_error: 3.083761543230729 + euclidean_error: 0.9851446578977585 + wrist_inside_marker_pose: + angle_rotation_error: 3.094840940184883 + euclidean_error: 0.979046578308758 + wrist_top_marker_pose: + angle_rotation_error: 3.0599838482283435 + euclidean_error: 0.9781463179855622 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0795848647877078 + euclidean_error: 0.9709648946391402 + base_right_marker_pose: + angle_rotation_error: 3.1099529390468303 + euclidean_error: 0.9730153462148838 + shoulder_marker_pose: + angle_rotation_error: 3.0370138703966156 + euclidean_error: 0.9849255757878215 + wrist_inside_marker_pose: + angle_rotation_error: 3.048751863551328 + euclidean_error: 0.9814017754459688 + wrist_top_marker_pose: + angle_rotation_error: 2.87170993011703 + euclidean_error: 0.9792767091551196 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1080095336112095 + euclidean_error: 0.9712314270151587 + base_right_marker_pose: + angle_rotation_error: 3.135015701361866 + euclidean_error: 0.9730380009731725 + shoulder_marker_pose: + angle_rotation_error: 3.055856341857123 + euclidean_error: 0.9850432109237612 + wrist_inside_marker_pose: + angle_rotation_error: 3.0465636286329407 + euclidean_error: 0.9796001741221955 + wrist_top_marker_pose: + angle_rotation_error: 2.9741735698554517 + euclidean_error: 0.9798729019878949 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.047313329246931 + euclidean_error: 0.9713953447434608 + base_right_marker_pose: + angle_rotation_error: 3.123277884302928 + euclidean_error: 0.9729726292425637 + shoulder_marker_pose: + angle_rotation_error: 3.0147275964042426 + euclidean_error: 0.9848130282154846 + wrist_inside_marker_pose: + angle_rotation_error: 3.0338537452330376 + euclidean_error: 0.9791072150004738 + wrist_top_marker_pose: + angle_rotation_error: 2.9200442672343163 + euclidean_error: 0.9785012422496554 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0766105464396314 + euclidean_error: 0.9707768968123454 + base_right_marker_pose: + angle_rotation_error: 3.124265888007247 + euclidean_error: 0.9733089991815053 + shoulder_marker_pose: + angle_rotation_error: 3.035753750576744 + euclidean_error: 0.9851110578857765 + wrist_inside_marker_pose: + angle_rotation_error: 2.998807812445597 + euclidean_error: 0.9804873306936014 + wrist_top_marker_pose: + angle_rotation_error: 2.8190594174761037 + euclidean_error: 0.9783721368220426 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0740966170564947 + euclidean_error: 0.97081519589862 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.041889951239528 + euclidean_error: 0.985274781723009 + wrist_inside_marker_pose: + angle_rotation_error: 3.117102955212726 + euclidean_error: 0.9807102956237503 + wrist_top_marker_pose: + angle_rotation_error: 3.1275707758154088 + euclidean_error: 0.9772489943822904 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0470699742414498 + euclidean_error: 0.9716050651794906 + base_right_marker_pose: + angle_rotation_error: 3.1135608296414596 + euclidean_error: 0.9734174739248243 + shoulder_marker_pose: + angle_rotation_error: 3.0352844843688507 + euclidean_error: 0.9853906287453953 + wrist_inside_marker_pose: + angle_rotation_error: 3.0016218070602148 + euclidean_error: 0.9820516035377197 + wrist_top_marker_pose: + angle_rotation_error: 2.9631437849461877 + euclidean_error: 0.9785814008229615 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0589721016657325 + euclidean_error: 0.9712342206422292 + base_right_marker_pose: + angle_rotation_error: 3.1285554459666978 + euclidean_error: 0.9730340852155663 + shoulder_marker_pose: + angle_rotation_error: 3.103650958300711 + euclidean_error: 0.9844824135523167 + wrist_inside_marker_pose: + angle_rotation_error: 3.0006362880352273 + euclidean_error: 0.9808405943741597 + wrist_top_marker_pose: + angle_rotation_error: 2.828737250151595 + euclidean_error: 0.9804060826011542 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074977859353104 + euclidean_error: 0.9712440411570663 + base_right_marker_pose: + angle_rotation_error: 3.1336582668055213 + euclidean_error: 0.9730936750252313 + shoulder_marker_pose: + angle_rotation_error: 3.1225330513432143 + euclidean_error: 0.9847885901422305 + wrist_inside_marker_pose: + angle_rotation_error: 3.011420482324992 + euclidean_error: 0.9814778157226371 + wrist_top_marker_pose: + angle_rotation_error: 3.024766873390172 + euclidean_error: 0.9802582118246395 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0955580646227636 + euclidean_error: 0.9709819459661865 + base_right_marker_pose: + angle_rotation_error: 3.1250337267061314 + euclidean_error: 0.9731620881612275 + shoulder_marker_pose: + angle_rotation_error: 3.103806575480939 + euclidean_error: 0.9840614935699148 + wrist_inside_marker_pose: + angle_rotation_error: 3.028681523966035 + euclidean_error: 0.9806894984240996 + wrist_top_marker_pose: + angle_rotation_error: 2.7894351588776463 + euclidean_error: 0.9799395995300311 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.093718627371329 + euclidean_error: 0.9705730557885291 + base_right_marker_pose: + angle_rotation_error: 3.126944000412715 + euclidean_error: 0.9733276946728092 + shoulder_marker_pose: + angle_rotation_error: 3.069279099944998 + euclidean_error: 0.9854490836120235 + wrist_inside_marker_pose: + angle_rotation_error: 2.954667187518291 + euclidean_error: 0.9801719107367101 + wrist_top_marker_pose: + angle_rotation_error: 2.892562519284463 + euclidean_error: 0.9790357481482599 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.090542910312701 + euclidean_error: 0.970922488465819 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.092274043412964 + euclidean_error: 0.9843506541066892 + wrist_inside_marker_pose: + angle_rotation_error: 3.076061100710456 + euclidean_error: 0.9796858631297711 + wrist_top_marker_pose: + angle_rotation_error: 2.9047095177881004 + euclidean_error: 0.9781468506860274 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1013539778314 + euclidean_error: 0.970328015119739 + base_right_marker_pose: + angle_rotation_error: 3.129257488764183 + euclidean_error: 0.9731258292512058 + shoulder_marker_pose: + angle_rotation_error: 3.053390499040793 + euclidean_error: 0.9848860175781207 + wrist_inside_marker_pose: + angle_rotation_error: 3.051037958222792 + euclidean_error: 0.9805082023284549 + wrist_top_marker_pose: + angle_rotation_error: 2.9170209891122876 + euclidean_error: 0.9785878191312526 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089489825188692 + euclidean_error: 0.970742211367978 + base_right_marker_pose: + angle_rotation_error: 3.116913050923977 + euclidean_error: 0.9729291451199219 + shoulder_marker_pose: + angle_rotation_error: 3.1390404469255753 + euclidean_error: 0.9840390927465902 + wrist_inside_marker_pose: + angle_rotation_error: 3.054839078414533 + euclidean_error: 0.9806647794847221 + wrist_top_marker_pose: + angle_rotation_error: 2.8319682542580753 + euclidean_error: 0.978302514159635 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0714241647419707 + euclidean_error: 0.9709654452963441 + base_right_marker_pose: + angle_rotation_error: 3.1170377288314173 + euclidean_error: 0.972922811245443 + shoulder_marker_pose: + angle_rotation_error: 3.1088885325513282 + euclidean_error: 0.9847335579867184 + wrist_inside_marker_pose: + angle_rotation_error: 3.1239557070130832 + euclidean_error: 0.9804231991346457 + wrist_top_marker_pose: + angle_rotation_error: 2.998939960759214 + euclidean_error: 0.9775990981934642 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.082664551908076 + euclidean_error: 0.9711499130052537 + base_right_marker_pose: + angle_rotation_error: 3.108672909009971 + euclidean_error: 0.9731772707739463 + shoulder_marker_pose: + angle_rotation_error: 3.087541967047514 + euclidean_error: 0.9850000115529155 + wrist_inside_marker_pose: + angle_rotation_error: 3.110285558639602 + euclidean_error: 0.9799104342474566 + wrist_top_marker_pose: + angle_rotation_error: 2.9214021870950213 + euclidean_error: 0.9784108722512954 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.071139711335084 + euclidean_error: 0.9713549170595634 + base_right_marker_pose: + angle_rotation_error: 3.1362884773654693 + euclidean_error: 0.9728369774195026 + shoulder_marker_pose: + angle_rotation_error: 3.06575472499142 + euclidean_error: 0.9848642248028108 + wrist_inside_marker_pose: + angle_rotation_error: 3.023417668712525 + euclidean_error: 0.9808983991995814 + wrist_top_marker_pose: + angle_rotation_error: 3.014619367535172 + euclidean_error: 0.9775354432298976 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1005105995015736 + euclidean_error: 0.9705508706955719 + base_right_marker_pose: + angle_rotation_error: 3.09979826250149 + euclidean_error: 0.9731393909290745 + shoulder_marker_pose: + angle_rotation_error: 3.06203051746863 + euclidean_error: 0.9849605437447838 + wrist_inside_marker_pose: + angle_rotation_error: 3.024520807196715 + euclidean_error: 0.9795268311120799 + wrist_top_marker_pose: + angle_rotation_error: 2.9295245701858206 + euclidean_error: 0.9781524699662547 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0819783658626427 + euclidean_error: 0.9715196597026056 + base_right_marker_pose: + angle_rotation_error: 3.1146049473854682 + euclidean_error: 0.9730131609002606 + shoulder_marker_pose: + angle_rotation_error: 3.1105305139346724 + euclidean_error: 0.9842229250355438 + wrist_inside_marker_pose: + angle_rotation_error: 2.991355790970385 + euclidean_error: 0.9797384605551642 + wrist_top_marker_pose: + angle_rotation_error: 3.0372726795947154 + euclidean_error: 0.9779787727321126 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0817804529662016 + euclidean_error: 0.9709697166578065 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.129429380631702 + euclidean_error: 0.9843240801082883 + wrist_inside_marker_pose: + angle_rotation_error: 3.0571609836101534 + euclidean_error: 0.9813097651492926 + wrist_top_marker_pose: + angle_rotation_error: 2.9103411696938486 + euclidean_error: 0.9785417525561566 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0888148610393062 + euclidean_error: 0.9712718696953133 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.036429126097657 + euclidean_error: 0.9848795206936826 + wrist_inside_marker_pose: + angle_rotation_error: 3.0817898843424465 + euclidean_error: 0.9799175411338166 + wrist_top_marker_pose: + angle_rotation_error: 2.966550229737554 + euclidean_error: 0.9779605611004414 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0504162092821634 + euclidean_error: 0.9712173442749698 + base_right_marker_pose: + angle_rotation_error: 3.0832630235312486 + euclidean_error: 0.973134325212349 + shoulder_marker_pose: + angle_rotation_error: 3.020571533697374 + euclidean_error: 0.9847759279073289 + wrist_inside_marker_pose: + angle_rotation_error: 3.048804187549174 + euclidean_error: 0.978523600175924 + wrist_top_marker_pose: + angle_rotation_error: 2.902582313038004 + euclidean_error: 0.9782593356214684 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0731615155515306 + euclidean_error: 0.9713412286819078 + base_right_marker_pose: + angle_rotation_error: 3.1193857204050914 + euclidean_error: 0.9729150888443504 + shoulder_marker_pose: + angle_rotation_error: 3.0657279417806955 + euclidean_error: 0.9841258973934951 + wrist_inside_marker_pose: + angle_rotation_error: 3.082996276433161 + euclidean_error: 0.9812133429180732 + wrist_top_marker_pose: + angle_rotation_error: 2.8833407906311264 + euclidean_error: 0.980015216650394 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0601973433631526 + euclidean_error: 0.9710611769814618 + base_right_marker_pose: + angle_rotation_error: 3.112110338449662 + euclidean_error: 0.9729097075638267 + shoulder_marker_pose: + angle_rotation_error: 3.088988647698134 + euclidean_error: 0.9842831720827637 + wrist_inside_marker_pose: + angle_rotation_error: 2.9930925628997134 + euclidean_error: 0.9800231962754615 + wrist_top_marker_pose: + angle_rotation_error: 2.9516204722045987 + euclidean_error: 0.9786187034037223 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086504648820916 + euclidean_error: 0.9706684775503361 + base_right_marker_pose: + angle_rotation_error: 3.097675672950537 + euclidean_error: 0.9733134780600557 + shoulder_marker_pose: + angle_rotation_error: 3.0637300381813164 + euclidean_error: 0.9843767188352051 + wrist_inside_marker_pose: + angle_rotation_error: 2.965479886024517 + euclidean_error: 0.9812054848476526 + wrist_top_marker_pose: + angle_rotation_error: 2.9045990270311877 + euclidean_error: 0.9782201552379813 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0890038499321464 + euclidean_error: 0.9706597017268299 + base_right_marker_pose: + angle_rotation_error: 3.1260356145138837 + euclidean_error: 0.9727681557814178 + shoulder_marker_pose: + angle_rotation_error: 3.0838991446784783 + euclidean_error: 0.9847978418925276 + wrist_inside_marker_pose: + angle_rotation_error: 2.972460499533176 + euclidean_error: 0.9810868562455322 + wrist_top_marker_pose: + angle_rotation_error: 2.89314352332659 + euclidean_error: 0.9777341644607 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.120126615828618 + euclidean_error: 0.972896809543363 + shoulder_marker_pose: + angle_rotation_error: 3.0159047878414444 + euclidean_error: 0.984762466785525 + wrist_inside_marker_pose: + angle_rotation_error: 3.106879702849429 + euclidean_error: 0.979456988892935 + wrist_top_marker_pose: + angle_rotation_error: 3.056351029146155 + euclidean_error: 0.9766648320291369 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.071258933919247 + euclidean_error: 0.9709651061471154 + base_right_marker_pose: + angle_rotation_error: 3.138645904221205 + euclidean_error: 0.9730110259370245 + shoulder_marker_pose: + angle_rotation_error: 3.0518380666133798 + euclidean_error: 0.9849178394825312 + wrist_inside_marker_pose: + angle_rotation_error: 3.1266303258514796 + euclidean_error: 0.980325183653608 + wrist_top_marker_pose: + angle_rotation_error: 3.0019085139570136 + euclidean_error: 0.9777316840108383 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1203333963418145 + euclidean_error: 0.9729908800296674 + shoulder_marker_pose: + angle_rotation_error: 3.1059327942470034 + euclidean_error: 0.9847687101791811 + wrist_inside_marker_pose: + angle_rotation_error: 3.126393987716751 + euclidean_error: 0.980660708227603 + wrist_top_marker_pose: + angle_rotation_error: 2.8850073087436736 + euclidean_error: 0.9794501594948094 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.072852978303567 + euclidean_error: 0.9711961007754468 + base_right_marker_pose: + angle_rotation_error: 3.06963638341423 + euclidean_error: 0.9731765240531227 + shoulder_marker_pose: + angle_rotation_error: 3.1366228178537736 + euclidean_error: 0.9841000397157064 + wrist_inside_marker_pose: + angle_rotation_error: 3.118098224488495 + euclidean_error: 0.9798234773270187 + wrist_top_marker_pose: + angle_rotation_error: 3.0960680414112907 + euclidean_error: 0.9786697094325677 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.015290003593848 + euclidean_error: 0.9722389903381434 + base_right_marker_pose: + angle_rotation_error: 3.1184471252151864 + euclidean_error: 0.9731405333096899 + shoulder_marker_pose: + angle_rotation_error: 3.0601613669352217 + euclidean_error: 0.985069776599505 + wrist_inside_marker_pose: + angle_rotation_error: 3.123388921052245 + euclidean_error: 0.9795221770391259 + wrist_top_marker_pose: + angle_rotation_error: 3.0243592266903176 + euclidean_error: 0.978054016122826 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0757565074582884 + euclidean_error: 0.9707957227475045 + base_right_marker_pose: + angle_rotation_error: 3.140196417878973 + euclidean_error: 0.9727924409516479 + shoulder_marker_pose: + angle_rotation_error: 3.074016725627782 + euclidean_error: 0.9847484495214955 + wrist_inside_marker_pose: + angle_rotation_error: 3.084285089009762 + euclidean_error: 0.9789261965321405 + wrist_top_marker_pose: + angle_rotation_error: 2.8929365674050658 + euclidean_error: 0.9788177504071289 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103874864453947 + euclidean_error: 0.9710460762381833 + base_right_marker_pose: + angle_rotation_error: 3.1149083667005235 + euclidean_error: 0.9732555514366005 + shoulder_marker_pose: + angle_rotation_error: 3.022145628868534 + euclidean_error: 0.9850578931389535 + wrist_inside_marker_pose: + angle_rotation_error: 2.994667279425743 + euclidean_error: 0.9813108284321479 + wrist_top_marker_pose: + angle_rotation_error: 2.882746233395024 + euclidean_error: 0.9796227896420976 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0653766062770416 + euclidean_error: 0.97072167801197 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0644616766001413 + euclidean_error: 0.9853265056619944 + wrist_inside_marker_pose: + angle_rotation_error: 2.921549370874759 + euclidean_error: 0.9819117518530646 + wrist_top_marker_pose: + angle_rotation_error: 3.019301258309555 + euclidean_error: 0.9773729723086261 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0732300265684684 + euclidean_error: 0.970889622500375 + base_right_marker_pose: + angle_rotation_error: 3.123460391270081 + euclidean_error: 0.9728697013988659 + shoulder_marker_pose: + angle_rotation_error: 3.0938586825665237 + euclidean_error: 0.9845816681947046 + wrist_inside_marker_pose: + angle_rotation_error: 3.0426072225392327 + euclidean_error: 0.9805941373965082 + wrist_top_marker_pose: + angle_rotation_error: 3.0089205710615428 + euclidean_error: 0.9772825802750927 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.062795660694887 + euclidean_error: 0.9713580645050849 + base_right_marker_pose: + angle_rotation_error: 3.134147266459898 + euclidean_error: 0.9731148909788423 + shoulder_marker_pose: + angle_rotation_error: 3.103846678147604 + euclidean_error: 0.9842114180794767 + wrist_inside_marker_pose: + angle_rotation_error: 3.0618923493014316 + euclidean_error: 0.9798447703361567 + wrist_top_marker_pose: + angle_rotation_error: 2.839856764617255 + euclidean_error: 0.9782870683953012 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0958120776702085 + euclidean_error: 0.9713260508328839 + base_right_marker_pose: + angle_rotation_error: 3.096018958192371 + euclidean_error: 0.973122852319559 + shoulder_marker_pose: + angle_rotation_error: 3.052878234830533 + euclidean_error: 0.9847780480203128 + wrist_inside_marker_pose: + angle_rotation_error: 3.06825060901031 + euclidean_error: 0.9795484131306269 + wrist_top_marker_pose: + angle_rotation_error: 2.9757825379211065 + euclidean_error: 0.977649860632102 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0806164968467553 + euclidean_error: 0.9705195369914241 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1215115253952295 + euclidean_error: 0.9842763851455714 + wrist_inside_marker_pose: + angle_rotation_error: 3.0487258145506315 + euclidean_error: 0.9789635006499788 + wrist_top_marker_pose: + angle_rotation_error: 2.99855383436986 + euclidean_error: 0.9774062644839816 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0645253224053968 + euclidean_error: 0.9711077125098139 + base_right_marker_pose: + angle_rotation_error: 3.1381435187506996 + euclidean_error: 0.9729304548466763 + shoulder_marker_pose: + angle_rotation_error: 3.0330130657663656 + euclidean_error: 0.9853253917260415 + wrist_inside_marker_pose: + angle_rotation_error: 2.916879538437521 + euclidean_error: 0.9815355252154857 + wrist_top_marker_pose: + angle_rotation_error: 2.9399628201933954 + euclidean_error: 0.9780310295950472 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0563122128476006 + euclidean_error: 0.9711874765852018 + base_right_marker_pose: + angle_rotation_error: 3.116726563096784 + euclidean_error: 0.9730548189861339 + shoulder_marker_pose: + angle_rotation_error: 3.095783755385271 + euclidean_error: 0.9832905637979539 + wrist_inside_marker_pose: + angle_rotation_error: 3.0326355378530407 + euclidean_error: 0.9812919885105298 + wrist_top_marker_pose: + angle_rotation_error: 2.8185839593053714 + euclidean_error: 0.9792282407922027 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0731501406968693 + euclidean_error: 0.9712096163884008 + base_right_marker_pose: + angle_rotation_error: 3.1378620306477147 + euclidean_error: 0.9728014661013485 + shoulder_marker_pose: + angle_rotation_error: 3.0492171454491652 + euclidean_error: 0.985007245358655 + wrist_inside_marker_pose: + angle_rotation_error: 3.098391757920223 + euclidean_error: 0.979462100008467 + wrist_top_marker_pose: + angle_rotation_error: 2.966583045616852 + euclidean_error: 0.9781474011112304 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1060370067306695 + euclidean_error: 0.9706478664181384 + base_right_marker_pose: + angle_rotation_error: 3.1191803751717013 + euclidean_error: 0.9732725214331636 + shoulder_marker_pose: + angle_rotation_error: 3.0608416481336116 + euclidean_error: 0.9842793677865262 + wrist_inside_marker_pose: + angle_rotation_error: 3.0754850396784477 + euclidean_error: 0.9810857196088664 + wrist_top_marker_pose: + angle_rotation_error: 2.8176425503614126 + euclidean_error: 0.9792747674405378 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121777281413056 + euclidean_error: 0.9710089010416099 + base_right_marker_pose: + angle_rotation_error: 3.106193215015704 + euclidean_error: 0.9731019069351037 + shoulder_marker_pose: + angle_rotation_error: 3.125270320097451 + euclidean_error: 0.9843254444962771 + wrist_inside_marker_pose: + angle_rotation_error: 3.1003955223322928 + euclidean_error: 0.9799596185444792 + wrist_top_marker_pose: + angle_rotation_error: 2.9294068263913924 + euclidean_error: 0.9782419374285883 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.029539727711336 + euclidean_error: 0.9850628879869212 + wrist_inside_marker_pose: + angle_rotation_error: 2.877115504730244 + euclidean_error: 0.9811776181700428 + wrist_top_marker_pose: + angle_rotation_error: 2.911648556713277 + euclidean_error: 0.9769354217676121 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094650500695327 + euclidean_error: 0.9708202695089718 + base_right_marker_pose: + angle_rotation_error: 3.105567356870046 + euclidean_error: 0.9728820546641583 + shoulder_marker_pose: + angle_rotation_error: 2.975789225141307 + euclidean_error: 0.9851217075236507 + wrist_inside_marker_pose: + angle_rotation_error: 3.087630697635 + euclidean_error: 0.9808483950585856 + wrist_top_marker_pose: + angle_rotation_error: 2.853289188824053 + euclidean_error: 0.9786594190702739 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063994226447838 + euclidean_error: 0.9710402135004479 + base_right_marker_pose: + angle_rotation_error: 3.1317142354474825 + euclidean_error: 0.9728495869659161 + shoulder_marker_pose: + angle_rotation_error: 3.013467477322258 + euclidean_error: 0.9852267548962095 + wrist_inside_marker_pose: + angle_rotation_error: 3.0805417551227166 + euclidean_error: 0.981151678328357 + wrist_top_marker_pose: + angle_rotation_error: 3.0308623723587536 + euclidean_error: 0.9768385491265977 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0977511003189586 + euclidean_error: 0.9707940184326972 + base_right_marker_pose: + angle_rotation_error: 3.133146231430388 + euclidean_error: 0.9728887394217763 + shoulder_marker_pose: + angle_rotation_error: 3.040978808779573 + euclidean_error: 0.985131150303401 + wrist_inside_marker_pose: + angle_rotation_error: 3.0390663218516774 + euclidean_error: 0.9818471584031084 + wrist_top_marker_pose: + angle_rotation_error: 3.016961380771479 + euclidean_error: 0.9796428728350438 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0376374042509315 + euclidean_error: 0.9714548132693763 + base_right_marker_pose: + angle_rotation_error: 3.10955239181674 + euclidean_error: 0.9731617055235284 + shoulder_marker_pose: + angle_rotation_error: 3.071430622247138 + euclidean_error: 0.9846277114331878 + wrist_inside_marker_pose: + angle_rotation_error: 3.0557367065322243 + euclidean_error: 0.980410810419947 + wrist_top_marker_pose: + angle_rotation_error: 2.9325882700004198 + euclidean_error: 0.978163837767972 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1373580607919274 + euclidean_error: 0.9732867278488878 + shoulder_marker_pose: + angle_rotation_error: 3.0122060820092877 + euclidean_error: 0.9851504370701717 + wrist_inside_marker_pose: + angle_rotation_error: 3.0205106830770396 + euclidean_error: 0.9807212672904883 + wrist_top_marker_pose: + angle_rotation_error: 2.8529980581232524 + euclidean_error: 0.9786221102536314 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0628086267649177 + euclidean_error: 0.971069346430435 + base_right_marker_pose: + angle_rotation_error: 3.1173335058639484 + euclidean_error: 0.9728472898000652 + shoulder_marker_pose: + angle_rotation_error: 3.081884019021755 + euclidean_error: 0.9845927462525068 + wrist_inside_marker_pose: + angle_rotation_error: 3.120536434230487 + euclidean_error: 0.9797129061856953 + wrist_top_marker_pose: + angle_rotation_error: 2.974513122077192 + euclidean_error: 0.9774423341470434 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.126064039627868 + euclidean_error: 0.9842140887728886 + wrist_inside_marker_pose: + angle_rotation_error: 3.001947095768193 + euclidean_error: 0.9799841045795564 + wrist_top_marker_pose: + angle_rotation_error: 2.9910850456729343 + euclidean_error: 0.979265357725658 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0641706166187337 + euclidean_error: 0.9712744727752547 + base_right_marker_pose: + angle_rotation_error: 3.126470422507655 + euclidean_error: 0.9729769682405457 + shoulder_marker_pose: + angle_rotation_error: 3.0361081577485836 + euclidean_error: 0.9850117479641096 + wrist_inside_marker_pose: + angle_rotation_error: 3.0753550882988687 + euclidean_error: 0.9801163001942768 + wrist_top_marker_pose: + angle_rotation_error: 2.8969544923493196 + euclidean_error: 0.978237776715118 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0776399426661123 + euclidean_error: 0.9709897655590537 + base_right_marker_pose: + angle_rotation_error: 3.140115366591202 + euclidean_error: 0.9732036594288141 + shoulder_marker_pose: + angle_rotation_error: 3.065309307031071 + euclidean_error: 0.9849209691312661 + wrist_inside_marker_pose: + angle_rotation_error: 3.0414969121066915 + euclidean_error: 0.9799651427274432 + wrist_top_marker_pose: + angle_rotation_error: 2.81225562281392 + euclidean_error: 0.9800043106074315 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.073421320489152 + euclidean_error: 0.9711617884120329 + base_right_marker_pose: + angle_rotation_error: 3.126683422701653 + euclidean_error: 0.9731538834769696 + shoulder_marker_pose: + angle_rotation_error: 3.050961809625729 + euclidean_error: 0.9846897485119068 + wrist_inside_marker_pose: + angle_rotation_error: 3.06655096439514 + euclidean_error: 0.98065014039752 + wrist_top_marker_pose: + angle_rotation_error: 2.9007906622312114 + euclidean_error: 0.9785173194953783 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.06481851608506 + euclidean_error: 0.9718443945018588 + base_right_marker_pose: + angle_rotation_error: 3.1291505329164218 + euclidean_error: 0.9728382324901599 + shoulder_marker_pose: + angle_rotation_error: 3.0592880042297756 + euclidean_error: 0.9847802643110394 + wrist_inside_marker_pose: + angle_rotation_error: 3.13878601508748 + euclidean_error: 0.9806032341241114 + wrist_top_marker_pose: + angle_rotation_error: 3.0107636790657346 + euclidean_error: 0.9773089366518029 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0636724131738027 + euclidean_error: 0.971361524399848 + base_right_marker_pose: + angle_rotation_error: 3.1085827019142758 + euclidean_error: 0.9727570423048386 + shoulder_marker_pose: + angle_rotation_error: 3.082439724807977 + euclidean_error: 0.9840688350867622 + wrist_inside_marker_pose: + angle_rotation_error: 3.043003106036253 + euclidean_error: 0.9814446224296304 + wrist_top_marker_pose: + angle_rotation_error: 2.8204807710498914 + euclidean_error: 0.9804759066724711 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117569124181689 + euclidean_error: 0.9709169983808289 + base_right_marker_pose: + angle_rotation_error: 3.1309915910700856 + euclidean_error: 0.973258746757726 + shoulder_marker_pose: + angle_rotation_error: 3.0647272705321167 + euclidean_error: 0.9846072073751756 + wrist_inside_marker_pose: + angle_rotation_error: 2.9870977159960486 + euclidean_error: 0.9812627344737292 + wrist_top_marker_pose: + angle_rotation_error: 2.9165388988328207 + euclidean_error: 0.978895691196189 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.07311027704281 + euclidean_error: 0.9711887453137285 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0913135987172584 + euclidean_error: 0.9851651477536458 + wrist_inside_marker_pose: + angle_rotation_error: 3.1312346311287396 + euclidean_error: 0.9807735365325145 + wrist_top_marker_pose: + angle_rotation_error: 2.8627879070090647 + euclidean_error: 0.9790197574440581 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1031209672467224 + euclidean_error: 0.9709950461512606 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.035461783786697 + euclidean_error: 0.9851047689442745 + wrist_inside_marker_pose: + angle_rotation_error: 3.069724276778963 + euclidean_error: 0.980618672903717 + wrist_top_marker_pose: + angle_rotation_error: 3.029046011024567 + euclidean_error: 0.978367860425464 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.081867481318472 + euclidean_error: 0.9712786222270202 + base_right_marker_pose: + angle_rotation_error: 3.1298585176319786 + euclidean_error: 0.9731001026937894 + shoulder_marker_pose: + angle_rotation_error: 3.1206025686656753 + euclidean_error: 0.9845948791306376 + wrist_inside_marker_pose: + angle_rotation_error: 2.994274193327395 + euclidean_error: 0.9802675344186985 + wrist_top_marker_pose: + angle_rotation_error: 2.9591875832385424 + euclidean_error: 0.9780644416337405 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0499984491851873 + euclidean_error: 0.9716046425862037 + base_right_marker_pose: + angle_rotation_error: 3.13184102607186 + euclidean_error: 0.9730189804517946 + shoulder_marker_pose: + angle_rotation_error: 3.0438660590224806 + euclidean_error: 0.9851508322465853 + wrist_inside_marker_pose: + angle_rotation_error: 2.992255022847443 + euclidean_error: 0.9789256737310438 + wrist_top_marker_pose: + angle_rotation_error: 3.006293306346145 + euclidean_error: 0.9786230068163095 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0860311637847393 + euclidean_error: 0.9710427204296699 + base_right_marker_pose: + angle_rotation_error: 3.135470549163798 + euclidean_error: 0.9731405810898863 + shoulder_marker_pose: + angle_rotation_error: 3.1288148239702633 + euclidean_error: 0.9844468363918392 + wrist_inside_marker_pose: + angle_rotation_error: 3.0915314659659905 + euclidean_error: 0.9788059432035899 + wrist_top_marker_pose: + angle_rotation_error: 3.0261972515637336 + euclidean_error: 0.9796707741607393 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.076614572722252 + euclidean_error: 0.9709696546189804 + base_right_marker_pose: + angle_rotation_error: 3.1144232067708537 + euclidean_error: 0.9729044387046702 + shoulder_marker_pose: + angle_rotation_error: 3.0502425031917566 + euclidean_error: 0.9854477285310312 + wrist_inside_marker_pose: + angle_rotation_error: 3.1158862449269544 + euclidean_error: 0.97959801085504 + wrist_top_marker_pose: + angle_rotation_error: 3.087319020691897 + euclidean_error: 0.9773580034447076 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1117856621648587 + euclidean_error: 0.9706877979834374 + base_right_marker_pose: + angle_rotation_error: 3.138903632584393 + euclidean_error: 0.9732040783822348 + shoulder_marker_pose: + angle_rotation_error: 3.0436455807914435 + euclidean_error: 0.9845398875727849 + wrist_inside_marker_pose: + angle_rotation_error: 3.061225682782916 + euclidean_error: 0.9808594945557729 + wrist_top_marker_pose: + angle_rotation_error: 3.0730581524378313 + euclidean_error: 0.9771193263654009 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.067038746384426 + euclidean_error: 0.9845956879374672 + wrist_inside_marker_pose: + angle_rotation_error: 3.0476883065400595 + euclidean_error: 0.9800304033588247 + wrist_top_marker_pose: + angle_rotation_error: 2.9204063804734304 + euclidean_error: 0.979893367200306 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1275576076978107 + euclidean_error: 0.9708898683315069 + base_right_marker_pose: + angle_rotation_error: 3.1234427016154775 + euclidean_error: 0.9733242945513453 + shoulder_marker_pose: + angle_rotation_error: 3.0667790903549035 + euclidean_error: 0.9852309313263703 + wrist_inside_marker_pose: + angle_rotation_error: 3.1251808164446415 + euclidean_error: 0.9797317216694864 + wrist_top_marker_pose: + angle_rotation_error: 2.9806850887210445 + euclidean_error: 0.9769862448027086 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0852693101662467 + euclidean_error: 0.9709643960996054 + base_right_marker_pose: + angle_rotation_error: 3.1329885621642055 + euclidean_error: 0.9731060190560612 + shoulder_marker_pose: + angle_rotation_error: 3.0889349489044378 + euclidean_error: 0.9840209209887257 + wrist_inside_marker_pose: + angle_rotation_error: 3.116779158180274 + euclidean_error: 0.9801527553362774 + wrist_top_marker_pose: + angle_rotation_error: 2.950045510390805 + euclidean_error: 0.9780102797461947 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0947525133959743 + euclidean_error: 0.9709146017396721 + base_right_marker_pose: + angle_rotation_error: 3.1234726151030334 + euclidean_error: 0.973011356125165 + shoulder_marker_pose: + angle_rotation_error: 2.991058237808194 + euclidean_error: 0.98530834557371 + wrist_inside_marker_pose: + angle_rotation_error: 3.0564606237870326 + euclidean_error: 0.980157445742134 + wrist_top_marker_pose: + angle_rotation_error: 2.9897593117138888 + euclidean_error: 0.9782047305510319 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0978970911814483 + euclidean_error: 0.9710648701792767 + base_right_marker_pose: + angle_rotation_error: 3.1402420477603354 + euclidean_error: 0.9729918899776446 + shoulder_marker_pose: + angle_rotation_error: 3.072809183593299 + euclidean_error: 0.984794832618292 + wrist_inside_marker_pose: + angle_rotation_error: 3.0182302317763905 + euclidean_error: 0.9793647718147797 + wrist_top_marker_pose: + angle_rotation_error: 3.011571486573145 + euclidean_error: 0.9778557178990859 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089460013395115 + euclidean_error: 0.971045950373032 + base_right_marker_pose: + angle_rotation_error: 3.1323607282869053 + euclidean_error: 0.9729014439926277 + shoulder_marker_pose: + angle_rotation_error: 3.1052802058385627 + euclidean_error: 0.9844488763000725 + wrist_inside_marker_pose: + angle_rotation_error: 2.9487297042157143 + euclidean_error: 0.9811595163704001 + wrist_top_marker_pose: + angle_rotation_error: 2.8845639256391777 + euclidean_error: 0.9790457272408937 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1002581555018938 + euclidean_error: 0.9710833395779086 + base_right_marker_pose: + angle_rotation_error: 3.122951851492865 + euclidean_error: 0.9728790819306331 + shoulder_marker_pose: + angle_rotation_error: 3.0352314152428486 + euclidean_error: 0.9844975759599308 + wrist_inside_marker_pose: + angle_rotation_error: 3.0405940753393716 + euclidean_error: 0.9809758526861508 + wrist_top_marker_pose: + angle_rotation_error: 2.947874461630577 + euclidean_error: 0.9786656647532269 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0810085205691564 + euclidean_error: 0.9714330058848893 + base_right_marker_pose: + angle_rotation_error: 3.133873485291904 + euclidean_error: 0.9730575736434566 + shoulder_marker_pose: + angle_rotation_error: 3.030664315007087 + euclidean_error: 0.9852456783855439 + wrist_inside_marker_pose: + angle_rotation_error: 3.026276631137312 + euclidean_error: 0.9813509707290342 + wrist_top_marker_pose: + angle_rotation_error: 2.845581357393885 + euclidean_error: 0.9802537065872328 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0698828173641135 + euclidean_error: 0.9713242797577508 + base_right_marker_pose: + angle_rotation_error: 3.134087632433782 + euclidean_error: 0.9728658643227702 + shoulder_marker_pose: + angle_rotation_error: 3.034299542707102 + euclidean_error: 0.9852328857677196 + wrist_inside_marker_pose: + angle_rotation_error: 3.094975622457053 + euclidean_error: 0.9800759024689604 + wrist_top_marker_pose: + angle_rotation_error: 2.9354407089599617 + euclidean_error: 0.9786110128883324 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0921818877126674 + euclidean_error: 0.970921521937465 + base_right_marker_pose: + angle_rotation_error: 3.118847940581379 + euclidean_error: 0.9730970708160958 + shoulder_marker_pose: + angle_rotation_error: 3.046503965845821 + euclidean_error: 0.9848369394245893 + wrist_inside_marker_pose: + angle_rotation_error: 3.110372851575046 + euclidean_error: 0.97902641689286 + wrist_top_marker_pose: + angle_rotation_error: 2.990707114475206 + euclidean_error: 0.977327597857183 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085273542253816 + euclidean_error: 0.9711225771111942 + base_right_marker_pose: + angle_rotation_error: 3.1158101579892916 + euclidean_error: 0.9730564322390111 + shoulder_marker_pose: + angle_rotation_error: 3.1008270990439692 + euclidean_error: 0.9841293959440416 + wrist_inside_marker_pose: + angle_rotation_error: 3.130480690986979 + euclidean_error: 0.9799218098138069 + wrist_top_marker_pose: + angle_rotation_error: 2.860520778997577 + euclidean_error: 0.9778827120416309 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.09956347797492 + euclidean_error: 0.9709351721440143 + base_right_marker_pose: + angle_rotation_error: 3.12114063467956 + euclidean_error: 0.9729877186393773 + shoulder_marker_pose: + angle_rotation_error: 3.0441152798246334 + euclidean_error: 0.9847268617921889 + wrist_inside_marker_pose: + angle_rotation_error: 2.9516937260361957 + euclidean_error: 0.9810505887663528 + wrist_top_marker_pose: + angle_rotation_error: 2.8036471301852526 + euclidean_error: 0.9805697447988156 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.067637934364142 + euclidean_error: 0.971355352108977 + base_right_marker_pose: + angle_rotation_error: 3.1229732280189917 + euclidean_error: 0.9732819433452731 + shoulder_marker_pose: + angle_rotation_error: 3.069343976965568 + euclidean_error: 0.9844247856045375 + wrist_inside_marker_pose: + angle_rotation_error: 3.074754158875921 + euclidean_error: 0.9800937070775999 + wrist_top_marker_pose: + angle_rotation_error: 2.952231660169048 + euclidean_error: 0.9801444544865797 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094508801067085 + euclidean_error: 0.9711285764724233 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0827357982922745 + euclidean_error: 0.9847734144854144 + wrist_inside_marker_pose: + angle_rotation_error: 3.0452770370968567 + euclidean_error: 0.9799235522304494 + wrist_top_marker_pose: + angle_rotation_error: 2.9190761023683787 + euclidean_error: 0.9781817702433755 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0956235077370713 + euclidean_error: 0.970718497556551 + base_right_marker_pose: + angle_rotation_error: 3.1269529135751126 + euclidean_error: 0.9732425273656995 + shoulder_marker_pose: + angle_rotation_error: 3.045556904246903 + euclidean_error: 0.9850621946836808 + wrist_inside_marker_pose: + angle_rotation_error: 3.087053948553488 + euclidean_error: 0.9802057484127441 + wrist_top_marker_pose: + angle_rotation_error: 2.923236665442928 + euclidean_error: 0.976549474034016 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0948164202921626 + euclidean_error: 0.9710002765423283 + base_right_marker_pose: + angle_rotation_error: 3.1129915284883047 + euclidean_error: 0.9732157741555671 + shoulder_marker_pose: + angle_rotation_error: 3.041795887057705 + euclidean_error: 0.9854467055862465 + wrist_inside_marker_pose: + angle_rotation_error: 3.0407368104238186 + euclidean_error: 0.9808030311208962 + wrist_top_marker_pose: + angle_rotation_error: 2.8031149285873753 + euclidean_error: 0.9802262658451775 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0623617715805054 + euclidean_error: 0.9715452013783914 + base_right_marker_pose: + angle_rotation_error: 3.1164954445739093 + euclidean_error: 0.973255739688476 + shoulder_marker_pose: + angle_rotation_error: 3.067429920810285 + euclidean_error: 0.9849662298612746 + wrist_inside_marker_pose: + angle_rotation_error: 3.023615266050782 + euclidean_error: 0.9804421812270833 + wrist_top_marker_pose: + angle_rotation_error: 2.9106236660184215 + euclidean_error: 0.9784172156558232 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1415675780257146 + euclidean_error: 0.973010406803058 + shoulder_marker_pose: + angle_rotation_error: 3.1246222086865623 + euclidean_error: 0.9835732609516933 + wrist_inside_marker_pose: + angle_rotation_error: 3.023535817695443 + euclidean_error: 0.98102958147972 + wrist_top_marker_pose: + angle_rotation_error: 2.8531457559509388 + euclidean_error: 0.9790528836615823 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1218478933853304 + euclidean_error: 0.9711088604566444 + base_right_marker_pose: + angle_rotation_error: 3.133010301525498 + euclidean_error: 0.9731903676652741 + shoulder_marker_pose: + angle_rotation_error: 3.0589938904541967 + euclidean_error: 0.9851450815606961 + wrist_inside_marker_pose: + angle_rotation_error: 3.0717360083228598 + euclidean_error: 0.9801597830313062 + wrist_top_marker_pose: + angle_rotation_error: 2.8966462524242016 + euclidean_error: 0.9797055887632019 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0930526483292806 + euclidean_error: 0.970779914060462 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.09345264921605 + euclidean_error: 0.9844142285780191 + wrist_inside_marker_pose: + angle_rotation_error: 3.0951444674988386 + euclidean_error: 0.9784845222298583 + wrist_top_marker_pose: + angle_rotation_error: 2.9360518630057415 + euclidean_error: 0.9792156972452901 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0617750747200714 + euclidean_error: 0.9717975548478877 + base_right_marker_pose: + angle_rotation_error: 3.115690090923782 + euclidean_error: 0.9729546186022435 + shoulder_marker_pose: + angle_rotation_error: 3.048140037655448 + euclidean_error: 0.9847836220581628 + wrist_inside_marker_pose: + angle_rotation_error: 3.0904046382007078 + euclidean_error: 0.9796339330240245 + wrist_top_marker_pose: + angle_rotation_error: 2.9711260873064442 + euclidean_error: 0.9773152146744728 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0307318824676823 + euclidean_error: 0.9851582271843196 + wrist_inside_marker_pose: + angle_rotation_error: 3.0854484432055846 + euclidean_error: 0.979863614556757 + wrist_top_marker_pose: + angle_rotation_error: 2.971184174253152 + euclidean_error: 0.9777534330811201 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1224013878314723 + euclidean_error: 0.9728969413691511 + shoulder_marker_pose: + angle_rotation_error: 3.1128159187847926 + euclidean_error: 0.9837929155861943 + wrist_inside_marker_pose: + angle_rotation_error: 2.8882989939741703 + euclidean_error: 0.9815467222693461 + wrist_top_marker_pose: + angle_rotation_error: 2.8431936342475583 + euclidean_error: 0.9803241709417017 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0048361035104127 + euclidean_error: 0.9719278890754102 + base_right_marker_pose: + angle_rotation_error: 3.135766686173996 + euclidean_error: 0.9732192434233764 + shoulder_marker_pose: + angle_rotation_error: 3.015019575153405 + euclidean_error: 0.9851466991285496 + wrist_inside_marker_pose: + angle_rotation_error: 2.972570149020914 + euclidean_error: 0.9824654429919504 + wrist_top_marker_pose: + angle_rotation_error: 2.9509119861457442 + euclidean_error: 0.978942094454774 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0617476484389288 + euclidean_error: 0.9713193013448526 + base_right_marker_pose: + angle_rotation_error: 3.0783813358265393 + euclidean_error: 0.9730325569854615 + shoulder_marker_pose: + angle_rotation_error: 3.125032493237908 + euclidean_error: 0.9835489690898045 + wrist_inside_marker_pose: + angle_rotation_error: 3.048833406919358 + euclidean_error: 0.978624924710575 + wrist_top_marker_pose: + angle_rotation_error: 3.0209148619249224 + euclidean_error: 0.9772143103766504 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0483698031159165 + euclidean_error: 0.985324725973683 + wrist_inside_marker_pose: + angle_rotation_error: 2.910853189760418 + euclidean_error: 0.9801558775451054 + wrist_top_marker_pose: + angle_rotation_error: 2.8797463600697735 + euclidean_error: 0.9785100947187293 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1160012735883873 + euclidean_error: 0.971162210139116 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0949069329181462 + euclidean_error: 0.9846671456709194 + wrist_inside_marker_pose: + angle_rotation_error: 2.956442594986428 + euclidean_error: 0.9812435225680447 + wrist_top_marker_pose: + angle_rotation_error: 2.785366651865431 + euclidean_error: 0.9807307430521557 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0814519127353335 + euclidean_error: 0.9714524540607007 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0463642168605336 + euclidean_error: 0.9849882234523235 + wrist_inside_marker_pose: + angle_rotation_error: 3.022944871592476 + euclidean_error: 0.9796299381387354 + wrist_top_marker_pose: + angle_rotation_error: 2.9505952022163413 + euclidean_error: 0.9772860797031022 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0919707489972454 + euclidean_error: 0.9711774652139911 + base_right_marker_pose: + angle_rotation_error: 3.1395297011812504 + euclidean_error: 0.9731300506803461 + shoulder_marker_pose: + angle_rotation_error: 3.0863363775408432 + euclidean_error: 0.9846082407047182 + wrist_inside_marker_pose: + angle_rotation_error: 3.1026832625936063 + euclidean_error: 0.9801493914708173 + wrist_top_marker_pose: + angle_rotation_error: 2.94573806861364 + euclidean_error: 0.9780864641600376 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0994412516647487 + euclidean_error: 0.9714174557949433 + base_right_marker_pose: + angle_rotation_error: 3.1256044649270787 + euclidean_error: 0.9731220410184968 + shoulder_marker_pose: + angle_rotation_error: 3.0611040790084654 + euclidean_error: 0.9847570260379487 + wrist_inside_marker_pose: + angle_rotation_error: 2.9724196407556795 + euclidean_error: 0.9808443838504807 + wrist_top_marker_pose: + angle_rotation_error: 2.900180668832916 + euclidean_error: 0.9790443050058023 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0556649252946704 + euclidean_error: 0.9713438726086822 + base_right_marker_pose: + angle_rotation_error: 3.1051406591827093 + euclidean_error: 0.9730957880939227 + shoulder_marker_pose: + angle_rotation_error: 3.108709142424549 + euclidean_error: 0.9845267029369851 + wrist_inside_marker_pose: + angle_rotation_error: 3.138368756978582 + euclidean_error: 0.9803498624773724 + wrist_top_marker_pose: + angle_rotation_error: 2.9857224315343815 + euclidean_error: 0.9781405364064116 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1158909045646643 + euclidean_error: 0.971433203169833 + base_right_marker_pose: + angle_rotation_error: 3.1243677954712297 + euclidean_error: 0.9733212085518633 + shoulder_marker_pose: + angle_rotation_error: 2.9450889765287074 + euclidean_error: 0.9860701882814852 + wrist_inside_marker_pose: + angle_rotation_error: 3.0862314295487394 + euclidean_error: 0.9793862322403253 + wrist_top_marker_pose: + angle_rotation_error: 2.940581261019657 + euclidean_error: 0.9772465619522144 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0829971725627074 + euclidean_error: 0.971750764167604 + base_right_marker_pose: + angle_rotation_error: 3.128987381269241 + euclidean_error: 0.9729808205255646 + shoulder_marker_pose: + angle_rotation_error: 3.0384869997233235 + euclidean_error: 0.9848358490361169 + wrist_inside_marker_pose: + angle_rotation_error: 3.0590902269791056 + euclidean_error: 0.980536071028804 + wrist_top_marker_pose: + angle_rotation_error: 2.841679145225683 + euclidean_error: 0.979721465599485 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094506195679553 + euclidean_error: 0.9714965895593433 + base_right_marker_pose: + angle_rotation_error: 3.127878497817467 + euclidean_error: 0.9732479617446164 + shoulder_marker_pose: + angle_rotation_error: 3.118573423448575 + euclidean_error: 0.9838993009900688 + wrist_inside_marker_pose: + angle_rotation_error: 2.9447312567521533 + euclidean_error: 0.9818784326882675 + wrist_top_marker_pose: + angle_rotation_error: 2.917439044910152 + euclidean_error: 0.9774899155982377 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0567285561540993 + euclidean_error: 0.9714101595077371 + base_right_marker_pose: + angle_rotation_error: 3.138127965476158 + euclidean_error: 0.973166209353402 + shoulder_marker_pose: + angle_rotation_error: 3.041504060786838 + euclidean_error: 0.9850555298685165 + wrist_inside_marker_pose: + angle_rotation_error: 3.137044836494445 + euclidean_error: 0.9791936956595546 + wrist_top_marker_pose: + angle_rotation_error: 3.024446055555372 + euclidean_error: 0.9772211402427058 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0988277010812135 + euclidean_error: 0.9713750199298393 + base_right_marker_pose: + angle_rotation_error: 3.1196105342097837 + euclidean_error: 0.9730680621064913 + shoulder_marker_pose: + angle_rotation_error: 3.106546966450164 + euclidean_error: 0.9842000421920155 + wrist_inside_marker_pose: + angle_rotation_error: 3.0355303815573005 + euclidean_error: 0.9802362350588661 + wrist_top_marker_pose: + angle_rotation_error: 2.802944807499156 + euclidean_error: 0.9784806192790957 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.066448746340279 + euclidean_error: 0.9713143531379306 + base_right_marker_pose: + angle_rotation_error: 3.1007586117060324 + euclidean_error: 0.9731507356282018 + shoulder_marker_pose: + angle_rotation_error: 3.016437162689743 + euclidean_error: 0.984664478455715 + wrist_inside_marker_pose: + angle_rotation_error: 3.084894595955185 + euclidean_error: 0.979427095575098 + wrist_top_marker_pose: + angle_rotation_error: 3.0031935225044784 + euclidean_error: 0.9768533261262475 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094816570894431 + euclidean_error: 0.9707165248002843 + base_right_marker_pose: + angle_rotation_error: 3.1188374321234296 + euclidean_error: 0.973178402012773 + shoulder_marker_pose: + angle_rotation_error: 2.9991314201793657 + euclidean_error: 0.9854164894875543 + wrist_inside_marker_pose: + angle_rotation_error: 3.0083060038164584 + euclidean_error: 0.9809977684484804 + wrist_top_marker_pose: + angle_rotation_error: 2.87057198024488 + euclidean_error: 0.9797338460965127 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0804482030049813 + euclidean_error: 0.9710325682881391 + base_right_marker_pose: + angle_rotation_error: 3.1064607671679227 + euclidean_error: 0.9734000142356738 + shoulder_marker_pose: + angle_rotation_error: 3.126763394728605 + euclidean_error: 0.9840005143679762 + wrist_inside_marker_pose: + angle_rotation_error: 3.012724687441733 + euclidean_error: 0.9813043763210656 + wrist_top_marker_pose: + angle_rotation_error: 2.8199149297053414 + euclidean_error: 0.978351969950376 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.068443429511877 + euclidean_error: 0.9713266317586917 + base_right_marker_pose: + angle_rotation_error: 3.1280377132480632 + euclidean_error: 0.9732483703149976 + shoulder_marker_pose: + angle_rotation_error: 3.0619652396870682 + euclidean_error: 0.9850800964742545 + wrist_inside_marker_pose: + angle_rotation_error: 3.0408337857658343 + euclidean_error: 0.9807819643466571 + wrist_top_marker_pose: + angle_rotation_error: 3.0050383372859 + euclidean_error: 0.977423692446113 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.093524569870436 + euclidean_error: 0.9712521534592797 + base_right_marker_pose: + angle_rotation_error: 3.107749383717596 + euclidean_error: 0.9730985805388424 + shoulder_marker_pose: + angle_rotation_error: 2.9885273772044543 + euclidean_error: 0.9853827995165229 + wrist_inside_marker_pose: + angle_rotation_error: 3.0811607044407014 + euclidean_error: 0.9800376483591884 + wrist_top_marker_pose: + angle_rotation_error: 2.912283463504992 + euclidean_error: 0.9776875947107233 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103391157474109 + euclidean_error: 0.9712919690161791 + base_right_marker_pose: + angle_rotation_error: 3.1086403804608147 + euclidean_error: 0.9732902732804449 + shoulder_marker_pose: + angle_rotation_error: 3.056821978680371 + euclidean_error: 0.9844077018418175 + wrist_inside_marker_pose: + angle_rotation_error: 2.9922171724286013 + euclidean_error: 0.9804810793179904 + wrist_top_marker_pose: + angle_rotation_error: 2.8653764699120026 + euclidean_error: 0.9783985588597728 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083176862474227 + euclidean_error: 0.9713188214497175 + base_right_marker_pose: + angle_rotation_error: 3.130749696087641 + euclidean_error: 0.9730186088593744 + shoulder_marker_pose: + angle_rotation_error: 3.1196723625015417 + euclidean_error: 0.9843503095649406 + wrist_inside_marker_pose: + angle_rotation_error: 2.92219472857491 + euclidean_error: 0.9814297753768456 + wrist_top_marker_pose: + angle_rotation_error: 2.9029000192447536 + euclidean_error: 0.9801089119765041 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0646954570538636 + euclidean_error: 0.9716686836855898 + base_right_marker_pose: + angle_rotation_error: 3.1379127005704026 + euclidean_error: 0.9730657110586282 + shoulder_marker_pose: + angle_rotation_error: 3.110174336419682 + euclidean_error: 0.9833806100550913 + wrist_inside_marker_pose: + angle_rotation_error: 3.040647989908484 + euclidean_error: 0.9798492756235443 + wrist_top_marker_pose: + angle_rotation_error: 2.861779358214366 + euclidean_error: 0.978031711377084 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0983067300507945 + euclidean_error: 0.9709751048884772 + base_right_marker_pose: + angle_rotation_error: 3.0920026841841075 + euclidean_error: 0.9732823796770084 + shoulder_marker_pose: + angle_rotation_error: 3.0759597792521767 + euclidean_error: 0.9847934266586702 + wrist_inside_marker_pose: + angle_rotation_error: 3.043467314280838 + euclidean_error: 0.9790071669748995 + wrist_top_marker_pose: + angle_rotation_error: 2.8382669300476744 + euclidean_error: 0.9780046145362636 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0997384990266994 + euclidean_error: 0.9713364972509694 + base_right_marker_pose: + angle_rotation_error: 3.1296096512257408 + euclidean_error: 0.9729711023699819 + shoulder_marker_pose: + angle_rotation_error: 3.0909738322485083 + euclidean_error: 0.9838539681833111 + wrist_inside_marker_pose: + angle_rotation_error: 3.119510314402712 + euclidean_error: 0.9791794787916358 + wrist_top_marker_pose: + angle_rotation_error: 2.895050304424707 + euclidean_error: 0.9790935970739084 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.096332887872592 + euclidean_error: 0.971257569087652 + base_right_marker_pose: + angle_rotation_error: 3.1108788939527265 + euclidean_error: 0.9733039467967463 + shoulder_marker_pose: + angle_rotation_error: 3.0766974164557763 + euclidean_error: 0.9843666231260118 + wrist_inside_marker_pose: + angle_rotation_error: 3.103580768417261 + euclidean_error: 0.9802357038647143 + wrist_top_marker_pose: + angle_rotation_error: 2.8584967089284743 + euclidean_error: 0.9789926366123863 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0622290328326485 + euclidean_error: 0.9718471392038088 + base_right_marker_pose: + angle_rotation_error: 3.115404651022797 + euclidean_error: 0.9730929964880557 + shoulder_marker_pose: + angle_rotation_error: 3.08818534327872 + euclidean_error: 0.9832495764238194 + wrist_inside_marker_pose: + angle_rotation_error: 3.1075974291622988 + euclidean_error: 0.9802402702702097 + wrist_top_marker_pose: + angle_rotation_error: 2.9853276182184603 + euclidean_error: 0.9772545970459666 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1083103773250933 + euclidean_error: 0.9709939734880326 + base_right_marker_pose: + angle_rotation_error: 3.1112922382829664 + euclidean_error: 0.9733009198555983 + shoulder_marker_pose: + angle_rotation_error: 3.0670259835566247 + euclidean_error: 0.9846311644802752 + wrist_inside_marker_pose: + angle_rotation_error: 3.089695685661547 + euclidean_error: 0.97997268610473 + wrist_top_marker_pose: + angle_rotation_error: 2.8863095755936845 + euclidean_error: 0.9775152224676136 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.110289498668269 + euclidean_error: 0.9728202330446719 + shoulder_marker_pose: + angle_rotation_error: 3.0587292046108194 + euclidean_error: 0.9846903935927784 + wrist_inside_marker_pose: + angle_rotation_error: 2.9462717667423366 + euclidean_error: 0.9795595630481319 + wrist_top_marker_pose: + angle_rotation_error: 2.8917086078931167 + euclidean_error: 0.9795913312002372 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.040544952459537 + euclidean_error: 0.9720174790830954 + base_right_marker_pose: + angle_rotation_error: 3.131250067894095 + euclidean_error: 0.9730979078234597 + shoulder_marker_pose: + angle_rotation_error: 3.090879228560572 + euclidean_error: 0.9851069830727703 + wrist_inside_marker_pose: + angle_rotation_error: 3.1257291505849043 + euclidean_error: 0.9795281608782311 + wrist_top_marker_pose: + angle_rotation_error: 2.9195722226923317 + euclidean_error: 0.9784838569105768 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.081060268703542 + euclidean_error: 0.9712534449231857 + base_right_marker_pose: + angle_rotation_error: 3.113348319745746 + euclidean_error: 0.9733990208371214 + shoulder_marker_pose: + angle_rotation_error: 3.0553467415949283 + euclidean_error: 0.9847321602976391 + wrist_inside_marker_pose: + angle_rotation_error: 3.0240653218997395 + euclidean_error: 0.9802555492801139 + wrist_top_marker_pose: + angle_rotation_error: 2.8438854376263634 + euclidean_error: 0.9788496811857447 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0585544270073814 + euclidean_error: 0.9719279936833679 + base_right_marker_pose: + angle_rotation_error: 3.105444349679617 + euclidean_error: 0.9730260761280491 + shoulder_marker_pose: + angle_rotation_error: 3.1405902254136677 + euclidean_error: 0.9841052089351591 + wrist_inside_marker_pose: + angle_rotation_error: 3.03816810635983 + euclidean_error: 0.978902237240966 + wrist_top_marker_pose: + angle_rotation_error: 2.9870272439659318 + euclidean_error: 0.9782465938346138 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0796688940418924 + euclidean_error: 0.9713184021758718 + base_right_marker_pose: + angle_rotation_error: 3.084946855727382 + euclidean_error: 0.9734514332837706 + shoulder_marker_pose: + angle_rotation_error: 3.091908691527022 + euclidean_error: 0.9839785794788872 + wrist_inside_marker_pose: + angle_rotation_error: 3.003416363857884 + euclidean_error: 0.9794366442949443 + wrist_top_marker_pose: + angle_rotation_error: 2.9411565667342607 + euclidean_error: 0.9778150990055403 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085847599244802 + euclidean_error: 0.9708398206710552 + base_right_marker_pose: + angle_rotation_error: 3.12945325915481 + euclidean_error: 0.9733080041546517 + shoulder_marker_pose: + angle_rotation_error: 3.1333868885856813 + euclidean_error: 0.9843564778142523 + wrist_inside_marker_pose: + angle_rotation_error: 3.069874790380285 + euclidean_error: 0.9807465505237652 + wrist_top_marker_pose: + angle_rotation_error: 2.8780292407430177 + euclidean_error: 0.9776995356737259 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.079212026312698 + euclidean_error: 0.9715120394102108 + base_right_marker_pose: + angle_rotation_error: 3.1327473488154656 + euclidean_error: 0.9729799424211797 + shoulder_marker_pose: + angle_rotation_error: 3.1389109619143616 + euclidean_error: 0.9840916652388241 + wrist_inside_marker_pose: + angle_rotation_error: 3.1250009352352848 + euclidean_error: 0.9800394110674221 + wrist_top_marker_pose: + angle_rotation_error: 3.01362351569695 + euclidean_error: 0.9785661528522112 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092497946920353 + euclidean_error: 0.9708186050129096 + base_right_marker_pose: + angle_rotation_error: 3.105146416163011 + euclidean_error: 0.9728953713865812 + shoulder_marker_pose: + angle_rotation_error: 3.1254374773641085 + euclidean_error: 0.9845418298305191 + wrist_inside_marker_pose: + angle_rotation_error: 3.0284475644427227 + euclidean_error: 0.982151127915453 + wrist_top_marker_pose: + angle_rotation_error: 3.0283841654318233 + euclidean_error: 0.977231219124176 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.076329383846708 + euclidean_error: 0.9710730944550474 + base_right_marker_pose: + angle_rotation_error: 3.108722069257219 + euclidean_error: 0.973218523675077 + shoulder_marker_pose: + angle_rotation_error: 3.032880261567324 + euclidean_error: 0.9853156860706732 + wrist_inside_marker_pose: + angle_rotation_error: 3.0079192578102476 + euclidean_error: 0.9809342337187993 + wrist_top_marker_pose: + angle_rotation_error: 2.899469116793551 + euclidean_error: 0.9786986696114813 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074000919559215 + euclidean_error: 0.9715194878526731 + base_right_marker_pose: + angle_rotation_error: 3.0985681943189802 + euclidean_error: 0.9732263782166467 + shoulder_marker_pose: + angle_rotation_error: 3.136232737545089 + euclidean_error: 0.9844561857883449 + wrist_inside_marker_pose: + angle_rotation_error: 3.122163866490285 + euclidean_error: 0.9788975463927754 + wrist_top_marker_pose: + angle_rotation_error: 2.901063038845494 + euclidean_error: 0.9791899142419044 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063758817173873 + euclidean_error: 0.9715887892174634 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.068485976750906 + euclidean_error: 0.9844809228577822 + wrist_inside_marker_pose: + angle_rotation_error: 3.1035303841437103 + euclidean_error: 0.9795672557721116 + wrist_top_marker_pose: + angle_rotation_error: 3.0474013251345746 + euclidean_error: 0.977868816885961 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.124736388446941 + euclidean_error: 0.9727684673020544 + shoulder_marker_pose: + angle_rotation_error: 3.1150611846250835 + euclidean_error: 0.9844631381868248 + wrist_inside_marker_pose: + angle_rotation_error: 3.0098373666840375 + euclidean_error: 0.9810633939016069 + wrist_top_marker_pose: + angle_rotation_error: 2.944148945895455 + euclidean_error: 0.978325804575368 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1130329651238884 + euclidean_error: 0.9716531885578963 + base_right_marker_pose: + angle_rotation_error: 3.1174530590361225 + euclidean_error: 0.9734484880709618 + shoulder_marker_pose: + angle_rotation_error: 3.1093248601821637 + euclidean_error: 0.9843834646184207 + wrist_inside_marker_pose: + angle_rotation_error: 2.876211940702962 + euclidean_error: 0.9819384943915468 + wrist_top_marker_pose: + angle_rotation_error: 2.958020726013917 + euclidean_error: 0.9787230897763373 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.076823965572357 + euclidean_error: 0.9710126026012768 + base_right_marker_pose: + angle_rotation_error: 3.1324434967803665 + euclidean_error: 0.9731309838656541 + shoulder_marker_pose: + angle_rotation_error: 3.0636981909915466 + euclidean_error: 0.9844125922476876 + wrist_inside_marker_pose: + angle_rotation_error: 3.1071770774983567 + euclidean_error: 0.9797892894760969 + wrist_top_marker_pose: + angle_rotation_error: 2.9544280100080917 + euclidean_error: 0.977704110044647 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0811990204579103 + euclidean_error: 0.9715629977359053 + base_right_marker_pose: + angle_rotation_error: 3.101610994988893 + euclidean_error: 0.9731053726365498 + shoulder_marker_pose: + angle_rotation_error: 3.028392276579191 + euclidean_error: 0.9853159827435136 + wrist_inside_marker_pose: + angle_rotation_error: 3.115149576739943 + euclidean_error: 0.9788130166056342 + wrist_top_marker_pose: + angle_rotation_error: 2.884575746577338 + euclidean_error: 0.9783465669403034 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0767368053543183 + euclidean_error: 0.9711113013377662 + base_right_marker_pose: + angle_rotation_error: 3.135510751072045 + euclidean_error: 0.9731814814931966 + shoulder_marker_pose: + angle_rotation_error: 3.1329910348627226 + euclidean_error: 0.984054714769745 + wrist_inside_marker_pose: + angle_rotation_error: 3.1035610418264956 + euclidean_error: 0.9810886525837753 + wrist_top_marker_pose: + angle_rotation_error: 2.947318229921788 + euclidean_error: 0.9784674110891423 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.099576111466143 + euclidean_error: 0.9707077143400766 + base_right_marker_pose: + angle_rotation_error: 3.0965834422078586 + euclidean_error: 0.9736412746688522 + shoulder_marker_pose: + angle_rotation_error: 3.0697842548323098 + euclidean_error: 0.9850110472570907 + wrist_inside_marker_pose: + angle_rotation_error: 2.9890794975023005 + euclidean_error: 0.981423843893606 + wrist_top_marker_pose: + angle_rotation_error: 2.988359741076665 + euclidean_error: 0.9778369852300155 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1208277995786537 + euclidean_error: 0.9708907156339859 + base_right_marker_pose: + angle_rotation_error: 3.1317998198069628 + euclidean_error: 0.9731531329111144 + shoulder_marker_pose: + angle_rotation_error: 3.0970736551934164 + euclidean_error: 0.9846382465574117 + wrist_inside_marker_pose: + angle_rotation_error: 3.117631622203043 + euclidean_error: 0.9806702455272648 + wrist_top_marker_pose: + angle_rotation_error: 2.949328389057688 + euclidean_error: 0.9790415414467581 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.102650906555379 + euclidean_error: 0.9711209264031815 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.072614558301961 + euclidean_error: 0.9852951309296298 + wrist_inside_marker_pose: + angle_rotation_error: 2.930275225911711 + euclidean_error: 0.9808468886368482 + wrist_top_marker_pose: + angle_rotation_error: 2.8811932737625168 + euclidean_error: 0.9786388081890444 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1021199630128566 + euclidean_error: 0.9711034982014228 + base_right_marker_pose: + angle_rotation_error: 3.122695324541125 + euclidean_error: 0.9730596071971367 + shoulder_marker_pose: + angle_rotation_error: 3.0156105848226624 + euclidean_error: 0.9850504630353437 + wrist_inside_marker_pose: + angle_rotation_error: 2.9761124659571228 + euclidean_error: 0.9808273221130558 + wrist_top_marker_pose: + angle_rotation_error: 2.8837855768675893 + euclidean_error: 0.9776475847336529 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0613498429327057 + euclidean_error: 0.9717434760450789 + base_right_marker_pose: + angle_rotation_error: 3.110995750359111 + euclidean_error: 0.973271675465668 + shoulder_marker_pose: + angle_rotation_error: 3.005578673071546 + euclidean_error: 0.9858771782582291 + wrist_inside_marker_pose: + angle_rotation_error: 3.0642662823004825 + euclidean_error: 0.9804529123108469 + wrist_top_marker_pose: + angle_rotation_error: 2.921092974854234 + euclidean_error: 0.9785767513788215 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0967027632403084 + euclidean_error: 0.9710034234456149 + base_right_marker_pose: + angle_rotation_error: 3.132012800836913 + euclidean_error: 0.9733252752377408 + shoulder_marker_pose: + angle_rotation_error: 3.0705317559818273 + euclidean_error: 0.9849994472876882 + wrist_inside_marker_pose: + angle_rotation_error: 3.0382330143825853 + euclidean_error: 0.9806189876863072 + wrist_top_marker_pose: + angle_rotation_error: 2.930223963491942 + euclidean_error: 0.9785374052698248 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0097613879084903 + euclidean_error: 0.9722652825143816 + base_right_marker_pose: + angle_rotation_error: 3.111255539329877 + euclidean_error: 0.9730541477790914 + shoulder_marker_pose: + angle_rotation_error: 3.0366413602626046 + euclidean_error: 0.9849786273738491 + wrist_inside_marker_pose: + angle_rotation_error: 3.053236762536744 + euclidean_error: 0.9802415683955437 + wrist_top_marker_pose: + angle_rotation_error: 2.8290816723961356 + euclidean_error: 0.9783672187173562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0828035846692967 + euclidean_error: 0.9709586477247105 + base_right_marker_pose: + angle_rotation_error: 3.118261997520317 + euclidean_error: 0.9733853903379872 + shoulder_marker_pose: + angle_rotation_error: 3.1148617101009215 + euclidean_error: 0.9840633217613826 + wrist_inside_marker_pose: + angle_rotation_error: 2.941591134709337 + euclidean_error: 0.9823359764933912 + wrist_top_marker_pose: + angle_rotation_error: 2.9585282169687956 + euclidean_error: 0.9783846955315012 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0732398885071306 + euclidean_error: 0.9713301880508378 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.06757385465171 + euclidean_error: 0.9846296646355922 + wrist_inside_marker_pose: + angle_rotation_error: 3.019969616125184 + euclidean_error: 0.9813509610741862 + wrist_top_marker_pose: + angle_rotation_error: 2.8879724607426 + euclidean_error: 0.9793236588059366 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089373019393459 + euclidean_error: 0.9715749562844775 + base_right_marker_pose: + angle_rotation_error: 3.1391199290411733 + euclidean_error: 0.9729705249287218 + shoulder_marker_pose: + angle_rotation_error: 3.0557899390081174 + euclidean_error: 0.9850831771646216 + wrist_inside_marker_pose: + angle_rotation_error: 3.055579768202602 + euclidean_error: 0.9787938226463321 + wrist_top_marker_pose: + angle_rotation_error: 2.9174286124831124 + euclidean_error: 0.9796090884468659 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0872558574253812 + euclidean_error: 0.9710983750313896 + base_right_marker_pose: + angle_rotation_error: 3.103704523447792 + euclidean_error: 0.9733339914370646 + shoulder_marker_pose: + angle_rotation_error: 3.0007049355687223 + euclidean_error: 0.9856420143195607 + wrist_inside_marker_pose: + angle_rotation_error: 3.04440153583492 + euclidean_error: 0.9808712058348629 + wrist_top_marker_pose: + angle_rotation_error: 2.865809147202174 + euclidean_error: 0.9798487449758053 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.065870082567618 + euclidean_error: 0.9713831614759142 + base_right_marker_pose: + angle_rotation_error: 3.1344242235384576 + euclidean_error: 0.9731079966467454 + shoulder_marker_pose: + angle_rotation_error: 3.1008207324275876 + euclidean_error: 0.9838752512280576 + wrist_inside_marker_pose: + angle_rotation_error: 3.0742784982576925 + euclidean_error: 0.9803948323781091 + wrist_top_marker_pose: + angle_rotation_error: 2.8833720402671297 + euclidean_error: 0.9780098330425794 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.08853828402989 + euclidean_error: 0.971458857129232 + base_right_marker_pose: + angle_rotation_error: 3.1404226459843745 + euclidean_error: 0.973146579535294 + shoulder_marker_pose: + angle_rotation_error: 3.1205807629524713 + euclidean_error: 0.9839832334134507 + wrist_inside_marker_pose: + angle_rotation_error: 3.069409414146805 + euclidean_error: 0.9807376347542499 + wrist_top_marker_pose: + angle_rotation_error: 2.86402532010748 + euclidean_error: 0.9789947507174077 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1018862165054006 + euclidean_error: 0.9708556981568494 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.036783888238625 + euclidean_error: 0.9851459057415255 + wrist_inside_marker_pose: + angle_rotation_error: 2.9882887640876348 + euclidean_error: 0.981413524533961 + wrist_top_marker_pose: + angle_rotation_error: 2.8329761110926692 + euclidean_error: 0.9797356405238895 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0275900621188003 + euclidean_error: 0.9721249725961949 + base_right_marker_pose: + angle_rotation_error: 3.1123086120072108 + euclidean_error: 0.9730072636306321 + shoulder_marker_pose: + angle_rotation_error: 3.110115431841186 + euclidean_error: 0.9845199161473644 + wrist_inside_marker_pose: + angle_rotation_error: 3.138350430005 + euclidean_error: 0.9810820300966426 + wrist_top_marker_pose: + angle_rotation_error: 2.9687476279550964 + euclidean_error: 0.9789131105681539 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0988556230450786 + euclidean_error: 0.9709572248003469 + base_right_marker_pose: + angle_rotation_error: 3.0882661249369967 + euclidean_error: 0.9734910400482394 + shoulder_marker_pose: + angle_rotation_error: 2.9978369883763007 + euclidean_error: 0.9850282604478895 + wrist_inside_marker_pose: + angle_rotation_error: 3.117179472207032 + euclidean_error: 0.9809072185049901 + wrist_top_marker_pose: + angle_rotation_error: 2.9267380263679756 + euclidean_error: 0.9797840177022894 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109728851130872 + euclidean_error: 0.9710775003873642 + base_right_marker_pose: + angle_rotation_error: 3.135668966436609 + euclidean_error: 0.9731208306648078 + shoulder_marker_pose: + angle_rotation_error: 3.0664757326007144 + euclidean_error: 0.9845904129317483 + wrist_inside_marker_pose: + angle_rotation_error: 3.028369153377706 + euclidean_error: 0.9802974614235289 + wrist_top_marker_pose: + angle_rotation_error: 2.754338904079271 + euclidean_error: 0.9792937424429256 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0943223558169763 + euclidean_error: 0.9708849343140239 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0986256891611705 + euclidean_error: 0.9848533182145164 + wrist_inside_marker_pose: + angle_rotation_error: 3.0898219278074093 + euclidean_error: 0.9803606017500989 + wrist_top_marker_pose: + angle_rotation_error: 2.9046327049144236 + euclidean_error: 0.9775366301525146 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.119927846516874 + euclidean_error: 0.9731666073913287 + shoulder_marker_pose: + angle_rotation_error: 3.053246081397058 + euclidean_error: 0.984575312308164 + wrist_inside_marker_pose: + angle_rotation_error: 3.012889577082652 + euclidean_error: 0.9801732252835278 + wrist_top_marker_pose: + angle_rotation_error: 3.02012229808195 + euclidean_error: 0.9767947585272759 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104541449373871 + euclidean_error: 0.9707924861210595 + base_right_marker_pose: + angle_rotation_error: 3.128892606408789 + euclidean_error: 0.9734632066191556 + shoulder_marker_pose: + angle_rotation_error: 3.0478885539305947 + euclidean_error: 0.9850179186443694 + wrist_inside_marker_pose: + angle_rotation_error: 3.073818436126473 + euclidean_error: 0.9801883269213482 + wrist_top_marker_pose: + angle_rotation_error: 2.8646486591265434 + euclidean_error: 0.978368381735813 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0797198804628483 + euclidean_error: 0.9713730066280664 + base_right_marker_pose: + angle_rotation_error: 3.118307977769031 + euclidean_error: 0.9733951375563038 + shoulder_marker_pose: + angle_rotation_error: 3.0189122428432484 + euclidean_error: 0.9849556535943824 + wrist_inside_marker_pose: + angle_rotation_error: 3.0504084365737048 + euclidean_error: 0.9806116362230979 + wrist_top_marker_pose: + angle_rotation_error: 2.8186960442735054 + euclidean_error: 0.9797902557050175 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1007358519676615 + euclidean_error: 0.9711578464500941 + base_right_marker_pose: + angle_rotation_error: 3.1153659306948223 + euclidean_error: 0.9731508860995083 + shoulder_marker_pose: + angle_rotation_error: 3.1273728022381526 + euclidean_error: 0.9844654970141177 + wrist_inside_marker_pose: + angle_rotation_error: 3.0874758846997885 + euclidean_error: 0.9799482682751003 + wrist_top_marker_pose: + angle_rotation_error: 2.9634665218229883 + euclidean_error: 0.9782446199605535 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083466178939905 + euclidean_error: 0.9708219045805242 + base_right_marker_pose: + angle_rotation_error: 3.119316993032149 + euclidean_error: 0.9732989174022836 + shoulder_marker_pose: + angle_rotation_error: 3.0691881759591024 + euclidean_error: 0.9846131275664598 + wrist_inside_marker_pose: + angle_rotation_error: 3.032980579493234 + euclidean_error: 0.9801100595273335 + wrist_top_marker_pose: + angle_rotation_error: 2.9705726017520515 + euclidean_error: 0.9777073736507746 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0952140996345654 + euclidean_error: 0.9720980788560859 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0826872608623677 + euclidean_error: 0.9845287228542765 + wrist_inside_marker_pose: + angle_rotation_error: 3.1329283332100766 + euclidean_error: 0.979424006816038 + wrist_top_marker_pose: + angle_rotation_error: 2.9557552963101874 + euclidean_error: 0.9792449303812032 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0429519688513054 + euclidean_error: 0.9717139636439839 + base_right_marker_pose: + angle_rotation_error: 3.1357023173042413 + euclidean_error: 0.9730509730260166 + shoulder_marker_pose: + angle_rotation_error: 3.136971067895765 + euclidean_error: 0.9843625629016863 + wrist_inside_marker_pose: + angle_rotation_error: 3.0597059886441564 + euclidean_error: 0.9813124755449043 + wrist_top_marker_pose: + angle_rotation_error: 3.0665183733312182 + euclidean_error: 0.9783834951934516 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100972378762608 + euclidean_error: 0.9712996311593579 + base_right_marker_pose: + angle_rotation_error: 3.133386906272491 + euclidean_error: 0.9734086095483042 + shoulder_marker_pose: + angle_rotation_error: 3.090321422358396 + euclidean_error: 0.9847971345110009 + wrist_inside_marker_pose: + angle_rotation_error: 3.0362323552239103 + euclidean_error: 0.9801537906753253 + wrist_top_marker_pose: + angle_rotation_error: 2.938598322116646 + euclidean_error: 0.9788014556726388 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1062215012929686 + euclidean_error: 0.9707365748088532 + base_right_marker_pose: + angle_rotation_error: 3.1397713395058418 + euclidean_error: 0.9731621824023534 + shoulder_marker_pose: + angle_rotation_error: 3.094690257836379 + euclidean_error: 0.983684410451627 + wrist_inside_marker_pose: + angle_rotation_error: 2.9567162335372155 + euclidean_error: 0.9814261925496467 + wrist_top_marker_pose: + angle_rotation_error: 3.0696825402106134 + euclidean_error: 0.9772194043591732 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0777670158509323 + euclidean_error: 0.9711625482805376 + base_right_marker_pose: + angle_rotation_error: 3.1258573050333864 + euclidean_error: 0.9731787494976897 + shoulder_marker_pose: + angle_rotation_error: 3.087550577384465 + euclidean_error: 0.9845173953517898 + wrist_inside_marker_pose: + angle_rotation_error: 3.040526964689878 + euclidean_error: 0.9812447474761229 + wrist_top_marker_pose: + angle_rotation_error: 2.900243443536478 + euclidean_error: 0.978759595961776 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111995070507121 + euclidean_error: 0.9717108451336337 + base_right_marker_pose: + angle_rotation_error: 3.1000433088197563 + euclidean_error: 0.9733937295832685 + shoulder_marker_pose: + angle_rotation_error: 3.0376747388161838 + euclidean_error: 0.9845746541077927 + wrist_inside_marker_pose: + angle_rotation_error: 2.9993075503529236 + euclidean_error: 0.9821729021029679 + wrist_top_marker_pose: + angle_rotation_error: 2.909162957926473 + euclidean_error: 0.9798713148226142 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.074198127156472 + euclidean_error: 0.9712988425689629 + base_right_marker_pose: + angle_rotation_error: 3.088705782109498 + euclidean_error: 0.9732611876418159 + shoulder_marker_pose: + angle_rotation_error: 3.102713071297707 + euclidean_error: 0.9842161544523772 + wrist_inside_marker_pose: + angle_rotation_error: 3.11825451346355 + euclidean_error: 0.9799124824226151 + wrist_top_marker_pose: + angle_rotation_error: 2.9900444073477015 + euclidean_error: 0.9774170236538139 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0911968415311906 + euclidean_error: 0.9712160579024205 + base_right_marker_pose: + angle_rotation_error: 3.113394471469033 + euclidean_error: 0.9733482396981701 + shoulder_marker_pose: + angle_rotation_error: 3.025455137487308 + euclidean_error: 0.9853470646632153 + wrist_inside_marker_pose: + angle_rotation_error: 3.0943899862235904 + euclidean_error: 0.9794141466556286 + wrist_top_marker_pose: + angle_rotation_error: 2.9051574694017632 + euclidean_error: 0.9786557373962872 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0715519952481345 + euclidean_error: 0.9713687768380039 + base_right_marker_pose: + angle_rotation_error: 3.1157658559597805 + euclidean_error: 0.973328670063057 + shoulder_marker_pose: + angle_rotation_error: 2.9971807923073928 + euclidean_error: 0.9856193408301833 + wrist_inside_marker_pose: + angle_rotation_error: 3.034359439552782 + euclidean_error: 0.9809652023801516 + wrist_top_marker_pose: + angle_rotation_error: 2.987155364376056 + euclidean_error: 0.9784932070895528 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0659614964452984 + euclidean_error: 0.9715985379432192 + base_right_marker_pose: + angle_rotation_error: 3.140935873246661 + euclidean_error: 0.9730856099639412 + shoulder_marker_pose: + angle_rotation_error: 3.0289389189074587 + euclidean_error: 0.9847782028409899 + wrist_inside_marker_pose: + angle_rotation_error: 3.034371653154863 + euclidean_error: 0.9794931579338396 + wrist_top_marker_pose: + angle_rotation_error: 3.0658103124675398 + euclidean_error: 0.9771877210758634 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063864017354083 + euclidean_error: 0.9711660760283268 + base_right_marker_pose: + angle_rotation_error: 3.09972791068893 + euclidean_error: 0.9736967918319117 + shoulder_marker_pose: + angle_rotation_error: 3.074899346233735 + euclidean_error: 0.9854370802875775 + wrist_inside_marker_pose: + angle_rotation_error: 3.1375675399153393 + euclidean_error: 0.9794880624691298 + wrist_top_marker_pose: + angle_rotation_error: 2.9292977591808116 + euclidean_error: 0.9792886919058945 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0314419255665457 + euclidean_error: 0.9719047362930799 + base_right_marker_pose: + angle_rotation_error: 3.1404572881367345 + euclidean_error: 0.973098263276573 + shoulder_marker_pose: + angle_rotation_error: 3.0472935538905426 + euclidean_error: 0.9852935837168225 + wrist_inside_marker_pose: + angle_rotation_error: 3.0921922000990913 + euclidean_error: 0.9801208825048476 + wrist_top_marker_pose: + angle_rotation_error: 2.901438506082614 + euclidean_error: 0.9799927745367608 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089474776728563 + euclidean_error: 0.9710275495357674 + base_right_marker_pose: + angle_rotation_error: 3.1330280170408873 + euclidean_error: 0.9730413699309156 + shoulder_marker_pose: + angle_rotation_error: 3.1017122988224815 + euclidean_error: 0.9848580672187881 + wrist_inside_marker_pose: + angle_rotation_error: 3.0418586958999407 + euclidean_error: 0.9803632334030108 + wrist_top_marker_pose: + angle_rotation_error: 2.8708521864403567 + euclidean_error: 0.9783395085394281 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103235549720976 + euclidean_error: 0.9709907685500813 + base_right_marker_pose: + angle_rotation_error: 3.100156979554492 + euclidean_error: 0.9735183310652462 + shoulder_marker_pose: + angle_rotation_error: 3.1251930945266264 + euclidean_error: 0.9839984082042755 + wrist_inside_marker_pose: + angle_rotation_error: 3.0518576183894397 + euclidean_error: 0.9788231465904522 + wrist_top_marker_pose: + angle_rotation_error: 3.0850429463846494 + euclidean_error: 0.9790262463005022 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0654643993107293 + euclidean_error: 0.9711391772395058 + base_right_marker_pose: + angle_rotation_error: 3.1230990039956468 + euclidean_error: 0.97311791968384 + shoulder_marker_pose: + angle_rotation_error: 3.0812659281852826 + euclidean_error: 0.9850506375519243 + wrist_inside_marker_pose: + angle_rotation_error: 3.1327960385150715 + euclidean_error: 0.98022838172128 + wrist_top_marker_pose: + angle_rotation_error: 3.0139164574423787 + euclidean_error: 0.9778499468205969 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0868641274111384 + euclidean_error: 0.9709265143724702 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0401923581406747 + euclidean_error: 0.9832178311530235 + wrist_inside_marker_pose: + angle_rotation_error: 3.027751622132885 + euclidean_error: 0.9806247095744094 + wrist_top_marker_pose: + angle_rotation_error: 2.9109152773980314 + euclidean_error: 0.9778628244620378 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0983615165772744 + euclidean_error: 0.9707313060299652 + base_right_marker_pose: + angle_rotation_error: 3.1250134866804604 + euclidean_error: 0.9732163822698935 + shoulder_marker_pose: + angle_rotation_error: 2.9969143065792356 + euclidean_error: 0.9852718949107414 + wrist_inside_marker_pose: + angle_rotation_error: 2.948201480120251 + euclidean_error: 0.9820922536541467 + wrist_top_marker_pose: + angle_rotation_error: 2.863859788279135 + euclidean_error: 0.9795641923645058 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0871924032426965 + euclidean_error: 0.9715537418178241 + base_right_marker_pose: + angle_rotation_error: 3.124173664091813 + euclidean_error: 0.9730860352549199 + shoulder_marker_pose: + angle_rotation_error: 3.10261306862822 + euclidean_error: 0.9842614649337189 + wrist_inside_marker_pose: + angle_rotation_error: 3.050542896020074 + euclidean_error: 0.9808899166608268 + wrist_top_marker_pose: + angle_rotation_error: 2.9513883339807676 + euclidean_error: 0.9797510694613935 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0736800103033635 + euclidean_error: 0.9713083052057604 + base_right_marker_pose: + angle_rotation_error: 3.1266883579933347 + euclidean_error: 0.9732297272796634 + shoulder_marker_pose: + angle_rotation_error: 3.0637944103296624 + euclidean_error: 0.9849390498085575 + wrist_inside_marker_pose: + angle_rotation_error: 2.945023256287184 + euclidean_error: 0.9812821028965723 + wrist_top_marker_pose: + angle_rotation_error: 2.945892195531928 + euclidean_error: 0.9786221522969747 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.099477023460832 + euclidean_error: 0.9708700531939247 + base_right_marker_pose: + angle_rotation_error: 3.1075781567335756 + euclidean_error: 0.9731228369302276 + shoulder_marker_pose: + angle_rotation_error: 3.094384910618131 + euclidean_error: 0.9846844217931482 + wrist_inside_marker_pose: + angle_rotation_error: 2.9853666972280726 + euclidean_error: 0.9799970803176727 + wrist_top_marker_pose: + angle_rotation_error: 2.8790274569133976 + euclidean_error: 0.9781655358328313 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104518094036851 + euclidean_error: 0.9707222079652111 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1142036841406573 + euclidean_error: 0.9849531932642094 + wrist_inside_marker_pose: + angle_rotation_error: 3.071158609407978 + euclidean_error: 0.9814345199085628 + wrist_top_marker_pose: + angle_rotation_error: 2.965703467272835 + euclidean_error: 0.9793141770180054 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0594012135420696 + euclidean_error: 0.9711669246180312 + base_right_marker_pose: + angle_rotation_error: 3.12708569859778 + euclidean_error: 0.9736562160562567 + shoulder_marker_pose: + angle_rotation_error: 3.114570492048832 + euclidean_error: 0.9845983906748663 + wrist_inside_marker_pose: + angle_rotation_error: 2.912213484709122 + euclidean_error: 0.9831123199691401 + wrist_top_marker_pose: + angle_rotation_error: 2.863827614348223 + euclidean_error: 0.9804580396401231 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.045981503143202 + euclidean_error: 0.971682980729081 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1340601303759437 + euclidean_error: 0.9845917962545842 + wrist_inside_marker_pose: + angle_rotation_error: 3.0829151009497404 + euclidean_error: 0.9808039043675127 + wrist_top_marker_pose: + angle_rotation_error: 3.1280629373130475 + euclidean_error: 0.9779809562668672 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.069886711308676 + euclidean_error: 0.9713818458614345 + base_right_marker_pose: + angle_rotation_error: 3.114462510547402 + euclidean_error: 0.9730982954720651 + shoulder_marker_pose: + angle_rotation_error: 3.008117547642193 + euclidean_error: 0.9851932998704854 + wrist_inside_marker_pose: + angle_rotation_error: 2.9576084029890954 + euclidean_error: 0.9814295785407676 + wrist_top_marker_pose: + angle_rotation_error: 2.857245466054605 + euclidean_error: 0.9791731469680388 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0725246353904785 + euclidean_error: 0.9718459088404634 + base_right_marker_pose: + angle_rotation_error: 3.085881447093599 + euclidean_error: 0.9738503482865691 + shoulder_marker_pose: + angle_rotation_error: 3.1110251535123252 + euclidean_error: 0.9839314095079841 + wrist_inside_marker_pose: + angle_rotation_error: 3.116397750756171 + euclidean_error: 0.9807840995408788 + wrist_top_marker_pose: + angle_rotation_error: 3.0352109462704857 + euclidean_error: 0.9782909541348401 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1368603979847602 + euclidean_error: 0.9733286984766596 + shoulder_marker_pose: + angle_rotation_error: 3.0961368363382697 + euclidean_error: 0.9850166410556415 + wrist_inside_marker_pose: + angle_rotation_error: 3.1020682769796073 + euclidean_error: 0.9806702944956525 + wrist_top_marker_pose: + angle_rotation_error: 3.008425046178723 + euclidean_error: 0.9793068740828287 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0691523552628825 + euclidean_error: 0.971188754940789 + base_right_marker_pose: + angle_rotation_error: 3.124837272500781 + euclidean_error: 0.9734017975284431 + shoulder_marker_pose: + angle_rotation_error: 3.0829023742757897 + euclidean_error: 0.9853756183011251 + wrist_inside_marker_pose: + angle_rotation_error: 3.075554426572612 + euclidean_error: 0.9808644600233943 + wrist_top_marker_pose: + angle_rotation_error: 2.8702112470278935 + euclidean_error: 0.9794517658296538 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0612461908087845 + euclidean_error: 0.9711626595724367 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0769954668018156 + euclidean_error: 0.9845900327007876 + wrist_inside_marker_pose: + angle_rotation_error: 3.0752398758541526 + euclidean_error: 0.9804991874529322 + wrist_top_marker_pose: + angle_rotation_error: 2.945875479480199 + euclidean_error: 0.9777660304816355 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.077153936389002 + euclidean_error: 0.9713678052689311 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0308804037397796 + euclidean_error: 0.9854312560548515 + wrist_inside_marker_pose: + angle_rotation_error: 2.9921920642409168 + euclidean_error: 0.9815306391526499 + wrist_top_marker_pose: + angle_rotation_error: 3.0047094422089677 + euclidean_error: 0.9798783704330848 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078856521839318 + euclidean_error: 0.9709934764974265 + base_right_marker_pose: + angle_rotation_error: 3.1158140590282817 + euclidean_error: 0.9733391397486435 + shoulder_marker_pose: + angle_rotation_error: 3.10407701440824 + euclidean_error: 0.9843587367978073 + wrist_inside_marker_pose: + angle_rotation_error: 2.950859533158447 + euclidean_error: 0.9818779025425751 + wrist_top_marker_pose: + angle_rotation_error: 2.8744123096223886 + euclidean_error: 0.9791104812013169 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.101727209775245 + euclidean_error: 0.9709492222996321 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1004138515427946 + euclidean_error: 0.9849534909335773 + wrist_inside_marker_pose: + angle_rotation_error: 2.9548907223989285 + euclidean_error: 0.9811364079221472 + wrist_top_marker_pose: + angle_rotation_error: 2.998483851566344 + euclidean_error: 0.9779625459817658 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1007929366344515 + euclidean_error: 0.9711453027894287 + base_right_marker_pose: + angle_rotation_error: 3.1199098654003414 + euclidean_error: 0.9733796543095972 + shoulder_marker_pose: + angle_rotation_error: 3.0877348510287135 + euclidean_error: 0.9848672179272604 + wrist_inside_marker_pose: + angle_rotation_error: 3.008554865194861 + euclidean_error: 0.9814052061618995 + wrist_top_marker_pose: + angle_rotation_error: 2.97792904593276 + euclidean_error: 0.978065937295589 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1034901493406553 + euclidean_error: 0.9706151534903492 + base_right_marker_pose: + angle_rotation_error: 3.138482514447422 + euclidean_error: 0.9732522772719208 + shoulder_marker_pose: + angle_rotation_error: 3.009572481897794 + euclidean_error: 0.9852462607222074 + wrist_inside_marker_pose: + angle_rotation_error: 2.980969442069675 + euclidean_error: 0.981708705379942 + wrist_top_marker_pose: + angle_rotation_error: 2.8162030003879863 + euclidean_error: 0.9791055948301276 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097217016325869 + euclidean_error: 0.9710712388792891 + base_right_marker_pose: + angle_rotation_error: 3.139472398650767 + euclidean_error: 0.9731421371187147 + shoulder_marker_pose: + angle_rotation_error: 3.0117361093642874 + euclidean_error: 0.9855812377376139 + wrist_inside_marker_pose: + angle_rotation_error: 2.8862272284374284 + euclidean_error: 0.9814516259244577 + wrist_top_marker_pose: + angle_rotation_error: 2.921438896617287 + euclidean_error: 0.9776616502205385 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0799889844177963 + euclidean_error: 0.9711673416987294 + base_right_marker_pose: + angle_rotation_error: 3.134125870951824 + euclidean_error: 0.9731396897401758 + shoulder_marker_pose: + angle_rotation_error: 3.0688247973736806 + euclidean_error: 0.9846136890994033 + wrist_inside_marker_pose: + angle_rotation_error: 2.944300913960913 + euclidean_error: 0.9806675599995586 + wrist_top_marker_pose: + angle_rotation_error: 3.0293184771590944 + euclidean_error: 0.977773777421732 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0808585943691345 + euclidean_error: 0.9711849191525849 + base_right_marker_pose: + angle_rotation_error: 3.1204597788379456 + euclidean_error: 0.9734139694615392 + shoulder_marker_pose: + angle_rotation_error: 3.1394845365308846 + euclidean_error: 0.9843602119958897 + wrist_inside_marker_pose: + angle_rotation_error: 3.104807754709467 + euclidean_error: 0.9802778815457983 + wrist_top_marker_pose: + angle_rotation_error: 2.9131558919911584 + euclidean_error: 0.9788785867577888 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0901701267572728 + euclidean_error: 0.9713393730014782 + base_right_marker_pose: + angle_rotation_error: 3.124882920181066 + euclidean_error: 0.9731826839315894 + shoulder_marker_pose: + angle_rotation_error: 3.0854990612842155 + euclidean_error: 0.9838718803784685 + wrist_inside_marker_pose: + angle_rotation_error: 3.0786380636434023 + euclidean_error: 0.9801164865405793 + wrist_top_marker_pose: + angle_rotation_error: 2.956513335323994 + euclidean_error: 0.9783219044572137 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108494745842922 + euclidean_error: 0.9708772309589673 + base_right_marker_pose: + angle_rotation_error: 3.1009657234097805 + euclidean_error: 0.9730959452890198 + shoulder_marker_pose: + angle_rotation_error: 3.0885135613908137 + euclidean_error: 0.984829343178656 + wrist_inside_marker_pose: + angle_rotation_error: 2.876652848672637 + euclidean_error: 0.982457885799358 + wrist_top_marker_pose: + angle_rotation_error: 2.822695980847763 + euclidean_error: 0.9793232474540107 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0702732848549497 + euclidean_error: 0.985297283143267 + wrist_inside_marker_pose: + angle_rotation_error: 2.998761867752444 + euclidean_error: 0.9813022274978519 + wrist_top_marker_pose: + angle_rotation_error: 3.0335717817882655 + euclidean_error: 0.9776346043855392 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.055649073343004 + euclidean_error: 0.9712919206498192 + base_right_marker_pose: + angle_rotation_error: 3.134057608609106 + euclidean_error: 0.9733443983933187 + shoulder_marker_pose: + angle_rotation_error: 3.084850817296208 + euclidean_error: 0.9849570973548709 + wrist_inside_marker_pose: + angle_rotation_error: 3.12895907457071 + euclidean_error: 0.9814117752168487 + wrist_top_marker_pose: + angle_rotation_error: 2.9408419326196995 + euclidean_error: 0.9793848693412883 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.079892735620745 + euclidean_error: 0.9712051090566495 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0475035873702483 + euclidean_error: 0.9850030860793085 + wrist_inside_marker_pose: + angle_rotation_error: 3.072892917425095 + euclidean_error: 0.9826630982369425 + wrist_top_marker_pose: + angle_rotation_error: 2.8110277319141668 + euclidean_error: 0.9811560728655504 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0547321527635836 + euclidean_error: 0.9717778518552316 + base_right_marker_pose: + angle_rotation_error: 3.1399707755467086 + euclidean_error: 0.9732507014712918 + shoulder_marker_pose: + angle_rotation_error: 3.13170519402085 + euclidean_error: 0.9845200856317352 + wrist_inside_marker_pose: + angle_rotation_error: 2.9609119945649534 + euclidean_error: 0.9818859466274014 + wrist_top_marker_pose: + angle_rotation_error: 2.922400736466908 + euclidean_error: 0.9785122140808652 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0715836905007508 + euclidean_error: 0.9853020448786471 + wrist_inside_marker_pose: + angle_rotation_error: 2.945320871326101 + euclidean_error: 0.981001247121216 + wrist_top_marker_pose: + angle_rotation_error: 2.969852529418912 + euclidean_error: 0.9777400986311077 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0934364769718607 + euclidean_error: 0.9713117531082519 + base_right_marker_pose: + angle_rotation_error: 3.1117927177415394 + euclidean_error: 0.9733071813279137 + shoulder_marker_pose: + angle_rotation_error: 3.121700432325389 + euclidean_error: 0.9844502789061673 + wrist_inside_marker_pose: + angle_rotation_error: 2.9542526835524874 + euclidean_error: 0.9806505329843963 + wrist_top_marker_pose: + angle_rotation_error: 2.8891972734565896 + euclidean_error: 0.9777326402833676 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1152934401015875 + euclidean_error: 0.9733284151462607 + shoulder_marker_pose: + angle_rotation_error: 3.12175326119931 + euclidean_error: 0.9841615312757053 + wrist_inside_marker_pose: + angle_rotation_error: 3.103868054884873 + euclidean_error: 0.9795965853559476 + wrist_top_marker_pose: + angle_rotation_error: 3.0663694373803674 + euclidean_error: 0.9767235232882041 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0757140586389657 + euclidean_error: 0.9712716450282082 + base_right_marker_pose: + angle_rotation_error: 3.1328836259451394 + euclidean_error: 0.9732647589241237 + shoulder_marker_pose: + angle_rotation_error: 3.0933899201924984 + euclidean_error: 0.9846121308165627 + wrist_inside_marker_pose: + angle_rotation_error: 3.1373600739043455 + euclidean_error: 0.9802357820581757 + wrist_top_marker_pose: + angle_rotation_error: 3.121395066614889 + euclidean_error: 0.9772814168397373 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.060491581410772 + euclidean_error: 0.9713884833920267 + base_right_marker_pose: + angle_rotation_error: 3.131460715850526 + euclidean_error: 0.973038651516006 + shoulder_marker_pose: + angle_rotation_error: 3.119403923019178 + euclidean_error: 0.9843767555873836 + wrist_inside_marker_pose: + angle_rotation_error: 3.0579987626843987 + euclidean_error: 0.9793423767073947 + wrist_top_marker_pose: + angle_rotation_error: 3.072162284049253 + euclidean_error: 0.9780009175903901 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1212207742946676 + euclidean_error: 0.9733053545841139 + shoulder_marker_pose: + angle_rotation_error: 3.090387308526803 + euclidean_error: 0.9839477217668992 + wrist_inside_marker_pose: + angle_rotation_error: 3.066246558125525 + euclidean_error: 0.9817644810671202 + wrist_top_marker_pose: + angle_rotation_error: 2.9472402131169537 + euclidean_error: 0.9787272130179814 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1295154126936113 + euclidean_error: 0.9731032933812853 + shoulder_marker_pose: + angle_rotation_error: 3.0716827132395315 + euclidean_error: 0.9847585204741592 + wrist_inside_marker_pose: + angle_rotation_error: 2.8965547152291133 + euclidean_error: 0.9809560619104994 + wrist_top_marker_pose: + angle_rotation_error: 2.8647570160660445 + euclidean_error: 0.9784534652741946 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0952520058807025 + euclidean_error: 0.9709072995210037 + base_right_marker_pose: + angle_rotation_error: 3.1389245295957555 + euclidean_error: 0.9730756793011766 + shoulder_marker_pose: + angle_rotation_error: 3.022039276934273 + euclidean_error: 0.9853158394095188 + wrist_inside_marker_pose: + angle_rotation_error: 3.0580449595271992 + euclidean_error: 0.9795052002871235 + wrist_top_marker_pose: + angle_rotation_error: 3.021548721216269 + euclidean_error: 0.9772218385773457 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.067719079099451 + euclidean_error: 0.9717512598094943 + base_right_marker_pose: + angle_rotation_error: 3.094322134458734 + euclidean_error: 0.973512550440002 + shoulder_marker_pose: + angle_rotation_error: 3.0947279960363496 + euclidean_error: 0.9853994683348165 + wrist_inside_marker_pose: + angle_rotation_error: 3.0569467698039703 + euclidean_error: 0.9805059815722768 + wrist_top_marker_pose: + angle_rotation_error: 2.966309090797928 + euclidean_error: 0.9771961123404697 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080900165662451 + euclidean_error: 0.9711144078551353 + base_right_marker_pose: + angle_rotation_error: 3.121454201302217 + euclidean_error: 0.9733560988219563 + shoulder_marker_pose: + angle_rotation_error: 3.023398614396892 + euclidean_error: 0.9854696761391619 + wrist_inside_marker_pose: + angle_rotation_error: 2.993642094321473 + euclidean_error: 0.9804360331882328 + wrist_top_marker_pose: + angle_rotation_error: 3.046289823272563 + euclidean_error: 0.9767357168639427 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0854572137854688 + euclidean_error: 0.9709204818585948 + base_right_marker_pose: + angle_rotation_error: 3.0857964271508216 + euclidean_error: 0.9735466662231277 + shoulder_marker_pose: + angle_rotation_error: 3.1129169001425465 + euclidean_error: 0.9843048446075057 + wrist_inside_marker_pose: + angle_rotation_error: 2.9989182680579476 + euclidean_error: 0.9805806333504749 + wrist_top_marker_pose: + angle_rotation_error: 2.837957374172867 + euclidean_error: 0.9801078184050839 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063455366111276 + euclidean_error: 0.9713612323420457 + base_right_marker_pose: + angle_rotation_error: 3.1195973419390906 + euclidean_error: 0.9732272091842238 + shoulder_marker_pose: + angle_rotation_error: 3.086291115906948 + euclidean_error: 0.9848772007100149 + wrist_inside_marker_pose: + angle_rotation_error: 2.926418247920671 + euclidean_error: 0.9819469940276812 + wrist_top_marker_pose: + angle_rotation_error: 2.9705202165314217 + euclidean_error: 0.9784259357075726 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.06399567776114 + euclidean_error: 0.9712294629612664 + base_right_marker_pose: + angle_rotation_error: 3.1395554570918716 + euclidean_error: 0.9731505238070598 + shoulder_marker_pose: + angle_rotation_error: 3.1174893673810797 + euclidean_error: 0.9846450136447308 + wrist_inside_marker_pose: + angle_rotation_error: 3.0232341331380996 + euclidean_error: 0.9804361720224308 + wrist_top_marker_pose: + angle_rotation_error: 3.074808640932677 + euclidean_error: 0.9769759738819006 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1143702162558737 + euclidean_error: 0.9711368437774188 + base_right_marker_pose: + angle_rotation_error: 3.129960057251498 + euclidean_error: 0.973341301707544 + shoulder_marker_pose: + angle_rotation_error: 3.0953842350636207 + euclidean_error: 0.9844933902159061 + wrist_inside_marker_pose: + angle_rotation_error: 3.1170137032867222 + euclidean_error: 0.9798081561116819 + wrist_top_marker_pose: + angle_rotation_error: 3.077865581155765 + euclidean_error: 0.9772778143084804 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097419389199931 + euclidean_error: 0.9708515575574227 + base_right_marker_pose: + angle_rotation_error: 3.11514285455001 + euclidean_error: 0.9730765696854569 + shoulder_marker_pose: + angle_rotation_error: 3.108261308616065 + euclidean_error: 0.9846590022109817 + wrist_inside_marker_pose: + angle_rotation_error: 3.042574757376564 + euclidean_error: 0.9813513183815061 + wrist_top_marker_pose: + angle_rotation_error: 2.874829618081788 + euclidean_error: 0.9790858596656993 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1087106741515234 + euclidean_error: 0.9707335742803638 + base_right_marker_pose: + angle_rotation_error: 3.1412646334236065 + euclidean_error: 0.9733187498773654 + shoulder_marker_pose: + angle_rotation_error: 3.0402154139852655 + euclidean_error: 0.9847873793251202 + wrist_inside_marker_pose: + angle_rotation_error: 3.0919838473064027 + euclidean_error: 0.9801473433340512 + wrist_top_marker_pose: + angle_rotation_error: 2.8679990392167225 + euclidean_error: 0.979140629149634 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0999703424149736 + euclidean_error: 0.9715588350737728 + base_right_marker_pose: + angle_rotation_error: 3.1353631875414947 + euclidean_error: 0.9731406379827582 + shoulder_marker_pose: + angle_rotation_error: 3.1401634635560107 + euclidean_error: 0.9846469892164101 + wrist_inside_marker_pose: + angle_rotation_error: 3.1012968475832747 + euclidean_error: 0.9803578456558202 + wrist_top_marker_pose: + angle_rotation_error: 2.9214302770587337 + euclidean_error: 0.9790030632876219 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.052925642803829 + euclidean_error: 0.9714246371487552 + base_right_marker_pose: + angle_rotation_error: 3.1323944328728994 + euclidean_error: 0.9732771602407397 + shoulder_marker_pose: + angle_rotation_error: 3.1062766507455706 + euclidean_error: 0.984680500933421 + wrist_inside_marker_pose: + angle_rotation_error: 3.030449958995997 + euclidean_error: 0.9813927301868784 + wrist_top_marker_pose: + angle_rotation_error: 3.079424120859723 + euclidean_error: 0.9768804520279569 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0860361547480695 + euclidean_error: 0.971243284720026 + base_right_marker_pose: + angle_rotation_error: 3.1381989332273057 + euclidean_error: 0.9731098551005027 + shoulder_marker_pose: + angle_rotation_error: 3.1117500110795775 + euclidean_error: 0.9845916592658407 + wrist_inside_marker_pose: + angle_rotation_error: 2.880278852694091 + euclidean_error: 0.9834809515322587 + wrist_top_marker_pose: + angle_rotation_error: 2.8756299624926602 + euclidean_error: 0.9798904093730336 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1399866715278724 + euclidean_error: 0.9732300399407012 + shoulder_marker_pose: + angle_rotation_error: 3.110299697229963 + euclidean_error: 0.9847171193652459 + wrist_inside_marker_pose: + angle_rotation_error: 2.9930727154425156 + euclidean_error: 0.9813213753416932 + wrist_top_marker_pose: + angle_rotation_error: 2.929555902087806 + euclidean_error: 0.979014459075346 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.093686250121213 + euclidean_error: 0.9709816356095732 + base_right_marker_pose: + angle_rotation_error: 3.130193302139498 + euclidean_error: 0.9731429055028864 + shoulder_marker_pose: + angle_rotation_error: 3.107150962870085 + euclidean_error: 0.983946173618212 + wrist_inside_marker_pose: + angle_rotation_error: 3.041358066256164 + euclidean_error: 0.981668972637203 + wrist_top_marker_pose: + angle_rotation_error: 2.8982966191512007 + euclidean_error: 0.9781430495084127 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1140595898246244 + euclidean_error: 0.9712435575518636 + base_right_marker_pose: + angle_rotation_error: 3.099657798972897 + euclidean_error: 0.9733508234936017 + shoulder_marker_pose: + angle_rotation_error: 3.029731633305827 + euclidean_error: 0.9856277276591279 + wrist_inside_marker_pose: + angle_rotation_error: 3.0886405645665143 + euclidean_error: 0.9812449337637007 + wrist_top_marker_pose: + angle_rotation_error: 3.0637988440041326 + euclidean_error: 0.9772334487957682 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.123817936474413 + euclidean_error: 0.9732737306140082 + shoulder_marker_pose: + angle_rotation_error: 3.117719844760618 + euclidean_error: 0.9841906078491036 + wrist_inside_marker_pose: + angle_rotation_error: 3.013318423815262 + euclidean_error: 0.9809150743011686 + wrist_top_marker_pose: + angle_rotation_error: 2.915491683705241 + euclidean_error: 0.9775220628980785 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.109268559094012 + euclidean_error: 0.9732338407130633 + shoulder_marker_pose: + angle_rotation_error: 3.1089994456891286 + euclidean_error: 0.9847838759619396 + wrist_inside_marker_pose: + angle_rotation_error: 3.055946573118413 + euclidean_error: 0.9806870358268052 + wrist_top_marker_pose: + angle_rotation_error: 2.954387186620819 + euclidean_error: 0.9809825065354856 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.093152225420002 + euclidean_error: 0.970836141609473 + base_right_marker_pose: + angle_rotation_error: 3.125254029871045 + euclidean_error: 0.9734766082885363 + shoulder_marker_pose: + angle_rotation_error: 3.0981539783827623 + euclidean_error: 0.9847746820956528 + wrist_inside_marker_pose: + angle_rotation_error: 3.1129744836507047 + euclidean_error: 0.9798589331935976 + wrist_top_marker_pose: + angle_rotation_error: 3.028537266752589 + euclidean_error: 0.9773779895894334 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.031073353777291 + euclidean_error: 0.9717885563029998 + base_right_marker_pose: + angle_rotation_error: 3.126752422468923 + euclidean_error: 0.9734101333276032 + shoulder_marker_pose: + angle_rotation_error: 3.1028282806034904 + euclidean_error: 0.9848049147357347 + wrist_inside_marker_pose: + angle_rotation_error: 3.0981765598388202 + euclidean_error: 0.9799248820349495 + wrist_top_marker_pose: + angle_rotation_error: 3.123915769678524 + euclidean_error: 0.9787093540461977 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1237803341649917 + euclidean_error: 0.9734526725816388 + shoulder_marker_pose: + angle_rotation_error: 3.087021970210598 + euclidean_error: 0.9850061846502844 + wrist_inside_marker_pose: + angle_rotation_error: 3.0344064279676277 + euclidean_error: 0.9816781066883561 + wrist_top_marker_pose: + angle_rotation_error: 2.986914637033172 + euclidean_error: 0.9794424679552216 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0710578255553673 + euclidean_error: 0.9711163460014169 + base_right_marker_pose: + angle_rotation_error: 3.139554883186404 + euclidean_error: 0.9737023410717197 + shoulder_marker_pose: + angle_rotation_error: 3.0819238517274066 + euclidean_error: 0.9847749577125132 + wrist_inside_marker_pose: + angle_rotation_error: 3.101673308014359 + euclidean_error: 0.979920728941269 + wrist_top_marker_pose: + angle_rotation_error: 3.117887807262122 + euclidean_error: 0.9792372146791304 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0669375205242964 + euclidean_error: 0.9707923714798067 + base_right_marker_pose: + angle_rotation_error: 3.127517990666785 + euclidean_error: 0.9736302203935974 + shoulder_marker_pose: + angle_rotation_error: 3.024124035749749 + euclidean_error: 0.9856682284621295 + wrist_inside_marker_pose: + angle_rotation_error: 3.138037872141202 + euclidean_error: 0.9806394347098398 + wrist_top_marker_pose: + angle_rotation_error: 3.131666920689863 + euclidean_error: 0.980886302898743 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0839458520663023 + euclidean_error: 0.970288920884144 + base_right_marker_pose: + angle_rotation_error: 3.140110509760405 + euclidean_error: 0.9736701319559513 + shoulder_marker_pose: + angle_rotation_error: 2.9957685929151547 + euclidean_error: 0.985594991459465 + wrist_inside_marker_pose: + angle_rotation_error: 3.1028978482795306 + euclidean_error: 0.9798410684600383 + wrist_top_marker_pose: + angle_rotation_error: 2.9091024298966497 + euclidean_error: 0.9795234517096212 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0937051115026026 + euclidean_error: 0.9704796851862115 + base_right_marker_pose: + angle_rotation_error: 3.1275428480947207 + euclidean_error: 0.9731961756083157 + shoulder_marker_pose: + angle_rotation_error: 3.0765172247575134 + euclidean_error: 0.9847052693060856 + wrist_inside_marker_pose: + angle_rotation_error: 3.127714126163779 + euclidean_error: 0.9811314646926024 + wrist_top_marker_pose: + angle_rotation_error: 3.060141384656565 + euclidean_error: 0.9793883156921356 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0706514502786937 + euclidean_error: 0.9710647226333218 + base_right_marker_pose: + angle_rotation_error: 3.119821886478758 + euclidean_error: 0.9733906819521438 + shoulder_marker_pose: + angle_rotation_error: 3.0082813188603374 + euclidean_error: 0.9847756805767542 + wrist_inside_marker_pose: + angle_rotation_error: 3.030631519725463 + euclidean_error: 0.9803366818736938 + wrist_top_marker_pose: + angle_rotation_error: 3.0157203236409087 + euclidean_error: 0.9790027802840158 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.139814951102708 + euclidean_error: 0.9734937199339568 + shoulder_marker_pose: + angle_rotation_error: 3.0483046986695674 + euclidean_error: 0.9852002802504405 + wrist_inside_marker_pose: + angle_rotation_error: 2.9668654744911898 + euclidean_error: 0.9815447300091703 + wrist_top_marker_pose: + angle_rotation_error: 3.0238006417686965 + euclidean_error: 0.97899169795655 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0456212850229805 + euclidean_error: 0.9710785300549732 + base_right_marker_pose: + angle_rotation_error: 3.102755431283542 + euclidean_error: 0.9739097812523311 + shoulder_marker_pose: + angle_rotation_error: 3.120845386261173 + euclidean_error: 0.9850509616699465 + wrist_inside_marker_pose: + angle_rotation_error: 3.111033679235182 + euclidean_error: 0.9804680598190413 + wrist_top_marker_pose: + angle_rotation_error: 3.0523326890813047 + euclidean_error: 0.9793128312319367 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1397209941073037 + euclidean_error: 0.9734378592816497 + shoulder_marker_pose: + angle_rotation_error: 3.055772816843658 + euclidean_error: 0.9837500408507663 + wrist_inside_marker_pose: + angle_rotation_error: 2.9094181823069802 + euclidean_error: 0.9797404571182052 + wrist_top_marker_pose: + angle_rotation_error: 3.059105682253844 + euclidean_error: 0.9771193493704092 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0845792447947002 + euclidean_error: 0.9705365108356991 + base_right_marker_pose: + angle_rotation_error: 3.1089067658221494 + euclidean_error: 0.9736415226064464 + shoulder_marker_pose: + angle_rotation_error: 3.066183352096707 + euclidean_error: 0.9850581981947177 + wrist_inside_marker_pose: + angle_rotation_error: 3.0256743156021613 + euclidean_error: 0.9800851889867472 + wrist_top_marker_pose: + angle_rotation_error: 3.0769558052638204 + euclidean_error: 0.9778872166107447 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.072928899678952 + euclidean_error: 0.9710570879890775 + base_right_marker_pose: + angle_rotation_error: 3.1414938973549837 + euclidean_error: 0.9734189681793699 + shoulder_marker_pose: + angle_rotation_error: 3.12824447652869 + euclidean_error: 0.9841612051056523 + wrist_inside_marker_pose: + angle_rotation_error: 3.036914804715788 + euclidean_error: 0.9804409028809391 + wrist_top_marker_pose: + angle_rotation_error: 2.9502483937879798 + euclidean_error: 0.9784589229704453 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1396326863793855 + euclidean_error: 0.973396523164192 + shoulder_marker_pose: + angle_rotation_error: 3.071039263762862 + euclidean_error: 0.9849631185258119 + wrist_inside_marker_pose: + angle_rotation_error: 2.9386810695864196 + euclidean_error: 0.9820689393501644 + wrist_top_marker_pose: + angle_rotation_error: 3.0737445527290914 + euclidean_error: 0.978015987314419 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1208617900626137 + euclidean_error: 0.9730322536495255 + shoulder_marker_pose: + angle_rotation_error: 3.1319195562666797 + euclidean_error: 0.9846856132107643 + wrist_inside_marker_pose: + angle_rotation_error: 2.9819246130374477 + euclidean_error: 0.9816617991305677 + wrist_top_marker_pose: + angle_rotation_error: 2.9867639882973793 + euclidean_error: 0.9792554349007553 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0621123433192827 + euclidean_error: 0.970932775622514 + base_right_marker_pose: + angle_rotation_error: 3.137839625435492 + euclidean_error: 0.973346986044316 + shoulder_marker_pose: + angle_rotation_error: 3.0986226566282764 + euclidean_error: 0.9846620883308582 + wrist_inside_marker_pose: + angle_rotation_error: 2.904122252203125 + euclidean_error: 0.9825289880821244 + wrist_top_marker_pose: + angle_rotation_error: 2.8051727698296927 + euclidean_error: 0.9794165417431966 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0685388871851287 + euclidean_error: 0.9711945561801586 + base_right_marker_pose: + angle_rotation_error: 3.1261912041535673 + euclidean_error: 0.973313307609058 + shoulder_marker_pose: + angle_rotation_error: 3.1174607419066858 + euclidean_error: 0.9841907633693933 + wrist_inside_marker_pose: + angle_rotation_error: 3.112871729953587 + euclidean_error: 0.9811212404221715 + wrist_top_marker_pose: + angle_rotation_error: 2.9644006800746676 + euclidean_error: 0.9779479726548611 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.093581786962398 + euclidean_error: 0.9711512455947254 + base_right_marker_pose: + angle_rotation_error: 3.134821623108219 + euclidean_error: 0.9731671647944388 + shoulder_marker_pose: + angle_rotation_error: 3.0495838792613803 + euclidean_error: 0.9837385340458443 + wrist_inside_marker_pose: + angle_rotation_error: 3.1211454573023136 + euclidean_error: 0.98021252258524 + wrist_top_marker_pose: + angle_rotation_error: 3.0341312110907106 + euclidean_error: 0.9776021582375761 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1071905809698395 + euclidean_error: 0.9704832352858013 + base_right_marker_pose: + angle_rotation_error: 3.09387130072379 + euclidean_error: 0.9731655841714935 + shoulder_marker_pose: + angle_rotation_error: 3.0299742926924234 + euclidean_error: 0.9854877060067948 + wrist_inside_marker_pose: + angle_rotation_error: 2.9947956234341784 + euclidean_error: 0.9808423545052019 + wrist_top_marker_pose: + angle_rotation_error: 2.9460839067209608 + euclidean_error: 0.9789477846552253 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.087855238028831 + euclidean_error: 0.9711600618313451 + base_right_marker_pose: + angle_rotation_error: 3.1256317468067323 + euclidean_error: 0.9732459976980588 + shoulder_marker_pose: + angle_rotation_error: 3.0505881249967204 + euclidean_error: 0.985852273290313 + wrist_inside_marker_pose: + angle_rotation_error: 3.0187184100232467 + euclidean_error: 0.9791845878998539 + wrist_top_marker_pose: + angle_rotation_error: 2.9358239588974193 + euclidean_error: 0.9778153664224091 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0941359180840307 + euclidean_error: 0.9708082896203669 + base_right_marker_pose: + angle_rotation_error: 3.133570384395901 + euclidean_error: 0.973197269310014 + shoulder_marker_pose: + angle_rotation_error: 3.091184155124406 + euclidean_error: 0.9846042182370647 + wrist_inside_marker_pose: + angle_rotation_error: 2.8821406989389136 + euclidean_error: 0.980333772973065 + wrist_top_marker_pose: + angle_rotation_error: 3.015773220716968 + euclidean_error: 0.9782888699755561 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1171684734654503 + euclidean_error: 0.9713437424270204 + base_right_marker_pose: + angle_rotation_error: 3.1391881109652906 + euclidean_error: 0.9730666383666466 + shoulder_marker_pose: + angle_rotation_error: 3.1376224505384736 + euclidean_error: 0.9848135931970576 + wrist_inside_marker_pose: + angle_rotation_error: 2.926820677143887 + euclidean_error: 0.9815335992874995 + wrist_top_marker_pose: + angle_rotation_error: 3.0034992634064617 + euclidean_error: 0.9767366888567708 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085289002989193 + euclidean_error: 0.971390716040198 + base_right_marker_pose: + angle_rotation_error: 3.129916153866337 + euclidean_error: 0.973179116459609 + shoulder_marker_pose: + angle_rotation_error: 3.0599584621687272 + euclidean_error: 0.9835673418888703 + wrist_inside_marker_pose: + angle_rotation_error: 3.0591464365239363 + euclidean_error: 0.9810125198231503 + wrist_top_marker_pose: + angle_rotation_error: 3.033057713472872 + euclidean_error: 0.9772329013785847 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0781206462966897 + euclidean_error: 0.9715504087774185 + base_right_marker_pose: + angle_rotation_error: 3.138985609537986 + euclidean_error: 0.9732262389371683 + shoulder_marker_pose: + angle_rotation_error: 3.1081689848149043 + euclidean_error: 0.9849529613069109 + wrist_inside_marker_pose: + angle_rotation_error: 2.949420179704162 + euclidean_error: 0.9820160936222555 + wrist_top_marker_pose: + angle_rotation_error: 3.1025192721634802 + euclidean_error: 0.9772348674763947 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1139932136737145 + euclidean_error: 0.9710925530017144 + base_right_marker_pose: + angle_rotation_error: 3.133357623645185 + euclidean_error: 0.9730850971418521 + shoulder_marker_pose: + angle_rotation_error: 3.1123987703179354 + euclidean_error: 0.9847584190835311 + wrist_inside_marker_pose: + angle_rotation_error: 2.8856950851369274 + euclidean_error: 0.981121877800483 + wrist_top_marker_pose: + angle_rotation_error: 2.9763486341291157 + euclidean_error: 0.9782180710360313 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083947324796643 + euclidean_error: 0.9709633947675856 + base_right_marker_pose: + angle_rotation_error: 3.117432162400711 + euclidean_error: 0.9728514357891446 + shoulder_marker_pose: + angle_rotation_error: 3.0924989737791604 + euclidean_error: 0.9847025487879892 + wrist_inside_marker_pose: + angle_rotation_error: 3.0237085463928914 + euclidean_error: 0.9814613992444832 + wrist_top_marker_pose: + angle_rotation_error: 2.979922264524205 + euclidean_error: 0.9778375034928656 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.131758895303046 + euclidean_error: 0.9731057255679505 + shoulder_marker_pose: + angle_rotation_error: 3.1270300171874266 + euclidean_error: 0.9848012874563926 + wrist_inside_marker_pose: + angle_rotation_error: 3.029686038842868 + euclidean_error: 0.9795170842579317 + wrist_top_marker_pose: + angle_rotation_error: 3.0480004602595776 + euclidean_error: 0.9766960329411668 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1289343381390284 + euclidean_error: 0.9730097657921355 + shoulder_marker_pose: + angle_rotation_error: 3.1094957723257712 + euclidean_error: 0.9843556378130636 + wrist_inside_marker_pose: + angle_rotation_error: 2.9579320100136814 + euclidean_error: 0.9809358463693816 + wrist_top_marker_pose: + angle_rotation_error: 3.0102549686291944 + euclidean_error: 0.9775005233071921 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1119497054965586 + euclidean_error: 0.9706208797785724 + base_right_marker_pose: + angle_rotation_error: 3.136795309029502 + euclidean_error: 0.9732325666279924 + shoulder_marker_pose: + angle_rotation_error: 3.095321435058605 + euclidean_error: 0.9852722331225955 + wrist_inside_marker_pose: + angle_rotation_error: 3.0012428254909063 + euclidean_error: 0.9801161591782495 + wrist_top_marker_pose: + angle_rotation_error: 2.8832123132505942 + euclidean_error: 0.9791178083941696 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.106409528450252 + euclidean_error: 0.9732967827906228 + shoulder_marker_pose: + angle_rotation_error: 3.0977561255617863 + euclidean_error: 0.9846599679333577 + wrist_inside_marker_pose: + angle_rotation_error: 2.929092889551032 + euclidean_error: 0.9825711861489661 + wrist_top_marker_pose: + angle_rotation_error: 2.9677941282923164 + euclidean_error: 0.9768557334345234 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0736981202182996 + euclidean_error: 0.9711566942670157 + base_right_marker_pose: + angle_rotation_error: 3.1366217315855134 + euclidean_error: 0.9732336346592941 + shoulder_marker_pose: + angle_rotation_error: 3.048612488408949 + euclidean_error: 0.9854059095823852 + wrist_inside_marker_pose: + angle_rotation_error: 3.0213630034892964 + euclidean_error: 0.9803893090155841 + wrist_top_marker_pose: + angle_rotation_error: 2.8851991715840795 + euclidean_error: 0.9798957833506303 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0830639661259465 + euclidean_error: 0.9711310318742573 + base_right_marker_pose: + angle_rotation_error: 3.1197971032765537 + euclidean_error: 0.9729546485438885 + shoulder_marker_pose: + angle_rotation_error: 3.1262448382311083 + euclidean_error: 0.984208005012547 + wrist_inside_marker_pose: + angle_rotation_error: 2.9859347189276626 + euclidean_error: 0.980273665138639 + wrist_top_marker_pose: + angle_rotation_error: 2.952067659384855 + euclidean_error: 0.9775729159584555 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0896089219059584 + euclidean_error: 0.9711614878076749 + base_right_marker_pose: + angle_rotation_error: 3.1216212516531425 + euclidean_error: 0.973228064809989 + shoulder_marker_pose: + angle_rotation_error: 3.085480038000043 + euclidean_error: 0.984604441466691 + wrist_inside_marker_pose: + angle_rotation_error: 2.958818973751603 + euclidean_error: 0.9807959183644422 + wrist_top_marker_pose: + angle_rotation_error: 2.856465960253873 + euclidean_error: 0.9787995692787745 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0624773450022915 + euclidean_error: 0.9714999554223307 + base_right_marker_pose: + angle_rotation_error: 3.1342301890253923 + euclidean_error: 0.9729124999177382 + shoulder_marker_pose: + angle_rotation_error: 3.105696725211462 + euclidean_error: 0.9845075625958087 + wrist_inside_marker_pose: + angle_rotation_error: 3.034631218017702 + euclidean_error: 0.9795751086784432 + wrist_top_marker_pose: + angle_rotation_error: 2.9778072476553312 + euclidean_error: 0.9789738351533345 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.079954284425964 + euclidean_error: 0.9714551043104133 + base_right_marker_pose: + angle_rotation_error: 3.1324653825931463 + euclidean_error: 0.9732759830486291 + shoulder_marker_pose: + angle_rotation_error: 3.0972065055861564 + euclidean_error: 0.9850343865391383 + wrist_inside_marker_pose: + angle_rotation_error: 2.9886823198833152 + euclidean_error: 0.981945819198948 + wrist_top_marker_pose: + angle_rotation_error: 3.000558673941398 + euclidean_error: 0.9781304348999087 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0796593099520098 + euclidean_error: 0.9709464911555263 + base_right_marker_pose: + angle_rotation_error: 3.1312091387922547 + euclidean_error: 0.9733298702742265 + shoulder_marker_pose: + angle_rotation_error: 3.075703155846019 + euclidean_error: 0.9841446959086069 + wrist_inside_marker_pose: + angle_rotation_error: 2.858498059281136 + euclidean_error: 0.9821826405727794 + wrist_top_marker_pose: + angle_rotation_error: 2.8088560140045846 + euclidean_error: 0.9801372371815962 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114978539076075 + euclidean_error: 0.9708644132514535 + base_right_marker_pose: + angle_rotation_error: 3.1020979510044344 + euclidean_error: 0.9732825965267332 + shoulder_marker_pose: + angle_rotation_error: 3.0997161427942936 + euclidean_error: 0.9850510266372146 + wrist_inside_marker_pose: + angle_rotation_error: 3.012402890539467 + euclidean_error: 0.9808310417913333 + wrist_top_marker_pose: + angle_rotation_error: 2.972627732661247 + euclidean_error: 0.9780447326718069 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0910050776028095 + euclidean_error: 0.9710689464096269 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.067846135908227 + euclidean_error: 0.984729641946968 + wrist_inside_marker_pose: + angle_rotation_error: 3.0128186713127194 + euclidean_error: 0.9813915279797378 + wrist_top_marker_pose: + angle_rotation_error: 2.9101193215499186 + euclidean_error: 0.9782419613927983 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0947060572146325 + euclidean_error: 0.971086553464473 + base_right_marker_pose: + angle_rotation_error: 3.1349083858863307 + euclidean_error: 0.9730407606810623 + shoulder_marker_pose: + angle_rotation_error: 3.086807332689889 + euclidean_error: 0.9853579578719736 + wrist_inside_marker_pose: + angle_rotation_error: 2.9723964408229113 + euclidean_error: 0.9811049538821771 + wrist_top_marker_pose: + angle_rotation_error: 2.959685577832756 + euclidean_error: 0.9772649025284679 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0958680585814515 + euclidean_error: 0.9712391755042186 + base_right_marker_pose: + angle_rotation_error: 3.1321654128492415 + euclidean_error: 0.9732761670878551 + shoulder_marker_pose: + angle_rotation_error: 3.0798307462252703 + euclidean_error: 0.9846386744114611 + wrist_inside_marker_pose: + angle_rotation_error: 2.9423679965511456 + euclidean_error: 0.9810649135721741 + wrist_top_marker_pose: + angle_rotation_error: 2.831005162410551 + euclidean_error: 0.9787384044166747 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0673888573256036 + euclidean_error: 0.9715977430406043 + base_right_marker_pose: + angle_rotation_error: 3.1181637526496564 + euclidean_error: 0.9733920893863502 + shoulder_marker_pose: + angle_rotation_error: 3.1208053640375053 + euclidean_error: 0.9842807342829557 + wrist_inside_marker_pose: + angle_rotation_error: 3.1070385347925282 + euclidean_error: 0.9807277640787149 + wrist_top_marker_pose: + angle_rotation_error: 3.1403053151858087 + euclidean_error: 0.9777868189779165 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0657740448424935 + euclidean_error: 0.9717689355390738 + base_right_marker_pose: + angle_rotation_error: 3.141360540055279 + euclidean_error: 0.9732024197314177 + shoulder_marker_pose: + angle_rotation_error: 3.0935589848056972 + euclidean_error: 0.9848470879355625 + wrist_inside_marker_pose: + angle_rotation_error: 3.0839479145880957 + euclidean_error: 0.980486844224341 + wrist_top_marker_pose: + angle_rotation_error: 2.984194766213228 + euclidean_error: 0.9787932821864548 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092522730060218 + euclidean_error: 0.9714012521540624 + base_right_marker_pose: + angle_rotation_error: 3.0975763782865124 + euclidean_error: 0.9733862910154143 + shoulder_marker_pose: + angle_rotation_error: 3.0491445966006245 + euclidean_error: 0.9851173434476025 + wrist_inside_marker_pose: + angle_rotation_error: 3.017072957886443 + euclidean_error: 0.9806770129296718 + wrist_top_marker_pose: + angle_rotation_error: 2.8864024627835776 + euclidean_error: 0.9794067973439384 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110401128760703 + euclidean_error: 0.9711746844122766 + base_right_marker_pose: + angle_rotation_error: 3.1168672242844138 + euclidean_error: 0.9733072800353421 + shoulder_marker_pose: + angle_rotation_error: 3.064178397421117 + euclidean_error: 0.9852442633529159 + wrist_inside_marker_pose: + angle_rotation_error: 2.8321911900839956 + euclidean_error: 0.9812215459114685 + wrist_top_marker_pose: + angle_rotation_error: 2.8888126958747176 + euclidean_error: 0.9781071906110863 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0827043992136 + euclidean_error: 0.9711953674711074 + base_right_marker_pose: + angle_rotation_error: 3.118704448945017 + euclidean_error: 0.9731507242467073 + shoulder_marker_pose: + angle_rotation_error: 3.1250502570217127 + euclidean_error: 0.9846408778724521 + wrist_inside_marker_pose: + angle_rotation_error: 2.9871864728619855 + euclidean_error: 0.9813074784788532 + wrist_top_marker_pose: + angle_rotation_error: 2.9783547108728663 + euclidean_error: 0.9775459357782428 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1256543470450535 + euclidean_error: 0.9735061261625314 + shoulder_marker_pose: + angle_rotation_error: 3.0596811904777783 + euclidean_error: 0.9842217606940248 + wrist_inside_marker_pose: + angle_rotation_error: 3.0583402014540284 + euclidean_error: 0.9807102975409109 + wrist_top_marker_pose: + angle_rotation_error: 2.987922634330473 + euclidean_error: 0.9794129392788876 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.062987720363041 + euclidean_error: 0.9707712712578713 + base_right_marker_pose: + angle_rotation_error: 3.1355580312215365 + euclidean_error: 0.9729016556611707 + shoulder_marker_pose: + angle_rotation_error: 3.1162345571660035 + euclidean_error: 0.9842021550525072 + wrist_inside_marker_pose: + angle_rotation_error: 2.9625014628182864 + euclidean_error: 0.9810618186080929 + wrist_top_marker_pose: + angle_rotation_error: 2.845033686774661 + euclidean_error: 0.9786193442683849 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092409221554476 + euclidean_error: 0.9706597320730966 + base_right_marker_pose: + angle_rotation_error: 3.140839963193301 + euclidean_error: 0.9728459114999007 + shoulder_marker_pose: + angle_rotation_error: 3.0692367874578714 + euclidean_error: 0.9843773212733582 + wrist_inside_marker_pose: + angle_rotation_error: 3.1159267911797075 + euclidean_error: 0.9795296392389331 + wrist_top_marker_pose: + angle_rotation_error: 2.9784844077802815 + euclidean_error: 0.977746654322098 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1117401369183075 + euclidean_error: 0.9706498805022681 + base_right_marker_pose: + angle_rotation_error: 3.1348251751864895 + euclidean_error: 0.9729863839642914 + shoulder_marker_pose: + angle_rotation_error: 3.139860757050162 + euclidean_error: 0.984366782039421 + wrist_inside_marker_pose: + angle_rotation_error: 2.969439384830494 + euclidean_error: 0.9810334931833381 + wrist_top_marker_pose: + angle_rotation_error: 2.8176874038048 + euclidean_error: 0.9797314310857376 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1383462792345673 + euclidean_error: 0.9733065387562045 + shoulder_marker_pose: + angle_rotation_error: 3.135233504891423 + euclidean_error: 0.9843607736680037 + wrist_inside_marker_pose: + angle_rotation_error: 2.9841217995852216 + euclidean_error: 0.9806416274365309 + wrist_top_marker_pose: + angle_rotation_error: 2.8806712836290047 + euclidean_error: 0.9779059259517648 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.052167714334676 + euclidean_error: 0.9722429142905765 + base_right_marker_pose: + angle_rotation_error: 3.138779427298809 + euclidean_error: 0.9733384348874764 + shoulder_marker_pose: + angle_rotation_error: 3.1298294084792473 + euclidean_error: 0.9848800853128628 + wrist_inside_marker_pose: + angle_rotation_error: 3.08455800272038 + euclidean_error: 0.9822733395952011 + wrist_top_marker_pose: + angle_rotation_error: 2.8786785509609913 + euclidean_error: 0.980932140312189 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0544627166130205 + euclidean_error: 0.9719646391126777 + base_right_marker_pose: + angle_rotation_error: 3.1229076455645695 + euclidean_error: 0.9732727629130928 + shoulder_marker_pose: + angle_rotation_error: 3.1228612659404735 + euclidean_error: 0.9845255471224534 + wrist_inside_marker_pose: + angle_rotation_error: 2.93383125925652 + euclidean_error: 0.9809668466674369 + wrist_top_marker_pose: + angle_rotation_error: 2.864521069757909 + euclidean_error: 0.9786043339192944 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0226144087730438 + euclidean_error: 0.9720351298063534 + base_right_marker_pose: + angle_rotation_error: 3.122815883971243 + euclidean_error: 0.9730862077377218 + shoulder_marker_pose: + angle_rotation_error: 3.1016211843422012 + euclidean_error: 0.9846707619605317 + wrist_inside_marker_pose: + angle_rotation_error: 3.133116526635233 + euclidean_error: 0.9797252483248458 + wrist_top_marker_pose: + angle_rotation_error: 2.9663470801293594 + euclidean_error: 0.9787930133496836 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1040872671819937 + euclidean_error: 0.9708096544349504 + base_right_marker_pose: + angle_rotation_error: 3.078151734322313 + euclidean_error: 0.9734060156581977 + shoulder_marker_pose: + angle_rotation_error: 3.063616843810409 + euclidean_error: 0.9852210865349299 + wrist_inside_marker_pose: + angle_rotation_error: 2.9917889633016816 + euclidean_error: 0.9805201113957278 + wrist_top_marker_pose: + angle_rotation_error: 2.9523513053212667 + euclidean_error: 0.9773807193746782 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.119288511046826 + euclidean_error: 0.9732898679264476 + shoulder_marker_pose: + angle_rotation_error: 3.137910894946447 + euclidean_error: 0.9848117941342358 + wrist_inside_marker_pose: + angle_rotation_error: 2.8288784877181605 + euclidean_error: 0.9825032334253734 + wrist_top_marker_pose: + angle_rotation_error: 2.8124511228451894 + euclidean_error: 0.9796601388973578 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0868729310240406 + euclidean_error: 0.971274503978304 + base_right_marker_pose: + angle_rotation_error: 3.1396950661959675 + euclidean_error: 0.9729945865253983 + shoulder_marker_pose: + angle_rotation_error: 3.0521686432623487 + euclidean_error: 0.9853588614381517 + wrist_inside_marker_pose: + angle_rotation_error: 2.938151330772521 + euclidean_error: 0.9820696299555796 + wrist_top_marker_pose: + angle_rotation_error: 2.911663344495354 + euclidean_error: 0.9788929771643371 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0602020426704195 + euclidean_error: 0.9717375766451409 + base_right_marker_pose: + angle_rotation_error: 3.0960927451976596 + euclidean_error: 0.9735295028807028 + shoulder_marker_pose: + angle_rotation_error: 3.1152534463986075 + euclidean_error: 0.984635846112664 + wrist_inside_marker_pose: + angle_rotation_error: 3.089867865772527 + euclidean_error: 0.9807877457228477 + wrist_top_marker_pose: + angle_rotation_error: 3.0629191781384884 + euclidean_error: 0.9787192087328584 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1409953672439523 + euclidean_error: 0.9732428997206608 + shoulder_marker_pose: + angle_rotation_error: 3.065021330173209 + euclidean_error: 0.9846414227846818 + wrist_inside_marker_pose: + angle_rotation_error: 3.037853146506275 + euclidean_error: 0.9804640143914232 + wrist_top_marker_pose: + angle_rotation_error: 2.934196946595137 + euclidean_error: 0.9781039140809807 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0626940566440632 + euclidean_error: 0.971456664330172 + base_right_marker_pose: + angle_rotation_error: 3.124325205016686 + euclidean_error: 0.9733164927892157 + shoulder_marker_pose: + angle_rotation_error: 3.084927977816429 + euclidean_error: 0.9843984718358892 + wrist_inside_marker_pose: + angle_rotation_error: 3.0659305985090084 + euclidean_error: 0.9806010176741454 + wrist_top_marker_pose: + angle_rotation_error: 3.033858625388797 + euclidean_error: 0.9765485002369005 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0998085480191087 + euclidean_error: 0.9711896728859793 + base_right_marker_pose: + angle_rotation_error: 3.1328209795176383 + euclidean_error: 0.9731435493794565 + shoulder_marker_pose: + angle_rotation_error: 3.0546981358587897 + euclidean_error: 0.9847732421849025 + wrist_inside_marker_pose: + angle_rotation_error: 3.121240333123546 + euclidean_error: 0.9799277912971919 + wrist_top_marker_pose: + angle_rotation_error: 2.94475038903203 + euclidean_error: 0.9778236014744814 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114646339253578 + euclidean_error: 0.9710782997189946 + base_right_marker_pose: + angle_rotation_error: 3.1408672134562883 + euclidean_error: 0.97322430397304 + shoulder_marker_pose: + angle_rotation_error: 3.065780412928893 + euclidean_error: 0.9848143885768593 + wrist_inside_marker_pose: + angle_rotation_error: 2.9687973582939886 + euclidean_error: 0.9802672368849052 + wrist_top_marker_pose: + angle_rotation_error: 2.8941179445156653 + euclidean_error: 0.978406413192698 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.060476077596145 + euclidean_error: 0.971782324770235 + base_right_marker_pose: + angle_rotation_error: 3.0921898560371113 + euclidean_error: 0.9734853557270707 + shoulder_marker_pose: + angle_rotation_error: 3.076957551026788 + euclidean_error: 0.9846805315587625 + wrist_inside_marker_pose: + angle_rotation_error: 3.1172283942426486 + euclidean_error: 0.9812408723079574 + wrist_top_marker_pose: + angle_rotation_error: 2.8907956587324213 + euclidean_error: 0.9804596620130369 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.093985440531136 + euclidean_error: 0.9736067248702224 + shoulder_marker_pose: + angle_rotation_error: 3.051201538137393 + euclidean_error: 0.9842548164047241 + wrist_inside_marker_pose: + angle_rotation_error: 3.0084185985557497 + euclidean_error: 0.9815833767062356 + wrist_top_marker_pose: + angle_rotation_error: 2.9833974652738373 + euclidean_error: 0.9792199436161493 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.051356275535233 + euclidean_error: 0.9719002050068022 + base_right_marker_pose: + angle_rotation_error: 3.137267413206415 + euclidean_error: 0.9731922480824313 + shoulder_marker_pose: + angle_rotation_error: 3.1133964283247333 + euclidean_error: 0.984844975549716 + wrist_inside_marker_pose: + angle_rotation_error: 3.1266839818210013 + euclidean_error: 0.980240569544105 + wrist_top_marker_pose: + angle_rotation_error: 3.1401423333523106 + euclidean_error: 0.9776440013709824 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.075582221246576 + euclidean_error: 0.9714435086391536 + base_right_marker_pose: + angle_rotation_error: 3.138951031726847 + euclidean_error: 0.9729580294595677 + shoulder_marker_pose: + angle_rotation_error: 3.04456484035375 + euclidean_error: 0.9848157820396723 + wrist_inside_marker_pose: + angle_rotation_error: 3.130262425876508 + euclidean_error: 0.9797248455327299 + wrist_top_marker_pose: + angle_rotation_error: 2.871840774885885 + euclidean_error: 0.9783340660645535 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085760328178883 + euclidean_error: 0.9714246135439039 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.044825060663739 + euclidean_error: 0.9853673889100303 + wrist_inside_marker_pose: + angle_rotation_error: 3.0282091834162133 + euclidean_error: 0.9796140803559624 + wrist_top_marker_pose: + angle_rotation_error: 2.8778298085974297 + euclidean_error: 0.9794335452678822 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0812057657100405 + euclidean_error: 0.9711550319892184 + base_right_marker_pose: + angle_rotation_error: 3.1330742207097964 + euclidean_error: 0.9734183934936884 + shoulder_marker_pose: + angle_rotation_error: 3.121050506697238 + euclidean_error: 0.9841563867900008 + wrist_inside_marker_pose: + angle_rotation_error: 2.995102973603478 + euclidean_error: 0.980755321715578 + wrist_top_marker_pose: + angle_rotation_error: 2.9813470270632645 + euclidean_error: 0.9771722133195491 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.0914285689336696 + euclidean_error: 0.9731100268006898 + shoulder_marker_pose: + angle_rotation_error: 3.0200764280388226 + euclidean_error: 0.9850582104503401 + wrist_inside_marker_pose: + angle_rotation_error: 2.9068179207720566 + euclidean_error: 0.9809587629065737 + wrist_top_marker_pose: + angle_rotation_error: 2.915387994760155 + euclidean_error: 0.977661340660139 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0797974948567175 + euclidean_error: 0.9712322579003243 + base_right_marker_pose: + angle_rotation_error: 3.1125869613845514 + euclidean_error: 0.9733601153354032 + shoulder_marker_pose: + angle_rotation_error: 3.108692972805421 + euclidean_error: 0.9845208761072695 + wrist_inside_marker_pose: + angle_rotation_error: 3.0068468124878303 + euclidean_error: 0.9809444641502414 + wrist_top_marker_pose: + angle_rotation_error: 2.8809892865034916 + euclidean_error: 0.9787420745190741 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.069038506578577 + euclidean_error: 0.9714076847876724 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.106239244264654 + euclidean_error: 0.9847574300025976 + wrist_inside_marker_pose: + angle_rotation_error: 3.130445267868421 + euclidean_error: 0.9798350613309728 + wrist_top_marker_pose: + angle_rotation_error: 3.102948357930057 + euclidean_error: 0.9776492484290137 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.101773279299186 + euclidean_error: 0.9714342121621854 + base_right_marker_pose: + angle_rotation_error: 3.1368168496261224 + euclidean_error: 0.9732406853988081 + shoulder_marker_pose: + angle_rotation_error: 3.1378823579545885 + euclidean_error: 0.9843703813484451 + wrist_inside_marker_pose: + angle_rotation_error: 2.964605821054299 + euclidean_error: 0.9816815997498123 + wrist_top_marker_pose: + angle_rotation_error: 2.9245620382699697 + euclidean_error: 0.9775875782202791 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.095698826695209 + euclidean_error: 0.9711758450184558 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0536338553686457 + euclidean_error: 0.9849953617082134 + wrist_inside_marker_pose: + angle_rotation_error: 2.971356911686483 + euclidean_error: 0.9803847953829833 + wrist_top_marker_pose: + angle_rotation_error: 2.8425205796541553 + euclidean_error: 0.9793230122812469 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0533646620474464 + euclidean_error: 0.9718591694755184 + base_right_marker_pose: + angle_rotation_error: 3.1006122221798447 + euclidean_error: 0.9732534448825486 + shoulder_marker_pose: + angle_rotation_error: 3.0411638964623253 + euclidean_error: 0.9846684540269892 + wrist_inside_marker_pose: + angle_rotation_error: 3.054303441784747 + euclidean_error: 0.9820024953136669 + wrist_top_marker_pose: + angle_rotation_error: 3.0247301074265254 + euclidean_error: 0.9792268823210523 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0856183030989555 + euclidean_error: 0.9711122878252035 + base_right_marker_pose: + angle_rotation_error: 3.1094489445850146 + euclidean_error: 0.9733538819057753 + shoulder_marker_pose: + angle_rotation_error: 3.0909539711778247 + euclidean_error: 0.984785178477832 + wrist_inside_marker_pose: + angle_rotation_error: 3.05851388263574 + euclidean_error: 0.9810863064720085 + wrist_top_marker_pose: + angle_rotation_error: 2.9727935970379344 + euclidean_error: 0.9789324085031031 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0684528454236966 + euclidean_error: 0.9713594528599465 + base_right_marker_pose: + angle_rotation_error: 3.1381868205365193 + euclidean_error: 0.9731078995370208 + shoulder_marker_pose: + angle_rotation_error: 3.066578673578298 + euclidean_error: 0.9841627718107661 + wrist_inside_marker_pose: + angle_rotation_error: 3.054263454050615 + euclidean_error: 0.979938587044822 + wrist_top_marker_pose: + angle_rotation_error: 2.8784016163979116 + euclidean_error: 0.9795722914261182 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.0608233001531153 + euclidean_error: 0.9734919931436441 + shoulder_marker_pose: + angle_rotation_error: 3.0440460519687718 + euclidean_error: 0.9852330936731012 + wrist_inside_marker_pose: + angle_rotation_error: 2.962965562028013 + euclidean_error: 0.98224697037756 + wrist_top_marker_pose: + angle_rotation_error: 2.901393967027113 + euclidean_error: 0.9788000342955515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0826923426172503 + euclidean_error: 0.9715723866362422 + base_right_marker_pose: + angle_rotation_error: 3.108868907749609 + euclidean_error: 0.9732062424190258 + shoulder_marker_pose: + angle_rotation_error: 3.0517742053374817 + euclidean_error: 0.9849632524685251 + wrist_inside_marker_pose: + angle_rotation_error: 2.9885485721221063 + euclidean_error: 0.981184755431918 + wrist_top_marker_pose: + angle_rotation_error: 2.857841974809674 + euclidean_error: 0.978409295722073 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1194934816675084 + euclidean_error: 0.9711007862312963 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.073443150610877 + euclidean_error: 0.9848662449455448 + wrist_inside_marker_pose: + angle_rotation_error: 3.0742537604313216 + euclidean_error: 0.980033323548698 + wrist_top_marker_pose: + angle_rotation_error: 2.9262013328801286 + euclidean_error: 0.9782964978426102 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1019731202627225 + euclidean_error: 0.9712418184017096 + base_right_marker_pose: + angle_rotation_error: 3.105936712482957 + euclidean_error: 0.9732442432183469 + shoulder_marker_pose: + angle_rotation_error: 3.098924160948811 + euclidean_error: 0.9842892854438495 + wrist_inside_marker_pose: + angle_rotation_error: 3.0167106177769227 + euclidean_error: 0.9807500957608315 + wrist_top_marker_pose: + angle_rotation_error: 2.9012532005801095 + euclidean_error: 0.9779132704127543 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.042987457535751 + euclidean_error: 0.971809877340758 + base_right_marker_pose: + angle_rotation_error: 3.105411804267121 + euclidean_error: 0.9732080385943707 + shoulder_marker_pose: + angle_rotation_error: 3.095867546859315 + euclidean_error: 0.9844162068226169 + wrist_inside_marker_pose: + angle_rotation_error: 2.9680895646986047 + euclidean_error: 0.9810637416926253 + wrist_top_marker_pose: + angle_rotation_error: 2.802527756700544 + euclidean_error: 0.9800050163458398 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.084145195659733 + euclidean_error: 0.9735939475294536 + shoulder_marker_pose: + angle_rotation_error: 3.119891341140821 + euclidean_error: 0.9844196044029031 + wrist_inside_marker_pose: + angle_rotation_error: 3.1140759398297124 + euclidean_error: 0.9796670532458785 + wrist_top_marker_pose: + angle_rotation_error: 2.928589173494302 + euclidean_error: 0.9792339617616548 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.102910388787334 + euclidean_error: 0.9711245821883255 + base_right_marker_pose: + angle_rotation_error: 3.1182316468440647 + euclidean_error: 0.9732967152994736 + shoulder_marker_pose: + angle_rotation_error: 3.1277356181018847 + euclidean_error: 0.9844054446464449 + wrist_inside_marker_pose: + angle_rotation_error: 3.1139981587167602 + euclidean_error: 0.979345268558544 + wrist_top_marker_pose: + angle_rotation_error: 3.0476178972419916 + euclidean_error: 0.977808917093371 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0773027669231903 + euclidean_error: 0.9712747254390551 + base_right_marker_pose: + angle_rotation_error: 3.1350198707921852 + euclidean_error: 0.9731077683576109 + shoulder_marker_pose: + angle_rotation_error: 3.0130524223291935 + euclidean_error: 0.9848391314028774 + wrist_inside_marker_pose: + angle_rotation_error: 3.0178074712742826 + euclidean_error: 0.9807049576230734 + wrist_top_marker_pose: + angle_rotation_error: 2.87892780702357 + euclidean_error: 0.9791261929021391 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063601542803475 + euclidean_error: 0.9711414927285581 + base_right_marker_pose: + angle_rotation_error: 3.114695286391959 + euclidean_error: 0.9732495145771475 + shoulder_marker_pose: + angle_rotation_error: 3.0230571660068164 + euclidean_error: 0.9853741260912199 + wrist_inside_marker_pose: + angle_rotation_error: 3.128755901549874 + euclidean_error: 0.9797495731446636 + wrist_top_marker_pose: + angle_rotation_error: 2.8948371478543056 + euclidean_error: 0.9791818541412189 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107909743222522 + euclidean_error: 0.971095661712662 + base_right_marker_pose: + angle_rotation_error: 3.1039525414962745 + euclidean_error: 0.9730259721003512 + shoulder_marker_pose: + angle_rotation_error: 3.0198144509387985 + euclidean_error: 0.9852228503960884 + wrist_inside_marker_pose: + angle_rotation_error: 2.878556956014731 + euclidean_error: 0.9815195719861235 + wrist_top_marker_pose: + angle_rotation_error: 2.860105493868588 + euclidean_error: 0.9789068062025552 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0889914961607507 + euclidean_error: 0.9712415162450807 + base_right_marker_pose: + angle_rotation_error: 3.09605572344646 + euclidean_error: 0.973535197380046 + shoulder_marker_pose: + angle_rotation_error: 3.0423513077595774 + euclidean_error: 0.9850477149363168 + wrist_inside_marker_pose: + angle_rotation_error: 3.002944181611215 + euclidean_error: 0.9807467792328421 + wrist_top_marker_pose: + angle_rotation_error: 2.866469573570624 + euclidean_error: 0.9785136792685654 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.081542463832665 + euclidean_error: 0.9712986201288316 + base_right_marker_pose: + angle_rotation_error: 3.11681395595942 + euclidean_error: 0.973050473657553 + shoulder_marker_pose: + angle_rotation_error: 3.0534569643238867 + euclidean_error: 0.9850299585929603 + wrist_inside_marker_pose: + angle_rotation_error: 3.0008029169060007 + euclidean_error: 0.9819769867996717 + wrist_top_marker_pose: + angle_rotation_error: 2.892260414785268 + euclidean_error: 0.9793625120996821 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.082282108891681 + euclidean_error: 0.9715543595267204 + base_right_marker_pose: + angle_rotation_error: 3.08211300393239 + euclidean_error: 0.9731427714267645 + shoulder_marker_pose: + angle_rotation_error: 3.1027508004898685 + euclidean_error: 0.9845926998353399 + wrist_inside_marker_pose: + angle_rotation_error: 3.051031090589282 + euclidean_error: 0.9798451128661266 + wrist_top_marker_pose: + angle_rotation_error: 2.9650070071634875 + euclidean_error: 0.9773633963549192 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1031321427840415 + euclidean_error: 0.9713960087551538 + base_right_marker_pose: + angle_rotation_error: 3.135762244838859 + euclidean_error: 0.973119703992443 + shoulder_marker_pose: + angle_rotation_error: 3.118205156568948 + euclidean_error: 0.9843359760095153 + wrist_inside_marker_pose: + angle_rotation_error: 2.9500540097526855 + euclidean_error: 0.9807997634883595 + wrist_top_marker_pose: + angle_rotation_error: 2.8185300292262188 + euclidean_error: 0.9794138997620523 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0764637684353993 + euclidean_error: 0.9715361295445766 + base_right_marker_pose: + angle_rotation_error: 3.1123093080559348 + euclidean_error: 0.9731324449889897 + shoulder_marker_pose: + angle_rotation_error: 3.098419706520894 + euclidean_error: 0.9844892962272543 + wrist_inside_marker_pose: + angle_rotation_error: 3.0198662768746765 + euclidean_error: 0.979292499971335 + wrist_top_marker_pose: + angle_rotation_error: 2.8703723328378126 + euclidean_error: 0.9778163611079423 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.054960482400306 + euclidean_error: 0.9715037503989775 + base_right_marker_pose: + angle_rotation_error: 3.127949383393724 + euclidean_error: 0.9732787076203074 + shoulder_marker_pose: + angle_rotation_error: 3.01370414467934 + euclidean_error: 0.9849937563405458 + wrist_inside_marker_pose: + angle_rotation_error: 2.941381182289334 + euclidean_error: 0.9806403379780676 + wrist_top_marker_pose: + angle_rotation_error: 2.8655814573305234 + euclidean_error: 0.9782380500377681 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.0897373907674033 + euclidean_error: 0.9734725849626454 + shoulder_marker_pose: + angle_rotation_error: 3.076968244428793 + euclidean_error: 0.9849777191900928 + wrist_inside_marker_pose: + angle_rotation_error: 3.0816118035500333 + euclidean_error: 0.9798009360205449 + wrist_top_marker_pose: + angle_rotation_error: 3.1414217232795028 + euclidean_error: 0.978603511554988 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080304685413883 + euclidean_error: 0.971565846656898 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1040340299297546 + euclidean_error: 0.984387803444731 + wrist_inside_marker_pose: + angle_rotation_error: 3.107592826005448 + euclidean_error: 0.9802405955502881 + wrist_top_marker_pose: + angle_rotation_error: 3.130479723041408 + euclidean_error: 0.9778862533268352 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108110755483369 + euclidean_error: 0.9715439812255372 + base_right_marker_pose: + angle_rotation_error: 3.0906620051659197 + euclidean_error: 0.9736251944024448 + shoulder_marker_pose: + angle_rotation_error: 3.0879469246398514 + euclidean_error: 0.9848828143849498 + wrist_inside_marker_pose: + angle_rotation_error: 3.078100513535958 + euclidean_error: 0.9788536065367112 + wrist_top_marker_pose: + angle_rotation_error: 2.833584612598062 + euclidean_error: 0.9800547487794184 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.081115498114335 + euclidean_error: 0.9710113150575951 + base_right_marker_pose: + angle_rotation_error: 3.1141399384787767 + euclidean_error: 0.9732901071429735 + shoulder_marker_pose: + angle_rotation_error: 3.1193185875155827 + euclidean_error: 0.9841612655406013 + wrist_inside_marker_pose: + angle_rotation_error: 3.127726635522309 + euclidean_error: 0.98031687216409 + wrist_top_marker_pose: + angle_rotation_error: 3.0923146384341726 + euclidean_error: 0.9780486078716312 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.092070751695417 + euclidean_error: 0.9711829246176615 + base_right_marker_pose: + angle_rotation_error: 3.1021046632735327 + euclidean_error: 0.9731961758773781 + shoulder_marker_pose: + angle_rotation_error: 3.1108670719864033 + euclidean_error: 0.9846238690997008 + wrist_inside_marker_pose: + angle_rotation_error: 2.947496515450951 + euclidean_error: 0.9804238254109481 + wrist_top_marker_pose: + angle_rotation_error: 2.93765823390645 + euclidean_error: 0.9784048485100998 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10015872746093 + euclidean_error: 0.9707706035211299 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 2.9914698324170543 + euclidean_error: 0.9852270803200893 + wrist_inside_marker_pose: + angle_rotation_error: 3.0593302076890097 + euclidean_error: 0.9804036688184377 + wrist_top_marker_pose: + angle_rotation_error: 2.8299139906319475 + euclidean_error: 0.9787212003865761 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.085591496519063 + euclidean_error: 0.9712363728635931 + base_right_marker_pose: + angle_rotation_error: 3.1208291423431995 + euclidean_error: 0.9732712587383113 + shoulder_marker_pose: + angle_rotation_error: 3.1035313467587535 + euclidean_error: 0.9843860238099547 + wrist_inside_marker_pose: + angle_rotation_error: 2.9849366911416193 + euclidean_error: 0.9807335455972133 + wrist_top_marker_pose: + angle_rotation_error: 2.8475298265979627 + euclidean_error: 0.9787882463968199 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0761423003154396 + euclidean_error: 0.9717654137608648 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.134324166436026 + euclidean_error: 0.9850460823442865 + wrist_inside_marker_pose: + angle_rotation_error: 2.973418387143901 + euclidean_error: 0.9802356309959039 + wrist_top_marker_pose: + angle_rotation_error: 2.909689164769447 + euclidean_error: 0.9786301389076678 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0851486024577044 + euclidean_error: 0.9717500029172705 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.083618656524861 + euclidean_error: 0.9845380448557407 + wrist_inside_marker_pose: + angle_rotation_error: 3.103823516543417 + euclidean_error: 0.979912621039234 + wrist_top_marker_pose: + angle_rotation_error: 2.8987147039708887 + euclidean_error: 0.9782962753349668 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0617413923905703 + euclidean_error: 0.9715782711005285 + base_right_marker_pose: + angle_rotation_error: 3.124878171670472 + euclidean_error: 0.9730887291783996 + shoulder_marker_pose: + angle_rotation_error: 3.1106852970073025 + euclidean_error: 0.9846313810615742 + wrist_inside_marker_pose: + angle_rotation_error: 2.9872767703165177 + euclidean_error: 0.9812307649490065 + wrist_top_marker_pose: + angle_rotation_error: 2.861089547813075 + euclidean_error: 0.9788756850483884 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10313158300619 + euclidean_error: 0.9710016748021371 + base_right_marker_pose: + angle_rotation_error: 3.1168369436807146 + euclidean_error: 0.9731862759416106 + shoulder_marker_pose: + angle_rotation_error: 3.085662120591534 + euclidean_error: 0.9843872080360854 + wrist_inside_marker_pose: + angle_rotation_error: 2.9943759470151132 + euclidean_error: 0.9808808151687511 + wrist_top_marker_pose: + angle_rotation_error: 2.9941434094892236 + euclidean_error: 0.9780028566913732 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1035181300214654 + euclidean_error: 0.9711031596729818 + base_right_marker_pose: + angle_rotation_error: 3.139483543388947 + euclidean_error: 0.972960613375561 + shoulder_marker_pose: + angle_rotation_error: 3.1383193348650322 + euclidean_error: 0.9842856335883982 + wrist_inside_marker_pose: + angle_rotation_error: 3.120957710888523 + euclidean_error: 0.9805376327307632 + wrist_top_marker_pose: + angle_rotation_error: 2.889068913313358 + euclidean_error: 0.9788220093689276 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0851887221780014 + euclidean_error: 0.9716906281249416 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0795251963154233 + euclidean_error: 0.9847688511738325 + wrist_inside_marker_pose: + angle_rotation_error: 3.103096702071579 + euclidean_error: 0.9790082995012638 + wrist_top_marker_pose: + angle_rotation_error: 2.8667820145104925 + euclidean_error: 0.9792903248398731 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0874615311499967 + euclidean_error: 0.9709632838057881 + base_right_marker_pose: + angle_rotation_error: 3.0958864512533526 + euclidean_error: 0.9733858248698498 + shoulder_marker_pose: + angle_rotation_error: 3.0281918554418263 + euclidean_error: 0.9847393230705005 + wrist_inside_marker_pose: + angle_rotation_error: 2.9567014719966895 + euclidean_error: 0.9807477057691169 + wrist_top_marker_pose: + angle_rotation_error: 2.846878962622916 + euclidean_error: 0.9787981434216512 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0665504863127033 + euclidean_error: 0.9716543630329008 + base_right_marker_pose: + angle_rotation_error: 3.118462432696425 + euclidean_error: 0.9731046636412236 + shoulder_marker_pose: + angle_rotation_error: 3.0885238096755145 + euclidean_error: 0.9849536101033696 + wrist_inside_marker_pose: + angle_rotation_error: 3.0584815831338674 + euclidean_error: 0.9806551128598131 + wrist_top_marker_pose: + angle_rotation_error: 2.9911287028779636 + euclidean_error: 0.9775109010194655 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.099375435758172 + euclidean_error: 0.9712078362598794 + base_right_marker_pose: + angle_rotation_error: 3.1035265443547773 + euclidean_error: 0.9732563937515618 + shoulder_marker_pose: + angle_rotation_error: 3.060015794612556 + euclidean_error: 0.9853196801514504 + wrist_inside_marker_pose: + angle_rotation_error: 3.126517419754684 + euclidean_error: 0.9794605256283214 + wrist_top_marker_pose: + angle_rotation_error: 2.9462279578111623 + euclidean_error: 0.9793520934804848 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0949985494807426 + euclidean_error: 0.970909352919394 + base_right_marker_pose: + angle_rotation_error: 3.093957892938447 + euclidean_error: 0.9733194780213986 + shoulder_marker_pose: + angle_rotation_error: 3.0777296496615016 + euclidean_error: 0.9851849938541339 + wrist_inside_marker_pose: + angle_rotation_error: 2.940267850025938 + euclidean_error: 0.980740510770814 + wrist_top_marker_pose: + angle_rotation_error: 2.8452119517506187 + euclidean_error: 0.9793752244973348 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.127851013324088 + euclidean_error: 0.9732326297249866 + shoulder_marker_pose: + angle_rotation_error: 3.044920860957599 + euclidean_error: 0.9850783965096114 + wrist_inside_marker_pose: + angle_rotation_error: 2.916072206105113 + euclidean_error: 0.9815250429801438 + wrist_top_marker_pose: + angle_rotation_error: 3.012299939075019 + euclidean_error: 0.9773493739245022 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0635757076452768 + euclidean_error: 0.97168153044139 + base_right_marker_pose: + angle_rotation_error: 3.129424503510495 + euclidean_error: 0.9730279869516699 + shoulder_marker_pose: + angle_rotation_error: 3.0474237750818736 + euclidean_error: 0.9836896235575712 + wrist_inside_marker_pose: + angle_rotation_error: 3.0706907896105813 + euclidean_error: 0.980776210962433 + wrist_top_marker_pose: + angle_rotation_error: 2.9895292022513815 + euclidean_error: 0.9785827318941562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1018311055392496 + euclidean_error: 0.9710338802293101 + base_right_marker_pose: + angle_rotation_error: 3.140643457757223 + euclidean_error: 0.9730208896340011 + shoulder_marker_pose: + angle_rotation_error: 3.1284574529073015 + euclidean_error: 0.9844686847981001 + wrist_inside_marker_pose: + angle_rotation_error: 3.1201985212706194 + euclidean_error: 0.9805598259719837 + wrist_top_marker_pose: + angle_rotation_error: 3.0645951857084217 + euclidean_error: 0.9777512093055153 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094140318451034 + euclidean_error: 0.9714010582882946 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.0524706166224207 + euclidean_error: 0.9847384435309232 + wrist_inside_marker_pose: + angle_rotation_error: 3.0408134034209966 + euclidean_error: 0.9803520022270483 + wrist_top_marker_pose: + angle_rotation_error: 2.8719623055610985 + euclidean_error: 0.9780554302738574 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0788904652627407 + euclidean_error: 0.9715178660527054 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.044363590146599 + euclidean_error: 0.9854426395751986 + wrist_inside_marker_pose: + angle_rotation_error: 3.138332779444476 + euclidean_error: 0.9793141615580706 + wrist_top_marker_pose: + angle_rotation_error: 2.916910608651897 + euclidean_error: 0.9786807742294863 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1116391769363783 + euclidean_error: 0.9733899496554225 + shoulder_marker_pose: + angle_rotation_error: 3.0794757743732353 + euclidean_error: 0.9848098285997808 + wrist_inside_marker_pose: + angle_rotation_error: 3.005529724573033 + euclidean_error: 0.9802948038823757 + wrist_top_marker_pose: + angle_rotation_error: 3.0130696510264516 + euclidean_error: 0.9772386380086897 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.088011175153674 + euclidean_error: 0.9712942641566569 + base_right_marker_pose: + angle_rotation_error: 3.1137136169498447 + euclidean_error: 0.9732701638180432 + shoulder_marker_pose: + angle_rotation_error: 3.130794456642364 + euclidean_error: 0.9839737171004376 + wrist_inside_marker_pose: + angle_rotation_error: 2.9629674462532645 + euclidean_error: 0.9810116172756833 + wrist_top_marker_pose: + angle_rotation_error: 2.9412834693735768 + euclidean_error: 0.9771256195026511 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0915408482101245 + euclidean_error: 0.9707327030120984 + base_right_marker_pose: + angle_rotation_error: 3.115012223636079 + euclidean_error: 0.9735202740263112 + shoulder_marker_pose: + angle_rotation_error: 3.1269713382622673 + euclidean_error: 0.9846592878978844 + wrist_inside_marker_pose: + angle_rotation_error: 3.0062266904330874 + euclidean_error: 0.981721926273164 + wrist_top_marker_pose: + angle_rotation_error: 2.9509296691594815 + euclidean_error: 0.9784725142742123 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1050002859852364 + euclidean_error: 0.9712190687206271 + base_right_marker_pose: + angle_rotation_error: 3.1295307839221596 + euclidean_error: 0.9731325329049907 + shoulder_marker_pose: + angle_rotation_error: 3.1286586787496464 + euclidean_error: 0.9842636359218727 + wrist_inside_marker_pose: + angle_rotation_error: 3.0748470174888145 + euclidean_error: 0.9801393441618411 + wrist_top_marker_pose: + angle_rotation_error: 2.8614674340019643 + euclidean_error: 0.9785441453194067 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.091226713053666 + euclidean_error: 0.9711502124484744 + base_right_marker_pose: + angle_rotation_error: 3.125439874942821 + euclidean_error: 0.9730586316855105 + shoulder_marker_pose: + angle_rotation_error: 3.0674016362170184 + euclidean_error: 0.9846670366701911 + wrist_inside_marker_pose: + angle_rotation_error: 3.029527130067812 + euclidean_error: 0.9799004135530591 + wrist_top_marker_pose: + angle_rotation_error: 2.9184977481463785 + euclidean_error: 0.9772259579860532 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0655337815354033 + euclidean_error: 0.971501068606304 + base_right_marker_pose: + angle_rotation_error: 3.125600478546936 + euclidean_error: 0.9727523969738142 + shoulder_marker_pose: + angle_rotation_error: 3.1393870377177504 + euclidean_error: 0.983843638609244 + wrist_inside_marker_pose: + angle_rotation_error: 3.12957737550498 + euclidean_error: 0.9798251122502212 + wrist_top_marker_pose: + angle_rotation_error: 2.9233768277271235 + euclidean_error: 0.9779125988620545 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0591761148463816 + euclidean_error: 0.9714833098924733 + base_right_marker_pose: + angle_rotation_error: 3.129418936106465 + euclidean_error: 0.9734899889510784 + shoulder_marker_pose: + angle_rotation_error: 3.1197357071444545 + euclidean_error: 0.9848322637413779 + wrist_inside_marker_pose: + angle_rotation_error: 2.970654758299246 + euclidean_error: 0.9818189459121123 + wrist_top_marker_pose: + angle_rotation_error: 2.8136238921078167 + euclidean_error: 0.9792513846892293 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.088787520629813 + euclidean_error: 0.9713754747529361 + base_right_marker_pose: + angle_rotation_error: 3.1065376530693816 + euclidean_error: 0.9735298971051787 + shoulder_marker_pose: + angle_rotation_error: 3.1001146957336894 + euclidean_error: 0.9847048361046064 + wrist_inside_marker_pose: + angle_rotation_error: 3.025318280620824 + euclidean_error: 0.9819093364531757 + wrist_top_marker_pose: + angle_rotation_error: 2.820164977922523 + euclidean_error: 0.9800784711599918 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0818797765173134 + euclidean_error: 0.9708781804227882 + base_right_marker_pose: + angle_rotation_error: 3.1373451271719675 + euclidean_error: 0.9731197534252812 + shoulder_marker_pose: + angle_rotation_error: 3.0998044618533283 + euclidean_error: 0.9843605691282303 + wrist_inside_marker_pose: + angle_rotation_error: 2.9091628428868983 + euclidean_error: 0.9820205912055099 + wrist_top_marker_pose: + angle_rotation_error: 2.748866199346477 + euclidean_error: 0.9804209320507357 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10997976625566 + euclidean_error: 0.9711464998131815 + base_right_marker_pose: + angle_rotation_error: 3.134263194739952 + euclidean_error: 0.9728898392859223 + shoulder_marker_pose: + angle_rotation_error: 3.008926685046072 + euclidean_error: 0.984781056203469 + wrist_inside_marker_pose: + angle_rotation_error: 2.9908917007091556 + euclidean_error: 0.9806721715286835 + wrist_top_marker_pose: + angle_rotation_error: 2.885910318282002 + euclidean_error: 0.9782474751710009 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0614456603583933 + euclidean_error: 0.9724175395587147 + base_right_marker_pose: + angle_rotation_error: 3.1343721184757736 + euclidean_error: 0.9731210987833233 + shoulder_marker_pose: + angle_rotation_error: 3.138620378776802 + euclidean_error: 0.9837794810734268 + wrist_inside_marker_pose: + angle_rotation_error: 3.04257530484015 + euclidean_error: 0.980657974079805 + wrist_top_marker_pose: + angle_rotation_error: 2.7617571971976758 + euclidean_error: 0.9792226402910863 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.098158216794708 + euclidean_error: 0.9714712443593202 + base_right_marker_pose: + angle_rotation_error: 3.1248924566387606 + euclidean_error: 0.9734041711807603 + shoulder_marker_pose: + angle_rotation_error: 3.1229135828696135 + euclidean_error: 0.9847691327264216 + wrist_inside_marker_pose: + angle_rotation_error: 2.9722843753470802 + euclidean_error: 0.9807153235248824 + wrist_top_marker_pose: + angle_rotation_error: 2.854028360597069 + euclidean_error: 0.9791906085639391 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1108469253809865 + euclidean_error: 0.971005486914468 + base_right_marker_pose: + angle_rotation_error: 3.1352399536546787 + euclidean_error: 0.9732947144988666 + shoulder_marker_pose: + angle_rotation_error: 3.1412206574486286 + euclidean_error: 0.9841431458659271 + wrist_inside_marker_pose: + angle_rotation_error: 3.076281569155594 + euclidean_error: 0.9810665672726557 + wrist_top_marker_pose: + angle_rotation_error: 3.0556262067046367 + euclidean_error: 0.9785021889042019 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.088932650350747 + euclidean_error: 0.9712802390970713 + base_right_marker_pose: + angle_rotation_error: 3.115416946779711 + euclidean_error: 0.9731470162799657 + shoulder_marker_pose: + angle_rotation_error: 3.028707567849058 + euclidean_error: 0.9849729729949636 + wrist_inside_marker_pose: + angle_rotation_error: 3.072888778099177 + euclidean_error: 0.9808553175733911 + wrist_top_marker_pose: + angle_rotation_error: 3.0432074626413583 + euclidean_error: 0.9777595771017396 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0463200249395146 + euclidean_error: 0.9719266491304227 + base_right_marker_pose: + angle_rotation_error: 3.121367521193515 + euclidean_error: 0.9732927634285108 + shoulder_marker_pose: + angle_rotation_error: 3.071226709429106 + euclidean_error: 0.9848698331431762 + wrist_inside_marker_pose: + angle_rotation_error: 3.0389042781764193 + euclidean_error: 0.9822936795364512 + wrist_top_marker_pose: + angle_rotation_error: 2.809590673164598 + euclidean_error: 0.9819304933010518 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1147919415974936 + euclidean_error: 0.9709320398321221 + base_right_marker_pose: + angle_rotation_error: 3.1060138107545825 + euclidean_error: 0.9733236045685949 + shoulder_marker_pose: + angle_rotation_error: 3.01609070912226 + euclidean_error: 0.9852885287604088 + wrist_inside_marker_pose: + angle_rotation_error: 3.043636616519445 + euclidean_error: 0.98097385929215 + wrist_top_marker_pose: + angle_rotation_error: 2.794412171063783 + euclidean_error: 0.9799573377475963 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1099995803648213 + euclidean_error: 0.9730287998432762 + shoulder_marker_pose: + angle_rotation_error: 3.134455048186819 + euclidean_error: 0.9843450941409483 + wrist_inside_marker_pose: + angle_rotation_error: 3.0127619831196624 + euclidean_error: 0.9802775749757434 + wrist_top_marker_pose: + angle_rotation_error: 2.9300395777469355 + euclidean_error: 0.9780018235735737 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1148757882549103 + euclidean_error: 0.9710930457394185 + base_right_marker_pose: + angle_rotation_error: 3.1191428043843366 + euclidean_error: 0.9733546857655112 + shoulder_marker_pose: + angle_rotation_error: 3.134720131325568 + euclidean_error: 0.984917917454547 + wrist_inside_marker_pose: + angle_rotation_error: 2.953508465143694 + euclidean_error: 0.9808641034356003 + wrist_top_marker_pose: + angle_rotation_error: 3.028172540449414 + euclidean_error: 0.9768240065843449 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.072469072359324 + euclidean_error: 0.9714788227899611 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.1206595928533223 + euclidean_error: 0.9842742821896941 + wrist_inside_marker_pose: + angle_rotation_error: 2.994898025995729 + euclidean_error: 0.9817336879849317 + wrist_top_marker_pose: + angle_rotation_error: 2.916274694425398 + euclidean_error: 0.9778593580685772 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1176241086250647 + euclidean_error: 0.9732929992073166 + shoulder_marker_pose: + angle_rotation_error: 3.1129055121476887 + euclidean_error: 0.9841132966736345 + wrist_inside_marker_pose: + angle_rotation_error: 3.0233057192846697 + euclidean_error: 0.9812217332755617 + wrist_top_marker_pose: + angle_rotation_error: 2.809471489889751 + euclidean_error: 0.9785511141126418 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.051281313667126 + euclidean_error: 0.9718883959357677 + base_right_marker_pose: + angle_rotation_error: 3.1033252172602714 + euclidean_error: 0.9729800265402688 + shoulder_marker_pose: + angle_rotation_error: 3.0400533908353613 + euclidean_error: 0.9853205698889613 + wrist_inside_marker_pose: + angle_rotation_error: 2.9538963809006593 + euclidean_error: 0.9822079461880647 + wrist_top_marker_pose: + angle_rotation_error: 2.8269942007564905 + euclidean_error: 0.9805368929714773 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0886174178885613 + euclidean_error: 0.9715727934328483 + base_right_marker_pose: + angle_rotation_error: 3.118074425784682 + euclidean_error: 0.9731511600964767 + shoulder_marker_pose: + angle_rotation_error: 3.1222221863795836 + euclidean_error: 0.9846366180602013 + wrist_inside_marker_pose: + angle_rotation_error: 3.014115095597475 + euclidean_error: 0.9801842835406213 + wrist_top_marker_pose: + angle_rotation_error: 2.897752773111002 + euclidean_error: 0.9785398512827894 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0908639277913115 + euclidean_error: 0.9714325766366062 + base_right_marker_pose: + angle_rotation_error: 3.1324889193794934 + euclidean_error: 0.9731614743966648 + shoulder_marker_pose: + angle_rotation_error: 3.0552266042610436 + euclidean_error: 0.9852133738425678 + wrist_inside_marker_pose: + angle_rotation_error: 3.0682126639718583 + euclidean_error: 0.9805695441841367 + wrist_top_marker_pose: + angle_rotation_error: 3.012298227734357 + euclidean_error: 0.9778029491471015 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.099638230005947 + euclidean_error: 0.9713450903732337 + base_right_marker_pose: + angle_rotation_error: 3.1102247810436427 + euclidean_error: 0.973532498672886 + shoulder_marker_pose: + angle_rotation_error: 3.0873338555570173 + euclidean_error: 0.9836057312571799 + wrist_inside_marker_pose: + angle_rotation_error: 3.012300045075475 + euclidean_error: 0.9807321967435071 + wrist_top_marker_pose: + angle_rotation_error: 2.913934485622465 + euclidean_error: 0.9782329144650369 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0620651407805357 + euclidean_error: 0.9717482336241122 + base_right_marker_pose: + angle_rotation_error: 3.120917929539132 + euclidean_error: 0.9730179844316228 + shoulder_marker_pose: + angle_rotation_error: 3.0953129511934856 + euclidean_error: 0.9842793272839809 + wrist_inside_marker_pose: + angle_rotation_error: 3.0059546532286014 + euclidean_error: 0.9808771007329873 + wrist_top_marker_pose: + angle_rotation_error: 2.7938808786120353 + euclidean_error: 0.9789947953631508 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0831806566008964 + euclidean_error: 0.9714841680899959 + base_right_marker_pose: + angle_rotation_error: 3.1194050173693535 + euclidean_error: 0.9729865860027206 + shoulder_marker_pose: + angle_rotation_error: 3.10884027834917 + euclidean_error: 0.984401988327719 + wrist_inside_marker_pose: + angle_rotation_error: 3.027789965268533 + euclidean_error: 0.9804972618925117 + wrist_top_marker_pose: + angle_rotation_error: 3.032281676026127 + euclidean_error: 0.9777915421572924 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0753572295958387 + euclidean_error: 0.9710691062761132 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.126070671947894 + euclidean_error: 0.9841991918939041 + wrist_inside_marker_pose: + angle_rotation_error: 3.072612981664523 + euclidean_error: 0.9802614077663853 + wrist_top_marker_pose: + angle_rotation_error: 2.8722431128818458 + euclidean_error: 0.9781210577258744 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0902745853992077 + euclidean_error: 0.9711453218983238 + base_right_marker_pose: + angle_rotation_error: 3.122139114033862 + euclidean_error: 0.9729710774686591 + shoulder_marker_pose: + angle_rotation_error: 3.0615753510758905 + euclidean_error: 0.9848352969509188 + wrist_inside_marker_pose: + angle_rotation_error: 3.122350354503428 + euclidean_error: 0.979895047186455 + wrist_top_marker_pose: + angle_rotation_error: 2.92177626811618 + euclidean_error: 0.9774005918953159 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082193176842843 + euclidean_error: 0.9714001119322091 + base_right_marker_pose: + angle_rotation_error: 3.116191702998354 + euclidean_error: 0.9731791493045016 + shoulder_marker_pose: + angle_rotation_error: 3.0955503312228108 + euclidean_error: 0.9840284851418745 + wrist_inside_marker_pose: + angle_rotation_error: 2.9183818968282313 + euclidean_error: 0.9817273113750864 + wrist_top_marker_pose: + angle_rotation_error: 2.876881185556455 + euclidean_error: 0.9782438153624562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0750353323327766 + euclidean_error: 0.9713557080178181 + base_right_marker_pose: + angle_rotation_error: 3.131029965858823 + euclidean_error: 0.9728478230354632 + shoulder_marker_pose: + angle_rotation_error: 3.0878978516996067 + euclidean_error: 0.9846834500319476 + wrist_inside_marker_pose: + angle_rotation_error: 3.0268724850050175 + euclidean_error: 0.9800741384591625 + wrist_top_marker_pose: + angle_rotation_error: 2.951484980330592 + euclidean_error: 0.9782467535508245 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.084645846516953 + euclidean_error: 0.9712761221707903 + base_right_marker_pose: + angle_rotation_error: 3.126244836043984 + euclidean_error: 0.973040116679225 + shoulder_marker_pose: + angle_rotation_error: 3.095935861980749 + euclidean_error: 0.9845216964677642 + wrist_inside_marker_pose: + angle_rotation_error: 3.117296040752626 + euclidean_error: 0.9793145088790144 + wrist_top_marker_pose: + angle_rotation_error: 2.9821543284783893 + euclidean_error: 0.9790562118330687 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.105537271456105 + euclidean_error: 0.9713185615103259 + base_right_marker_pose: + angle_rotation_error: 3.1102462761746525 + euclidean_error: 0.973244202087407 + shoulder_marker_pose: + angle_rotation_error: 3.0838762299037428 + euclidean_error: 0.9846517302352483 + wrist_inside_marker_pose: + angle_rotation_error: 3.0844986449686433 + euclidean_error: 0.9808377601849569 + wrist_top_marker_pose: + angle_rotation_error: 2.8512425402098676 + euclidean_error: 0.9795665548919603 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.075337143106811 + euclidean_error: 0.971363029868116 + base_right_marker_pose: + angle_rotation_error: 3.1247015114937424 + euclidean_error: 0.9732294817488899 + shoulder_marker_pose: + angle_rotation_error: 3.0959217437418167 + euclidean_error: 0.9847091149522095 + wrist_inside_marker_pose: + angle_rotation_error: 3.115758171178487 + euclidean_error: 0.9799774230446607 + wrist_top_marker_pose: + angle_rotation_error: 2.8992799940739995 + euclidean_error: 0.9782489493271811 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0981070378550517 + euclidean_error: 0.9714739497672176 + base_right_marker_pose: + angle_rotation_error: 3.1223760468397153 + euclidean_error: 0.9730824395405434 + shoulder_marker_pose: + angle_rotation_error: 3.0646899669082353 + euclidean_error: 0.9850453798865146 + wrist_inside_marker_pose: + angle_rotation_error: 3.0914356859757928 + euclidean_error: 0.9804973683674838 + wrist_top_marker_pose: + angle_rotation_error: 2.9460738527230785 + euclidean_error: 0.9770574548150474 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.075010920312874 + euclidean_error: 0.9718294373215638 + base_right_marker_pose: + angle_rotation_error: 3.112057945935861 + euclidean_error: 0.9733107011190402 + shoulder_marker_pose: + angle_rotation_error: 3.0890780649199416 + euclidean_error: 0.9844415262208761 + wrist_inside_marker_pose: + angle_rotation_error: 3.0307490642926393 + euclidean_error: 0.9804880139781148 + wrist_top_marker_pose: + angle_rotation_error: 2.779617891903499 + euclidean_error: 0.9804080087030612 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0815414330072577 + euclidean_error: 0.9711865868809493 + base_right_marker_pose: + angle_rotation_error: 3.135270976408154 + euclidean_error: 0.9730669306053193 + shoulder_marker_pose: + angle_rotation_error: 3.132111885564719 + euclidean_error: 0.9845433232390296 + wrist_inside_marker_pose: + angle_rotation_error: 2.9919684757290956 + euclidean_error: 0.9801983119339723 + wrist_top_marker_pose: + angle_rotation_error: 2.8166717637737197 + euclidean_error: 0.9785638969752762 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.122304103302626 + euclidean_error: 0.9715453442445565 + base_right_marker_pose: + angle_rotation_error: 3.138857559009329 + euclidean_error: 0.9730821188589135 + shoulder_marker_pose: + angle_rotation_error: 3.1031374447982105 + euclidean_error: 0.9837117245420088 + wrist_inside_marker_pose: + angle_rotation_error: 3.0154247858227015 + euclidean_error: 0.9798153714647185 + wrist_top_marker_pose: + angle_rotation_error: 2.7974725188843808 + euclidean_error: 0.9790031788776535 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1290173355212985 + euclidean_error: 0.9730719748982171 + shoulder_marker_pose: + angle_rotation_error: 3.073711718076513 + euclidean_error: 0.9844497093940958 + wrist_inside_marker_pose: + angle_rotation_error: 2.9676278015689577 + euclidean_error: 0.981705898674437 + wrist_top_marker_pose: + angle_rotation_error: 2.964509669093397 + euclidean_error: 0.978721400304843 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.041859614661329 + euclidean_error: 0.972227475143593 + base_right_marker_pose: + angle_rotation_error: 3.101290198974311 + euclidean_error: 0.9733466445476416 + shoulder_marker_pose: + angle_rotation_error: 3.112243697161595 + euclidean_error: 0.9841699864821745 + wrist_inside_marker_pose: + angle_rotation_error: 3.113637673772577 + euclidean_error: 0.9808731385227238 + wrist_top_marker_pose: + angle_rotation_error: 2.956765666724412 + euclidean_error: 0.9801940214859459 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0954671635827364 + euclidean_error: 0.9716566048443765 + base_right_marker_pose: + angle_rotation_error: 3.071580792065784 + euclidean_error: 0.9737562838849507 + shoulder_marker_pose: + angle_rotation_error: 3.132803090746002 + euclidean_error: 0.9838158096809491 + wrist_inside_marker_pose: + angle_rotation_error: 2.9865347706449676 + euclidean_error: 0.9806503073609766 + wrist_top_marker_pose: + angle_rotation_error: 2.8864982970306885 + euclidean_error: 0.9779913573704708 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118429732521304 + euclidean_error: 0.970928300855263 + base_right_marker_pose: + angle_rotation_error: 3.12245304106579 + euclidean_error: 0.9731720426490725 + shoulder_marker_pose: + angle_rotation_error: 3.1320147976681603 + euclidean_error: 0.9841457424784131 + wrist_inside_marker_pose: + angle_rotation_error: 2.8845708814545845 + euclidean_error: 0.982519799390393 + wrist_top_marker_pose: + angle_rotation_error: 2.838714320396552 + euclidean_error: 0.9792953787225309 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080521264385364 + euclidean_error: 0.9717913053357292 + base_right_marker_pose: + angle_rotation_error: 3.131878718422676 + euclidean_error: 0.9730509635515245 + shoulder_marker_pose: + angle_rotation_error: 3.053278669145158 + euclidean_error: 0.9845529528258422 + wrist_inside_marker_pose: + angle_rotation_error: 3.0691398465757715 + euclidean_error: 0.9808216301103211 + wrist_top_marker_pose: + angle_rotation_error: 2.8264568450351675 + euclidean_error: 0.9792107487399111 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0778681418816123 + euclidean_error: 0.9717533344569094 + base_right_marker_pose: + angle_rotation_error: 3.1334587060271164 + euclidean_error: 0.9731332030171778 + shoulder_marker_pose: + angle_rotation_error: 3.118328621864171 + euclidean_error: 0.9844360256885061 + wrist_inside_marker_pose: + angle_rotation_error: 3.1349655292218723 + euclidean_error: 0.9801260334978545 + wrist_top_marker_pose: + angle_rotation_error: 2.936093238334433 + euclidean_error: 0.9781453306806984 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0626192746862007 + euclidean_error: 0.971946883232783 + base_right_marker_pose: + angle_rotation_error: 3.104041936023641 + euclidean_error: 0.9731482686848801 + shoulder_marker_pose: + angle_rotation_error: 3.087536414618323 + euclidean_error: 0.9846622545058947 + wrist_inside_marker_pose: + angle_rotation_error: 3.038105647239165 + euclidean_error: 0.9807111170202757 + wrist_top_marker_pose: + angle_rotation_error: 2.9669941909599564 + euclidean_error: 0.9776847142922833 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0880990337720324 + euclidean_error: 0.9713776019664186 + base_right_marker_pose: + angle_rotation_error: 3.1057659657127306 + euclidean_error: 0.9731399777032853 + shoulder_marker_pose: + angle_rotation_error: 3.131458017166852 + euclidean_error: 0.983915036127698 + wrist_inside_marker_pose: + angle_rotation_error: 3.129906364515338 + euclidean_error: 0.9799276623852589 + wrist_top_marker_pose: + angle_rotation_error: 2.9620682119401804 + euclidean_error: 0.9779458248974474 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1084659364380696 + euclidean_error: 0.9712325836600076 + base_right_marker_pose: + angle_rotation_error: 3.1301547497767555 + euclidean_error: 0.9731698967770798 + shoulder_marker_pose: + angle_rotation_error: 3.080939186481634 + euclidean_error: 0.984569805191177 + wrist_inside_marker_pose: + angle_rotation_error: 2.886413295233048 + euclidean_error: 0.9816239727305054 + wrist_top_marker_pose: + angle_rotation_error: 2.8319035784481663 + euclidean_error: 0.9782667227517303 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0776037983837004 + euclidean_error: 0.9715119476229882 + base_right_marker_pose: + angle_rotation_error: 3.1094580410343684 + euclidean_error: 0.9734848046258621 + shoulder_marker_pose: + angle_rotation_error: 3.1237104751450016 + euclidean_error: 0.9843753769062192 + wrist_inside_marker_pose: + angle_rotation_error: 3.022658451210736 + euclidean_error: 0.9809854104580455 + wrist_top_marker_pose: + angle_rotation_error: 2.9300854536639913 + euclidean_error: 0.9794720429742527 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110801923624238 + euclidean_error: 0.9709859488552172 + base_right_marker_pose: + angle_rotation_error: 3.12378219438478 + euclidean_error: 0.973293819131254 + shoulder_marker_pose: + angle_rotation_error: 3.0264435874052102 + euclidean_error: 0.9852037290135581 + wrist_inside_marker_pose: + angle_rotation_error: 3.0737147957549205 + euclidean_error: 0.9809028320817241 + wrist_top_marker_pose: + angle_rotation_error: 2.826317500515784 + euclidean_error: 0.9787193781450626 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.073524087461775 + euclidean_error: 0.9717287253420422 + base_right_marker_pose: + angle_rotation_error: 3.132467096322119 + euclidean_error: 0.9730003641262458 + shoulder_marker_pose: + angle_rotation_error: 3.0704777528387823 + euclidean_error: 0.9839558367050838 + wrist_inside_marker_pose: + angle_rotation_error: 2.988382094639933 + euclidean_error: 0.9807164970380173 + wrist_top_marker_pose: + angle_rotation_error: 2.895079533054755 + euclidean_error: 0.9782790477164867 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0801918020498396 + euclidean_error: 0.9715706926452033 + base_right_marker_pose: + angle_rotation_error: 3.077350029951289 + euclidean_error: 0.9733119271280521 + shoulder_marker_pose: + angle_rotation_error: 3.1319028468040275 + euclidean_error: 0.98460597807115 + wrist_inside_marker_pose: + angle_rotation_error: 3.0611632412552074 + euclidean_error: 0.9819456379628123 + wrist_top_marker_pose: + angle_rotation_error: 2.8740004194106388 + euclidean_error: 0.9794828697080996 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.068423387749982 + euclidean_error: 0.9719287768580754 + base_right_marker_pose: + angle_rotation_error: 3.1180548350948416 + euclidean_error: 0.9733287480664781 + shoulder_marker_pose: + angle_rotation_error: 3.0358683865006384 + euclidean_error: 0.9848944570807586 + wrist_inside_marker_pose: + angle_rotation_error: 2.848253081334047 + euclidean_error: 0.9813699976483232 + wrist_top_marker_pose: + angle_rotation_error: 2.9148570319156453 + euclidean_error: 0.9793051072475769 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.112569093206298 + euclidean_error: 0.9732325986775008 + shoulder_marker_pose: + angle_rotation_error: 3.1119094084152823 + euclidean_error: 0.9850935850025879 + wrist_inside_marker_pose: + angle_rotation_error: 3.0986520114698464 + euclidean_error: 0.9803816245697695 + wrist_top_marker_pose: + angle_rotation_error: 2.8916465578608683 + euclidean_error: 0.9785519118011614 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0883833916207117 + euclidean_error: 0.9710246200022992 + base_right_marker_pose: + angle_rotation_error: 3.13319269775384 + euclidean_error: 0.9732274907692304 + shoulder_marker_pose: + angle_rotation_error: 3.0885693259651825 + euclidean_error: 0.9848602337531676 + wrist_inside_marker_pose: + angle_rotation_error: 3.0570747668217515 + euclidean_error: 0.9798675160671444 + wrist_top_marker_pose: + angle_rotation_error: 3.001696286385223 + euclidean_error: 0.9770596426559817 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0786900201550362 + euclidean_error: 0.9714590160724205 + base_right_marker_pose: + angle_rotation_error: 3.124705355986046 + euclidean_error: 0.9731415095588897 + shoulder_marker_pose: + angle_rotation_error: 3.0911344466724717 + euclidean_error: 0.9846141194121216 + wrist_inside_marker_pose: + angle_rotation_error: 3.1126589783514205 + euclidean_error: 0.9804566732208123 + wrist_top_marker_pose: + angle_rotation_error: 3.0079571097539666 + euclidean_error: 0.9783922057218554 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113627957224151 + euclidean_error: 0.9713429982859196 + base_right_marker_pose: + angle_rotation_error: 3.1403392053766948 + euclidean_error: 0.9732399096473485 + shoulder_marker_pose: + angle_rotation_error: 3.06613874965726 + euclidean_error: 0.9846783632742956 + wrist_inside_marker_pose: + angle_rotation_error: 2.974282965817107 + euclidean_error: 0.9804510308515625 + wrist_top_marker_pose: + angle_rotation_error: 2.87867671479359 + euclidean_error: 0.9777316411549081 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1120861298801725 + euclidean_error: 0.9716767641996302 + base_right_marker_pose: + angle_rotation_error: 3.124516025388478 + euclidean_error: 0.9730763586611763 + shoulder_marker_pose: + angle_rotation_error: 3.1404135536456343 + euclidean_error: 0.9845151759983509 + wrist_inside_marker_pose: + angle_rotation_error: 3.105384198505495 + euclidean_error: 0.9792960925321811 + wrist_top_marker_pose: + angle_rotation_error: 2.9605874973847532 + euclidean_error: 0.9773269534291948 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0839148117524915 + euclidean_error: 0.9714203332383973 + base_right_marker_pose: + angle_rotation_error: 3.1018301415845273 + euclidean_error: 0.9732205211359342 + shoulder_marker_pose: + angle_rotation_error: 3.06503002345984 + euclidean_error: 0.9854652865835702 + wrist_inside_marker_pose: + angle_rotation_error: 3.079458396326311 + euclidean_error: 0.9803383764710637 + wrist_top_marker_pose: + angle_rotation_error: 3.0882119912779857 + euclidean_error: 0.9767290334720459 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0825765180309195 + euclidean_error: 0.9713151459458247 + base_right_marker_pose: + angle_rotation_error: 3.11314498198198 + euclidean_error: 0.9732395823105595 + shoulder_marker_pose: + angle_rotation_error: 3.134584380314302 + euclidean_error: 0.9843766786095276 + wrist_inside_marker_pose: + angle_rotation_error: 2.921983860752368 + euclidean_error: 0.9812794189917967 + wrist_top_marker_pose: + angle_rotation_error: 2.8684882532992657 + euclidean_error: 0.9788335088493193 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.095813640586168 + euclidean_error: 0.9713288432873106 + base_right_marker_pose: + angle_rotation_error: 3.093975906565448 + euclidean_error: 0.9737656296343095 + shoulder_marker_pose: + angle_rotation_error: 3.1233699446859657 + euclidean_error: 0.9847944108991563 + wrist_inside_marker_pose: + angle_rotation_error: 2.832702430555289 + euclidean_error: 0.9828266574104321 + wrist_top_marker_pose: + angle_rotation_error: 2.8628983312821554 + euclidean_error: 0.9790131294605218 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1099706028471266 + euclidean_error: 0.9717177184570731 + base_right_marker_pose: + angle_rotation_error: 3.140972860890621 + euclidean_error: 0.9731396180575339 + shoulder_marker_pose: + angle_rotation_error: 3.1307944872855558 + euclidean_error: 0.9842255303481168 + wrist_inside_marker_pose: + angle_rotation_error: 2.953374614797016 + euclidean_error: 0.9818238465225453 + wrist_top_marker_pose: + angle_rotation_error: 2.9303110036046567 + euclidean_error: 0.9785581404558075 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.089505873085547 + euclidean_error: 0.9718218330441902 + base_right_marker_pose: + angle_rotation_error: 3.1164394898419276 + euclidean_error: 0.9732245145872168 + shoulder_marker_pose: + angle_rotation_error: 3.054089725800516 + euclidean_error: 0.9847135607441834 + wrist_inside_marker_pose: + angle_rotation_error: 3.112231285560928 + euclidean_error: 0.9812919961862531 + wrist_top_marker_pose: + angle_rotation_error: 2.858578382342282 + euclidean_error: 0.9793542544463758 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1024867595597594 + euclidean_error: 0.971505369675041 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.085504621983244 + euclidean_error: 0.9845445882357143 + wrist_inside_marker_pose: + angle_rotation_error: 3.110746657336256 + euclidean_error: 0.979614358277082 + wrist_top_marker_pose: + angle_rotation_error: 2.937494490732158 + euclidean_error: 0.9776434449096736 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0815895895880216 + euclidean_error: 0.9717792600292975 + base_right_marker_pose: + angle_rotation_error: 3.1184817663693236 + euclidean_error: 0.9733141195739851 + shoulder_marker_pose: + angle_rotation_error: 3.08516867426418 + euclidean_error: 0.9849868317677304 + wrist_inside_marker_pose: + angle_rotation_error: 2.9857882987172912 + euclidean_error: 0.9817212264150469 + wrist_top_marker_pose: + angle_rotation_error: 2.916688051117285 + euclidean_error: 0.9779534929570077 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0878513146098165 + euclidean_error: 0.9715030872545348 + base_right_marker_pose: + angle_rotation_error: 3.090066392246254 + euclidean_error: 0.9734764043997672 + shoulder_marker_pose: + angle_rotation_error: 3.100848760253054 + euclidean_error: 0.9847552037529699 + wrist_inside_marker_pose: + angle_rotation_error: 2.9574902765126034 + euclidean_error: 0.9801943916314096 + wrist_top_marker_pose: + angle_rotation_error: 2.9426879709896863 + euclidean_error: 0.977602280085152 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.09978728979978 + euclidean_error: 0.9715830574255124 + base_right_marker_pose: + angle_rotation_error: 3.1033313814871035 + euclidean_error: 0.9733639973041922 + shoulder_marker_pose: + angle_rotation_error: 3.113142150549554 + euclidean_error: 0.9841739759139946 + wrist_inside_marker_pose: + angle_rotation_error: 3.033914152587618 + euclidean_error: 0.98133272973969 + wrist_top_marker_pose: + angle_rotation_error: 2.963785320228135 + euclidean_error: 0.9780351650456651 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104113161504091 + euclidean_error: 0.9715697839875873 + base_right_marker_pose: + angle_rotation_error: 3.0968610601433855 + euclidean_error: 0.9734925171810915 + shoulder_marker_pose: + angle_rotation_error: 3.0731529160937776 + euclidean_error: 0.9849452322844858 + wrist_inside_marker_pose: + angle_rotation_error: 3.0853444060351243 + euclidean_error: 0.9799923636345957 + wrist_top_marker_pose: + angle_rotation_error: 2.9731492986430967 + euclidean_error: 0.9773146378305968 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0821634267951405 + euclidean_error: 0.9714801049305241 + base_right_marker_pose: + angle_rotation_error: 3.123092333658629 + euclidean_error: 0.9730609029209045 + shoulder_marker_pose: + angle_rotation_error: 3.138610830454968 + euclidean_error: 0.9844001529512129 + wrist_inside_marker_pose: + angle_rotation_error: 2.9879413968334494 + euclidean_error: 0.9802517632315995 + wrist_top_marker_pose: + angle_rotation_error: 2.7686071261234466 + euclidean_error: 0.9797614982489431 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0633989706504225 + euclidean_error: 0.9713589170827253 + base_right_marker_pose: + angle_rotation_error: 3.082660065465428 + euclidean_error: 0.9735034919295782 + shoulder_marker_pose: + angle_rotation_error: 3.1375293660150176 + euclidean_error: 0.983973130987266 + wrist_inside_marker_pose: + angle_rotation_error: 3.118909736668709 + euclidean_error: 0.9800914274786046 + wrist_top_marker_pose: + angle_rotation_error: 2.9101012541227362 + euclidean_error: 0.9794620878463115 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.067783673857596 + euclidean_error: 0.9722778663323365 + base_right_marker_pose: + angle_rotation_error: 3.13824638761071 + euclidean_error: 0.9729502331664641 + shoulder_marker_pose: + angle_rotation_error: 3.0509591721652907 + euclidean_error: 0.9849357273197719 + wrist_inside_marker_pose: + angle_rotation_error: 3.042700727853727 + euclidean_error: 0.98011524684605 + wrist_top_marker_pose: + angle_rotation_error: 2.8528306868702917 + euclidean_error: 0.9790252692161963 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094877874003454 + euclidean_error: 0.971492230725379 + base_right_marker_pose: + angle_rotation_error: 3.120304216106367 + euclidean_error: 0.9735027017616629 + shoulder_marker_pose: + angle_rotation_error: 3.0683136274632297 + euclidean_error: 0.984892206974101 + wrist_inside_marker_pose: + angle_rotation_error: 3.0055318915772373 + euclidean_error: 0.981224850431578 + wrist_top_marker_pose: + angle_rotation_error: 2.826516040476433 + euclidean_error: 0.9785714714654836 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10692442623167 + euclidean_error: 0.9712061899111252 + base_right_marker_pose: + angle_rotation_error: 3.11773036737908 + euclidean_error: 0.9733755758756014 + shoulder_marker_pose: + angle_rotation_error: 3.081019736401697 + euclidean_error: 0.9847437149022242 + wrist_inside_marker_pose: + angle_rotation_error: 2.9873769565301127 + euclidean_error: 0.9805799420190384 + wrist_top_marker_pose: + angle_rotation_error: 2.8719902460728224 + euclidean_error: 0.9780798624412709 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1025591649852875 + euclidean_error: 0.9710053831508125 + base_right_marker_pose: + angle_rotation_error: 3.113669953490597 + euclidean_error: 0.9732813326359468 + shoulder_marker_pose: + angle_rotation_error: 3.108440499812068 + euclidean_error: 0.9841645944758837 + wrist_inside_marker_pose: + angle_rotation_error: 2.925588216181058 + euclidean_error: 0.9812825194433744 + wrist_top_marker_pose: + angle_rotation_error: 2.809667258309657 + euclidean_error: 0.9793414351608141 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0932915719134466 + euclidean_error: 0.9714328257563707 + base_right_marker_pose: + angle_rotation_error: 3.1051685676348404 + euclidean_error: 0.9729293596551962 + shoulder_marker_pose: + angle_rotation_error: 3.070163836549909 + euclidean_error: 0.9848926105206358 + wrist_inside_marker_pose: + angle_rotation_error: 3.1252014552485607 + euclidean_error: 0.9799605839854657 + wrist_top_marker_pose: + angle_rotation_error: 2.9138028653805166 + euclidean_error: 0.9805297373307466 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1243335605893057 + euclidean_error: 0.9709999473722127 + base_right_marker_pose: + angle_rotation_error: 3.141208205782079 + euclidean_error: 0.9731346002027221 + shoulder_marker_pose: + angle_rotation_error: 3.099063849148671 + euclidean_error: 0.9844485843912038 + wrist_inside_marker_pose: + angle_rotation_error: 3.056480386793298 + euclidean_error: 0.9803847119358671 + wrist_top_marker_pose: + angle_rotation_error: 2.925067183506865 + euclidean_error: 0.9779723625281114 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.12607916440077 + euclidean_error: 0.9710656243455567 + base_right_marker_pose: + angle_rotation_error: 3.0856988261279765 + euclidean_error: 0.9732677334244645 + shoulder_marker_pose: + angle_rotation_error: 3.0655630324338254 + euclidean_error: 0.9833246369917346 + wrist_inside_marker_pose: + angle_rotation_error: 3.0297472891547264 + euclidean_error: 0.9815197540185822 + wrist_top_marker_pose: + angle_rotation_error: 3.063993355117412 + euclidean_error: 0.9772375038853613 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108294458209025 + euclidean_error: 0.9714053128260987 + base_right_marker_pose: + angle_rotation_error: 3.124524931119375 + euclidean_error: 0.973420363582575 + shoulder_marker_pose: + angle_rotation_error: 3.079980863412908 + euclidean_error: 0.9847583202611561 + wrist_inside_marker_pose: + angle_rotation_error: 3.105967941474421 + euclidean_error: 0.9801985555522089 + wrist_top_marker_pose: + angle_rotation_error: 2.9851286319597965 + euclidean_error: 0.9774390293842113 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.091390222286325 + euclidean_error: 0.9714247205864937 + base_right_marker_pose: + angle_rotation_error: 3.096700527102005 + euclidean_error: 0.9731391353531289 + shoulder_marker_pose: + angle_rotation_error: 3.07587299576805 + euclidean_error: 0.9849825858405864 + wrist_inside_marker_pose: + angle_rotation_error: 2.942774789113582 + euclidean_error: 0.9804183871154551 + wrist_top_marker_pose: + angle_rotation_error: 2.904883635448634 + euclidean_error: 0.9774435184060549 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0611470801307337 + euclidean_error: 0.9714766013540932 + base_right_marker_pose: + angle_rotation_error: 3.0964485506276533 + euclidean_error: 0.9734113416610265 + shoulder_marker_pose: + angle_rotation_error: 3.043016964654133 + euclidean_error: 0.9844786575155922 + wrist_inside_marker_pose: + angle_rotation_error: 3.071770252758826 + euclidean_error: 0.9792589363821431 + wrist_top_marker_pose: + angle_rotation_error: 2.7502728660864295 + euclidean_error: 0.9796407866581953 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0957680740667173 + euclidean_error: 0.9712977841796381 + base_right_marker_pose: + angle_rotation_error: 3.1281731696632886 + euclidean_error: 0.9731844122540636 + shoulder_marker_pose: + angle_rotation_error: 3.058694288391937 + euclidean_error: 0.9846173347404269 + wrist_inside_marker_pose: + angle_rotation_error: 3.019858519208986 + euclidean_error: 0.9810474542484604 + wrist_top_marker_pose: + angle_rotation_error: 2.8575317628390144 + euclidean_error: 0.977688966667726 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0702030412852883 + euclidean_error: 0.9714681408510967 + base_right_marker_pose: + angle_rotation_error: 3.084240072837597 + euclidean_error: 0.9735006098593585 + shoulder_marker_pose: + angle_rotation_error: 2.9970436275421624 + euclidean_error: 0.9853801585107324 + wrist_inside_marker_pose: + angle_rotation_error: 2.9429324598055233 + euclidean_error: 0.9814891658099254 + wrist_top_marker_pose: + angle_rotation_error: 2.9011918782433885 + euclidean_error: 0.9800567497449706 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0617534703382803 + euclidean_error: 0.9714908205998576 + base_right_marker_pose: + angle_rotation_error: 3.1290784007850596 + euclidean_error: 0.9733037839938989 + shoulder_marker_pose: + angle_rotation_error: 3.1186380490823096 + euclidean_error: 0.9843741604308622 + wrist_inside_marker_pose: + angle_rotation_error: 3.125465804911091 + euclidean_error: 0.9801661140366328 + wrist_top_marker_pose: + angle_rotation_error: 2.9320467273127626 + euclidean_error: 0.978932709411121 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0847745794823798 + euclidean_error: 0.9712660917286715 + base_right_marker_pose: + angle_rotation_error: 3.136003413689356 + euclidean_error: 0.973037236158299 + shoulder_marker_pose: + angle_rotation_error: 3.139461752868779 + euclidean_error: 0.9839723139506832 + wrist_inside_marker_pose: + angle_rotation_error: 3.0317162004781166 + euclidean_error: 0.98153251082654 + wrist_top_marker_pose: + angle_rotation_error: 2.9673018451018143 + euclidean_error: 0.9778634382456834 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1206570509638305 + euclidean_error: 0.9710593796695973 + base_right_marker_pose: + angle_rotation_error: 3.1270837987071265 + euclidean_error: 0.9730739137420178 + shoulder_marker_pose: + angle_rotation_error: 3.1136123045285755 + euclidean_error: 0.9843356951405485 + wrist_inside_marker_pose: + angle_rotation_error: 2.864332398507372 + euclidean_error: 0.9806345520855317 + wrist_top_marker_pose: + angle_rotation_error: 2.8625006139537277 + euclidean_error: 0.9778900483418043 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1121082930806905 + euclidean_error: 0.971229877511489 + base_right_marker_pose: + angle_rotation_error: 3.0995658197668665 + euclidean_error: 0.9735894691775008 + shoulder_marker_pose: + angle_rotation_error: 3.094800028388488 + euclidean_error: 0.9849674221319693 + wrist_inside_marker_pose: + angle_rotation_error: 2.9754679723057116 + euclidean_error: 0.9813757667159727 + wrist_top_marker_pose: + angle_rotation_error: 2.9370503455987076 + euclidean_error: 0.978371462593819 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083203591144325 + euclidean_error: 0.9709943193552545 + base_right_marker_pose: + angle_rotation_error: 3.140643087820545 + euclidean_error: 0.9732229919491681 + shoulder_marker_pose: + angle_rotation_error: 3.1210672932926005 + euclidean_error: 0.9843270619108971 + wrist_inside_marker_pose: + angle_rotation_error: 2.9600884741655356 + euclidean_error: 0.9816265417144364 + wrist_top_marker_pose: + angle_rotation_error: 2.8625758045853456 + euclidean_error: 0.9792233449420474 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1040946282411412 + euclidean_error: 0.9714895266288065 + base_right_marker_pose: + angle_rotation_error: 3.101690549131056 + euclidean_error: 0.9730680783945838 + shoulder_marker_pose: + angle_rotation_error: 3.105066886698126 + euclidean_error: 0.9839084958449373 + wrist_inside_marker_pose: + angle_rotation_error: 2.8875769557389086 + euclidean_error: 0.9821663837261457 + wrist_top_marker_pose: + angle_rotation_error: 2.833955305772939 + euclidean_error: 0.9787692846994459 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.078911694372529 + euclidean_error: 0.9715380404560985 + base_right_marker_pose: + angle_rotation_error: 3.120744925227245 + euclidean_error: 0.9729276183993997 + shoulder_marker_pose: + angle_rotation_error: 3.128871404105024 + euclidean_error: 0.9841097368624757 + wrist_inside_marker_pose: + angle_rotation_error: 2.9213261866087223 + euclidean_error: 0.9774571050779313 + wrist_top_marker_pose: + angle_rotation_error: 3.099416102589973 + euclidean_error: 0.9767683313935356 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0809042756707936 + euclidean_error: 0.971580412380683 + base_right_marker_pose: + angle_rotation_error: 3.0817443301651095 + euclidean_error: 0.9737420608679802 + shoulder_marker_pose: + angle_rotation_error: 3.081367850644151 + euclidean_error: 0.9842496323776444 + wrist_inside_marker_pose: + angle_rotation_error: 3.034229476500068 + euclidean_error: 0.9800927377878775 + wrist_top_marker_pose: + angle_rotation_error: 2.842795854561354 + euclidean_error: 0.9786934817916733 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.080205868498398 + euclidean_error: 0.9717527407503557 + base_right_marker_pose: + angle_rotation_error: 3.1126490871683097 + euclidean_error: 0.9730659028706014 + shoulder_marker_pose: + angle_rotation_error: 3.111600847838107 + euclidean_error: 0.9842075771303387 + wrist_inside_marker_pose: + angle_rotation_error: 3.052677224522692 + euclidean_error: 0.980653533601444 + wrist_top_marker_pose: + angle_rotation_error: 2.898552037147253 + euclidean_error: 0.9788098492503066 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0926413167605653 + euclidean_error: 0.971940530835177 + base_right_marker_pose: + angle_rotation_error: 3.1357427281552566 + euclidean_error: 0.9731216280760532 + shoulder_marker_pose: + angle_rotation_error: 3.0868311539590327 + euclidean_error: 0.9847992481347407 + wrist_inside_marker_pose: + angle_rotation_error: 3.003777753790345 + euclidean_error: 0.9803812167328483 + wrist_top_marker_pose: + angle_rotation_error: 2.8435996144458136 + euclidean_error: 0.9790429519392453 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083677151729016 + euclidean_error: 0.9716325515198774 + base_right_marker_pose: + angle_rotation_error: 3.112502063481525 + euclidean_error: 0.973242631887569 + shoulder_marker_pose: + angle_rotation_error: 3.1152062510088894 + euclidean_error: 0.9846333740255847 + wrist_inside_marker_pose: + angle_rotation_error: 3.1163720216581687 + euclidean_error: 0.97950653114302 + wrist_top_marker_pose: + angle_rotation_error: 2.9889985702744233 + euclidean_error: 0.9764440949255369 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0999370944118154 + euclidean_error: 0.9713949206357192 + base_right_marker_pose: + angle_rotation_error: 3.092046687301831 + euclidean_error: 0.9732976408686786 + shoulder_marker_pose: + angle_rotation_error: 3.0610072743735803 + euclidean_error: 0.9850686932836976 + wrist_inside_marker_pose: + angle_rotation_error: 3.083581027757112 + euclidean_error: 0.9802358376987548 + wrist_top_marker_pose: + angle_rotation_error: 2.873922393268171 + euclidean_error: 0.9787165559760581 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0762987492981617 + euclidean_error: 0.9714929096305439 + base_right_marker_pose: + angle_rotation_error: 3.135375524883401 + euclidean_error: 0.9731143498345521 + shoulder_marker_pose: + angle_rotation_error: 3.0189100109586002 + euclidean_error: 0.9847197413073041 + wrist_inside_marker_pose: + angle_rotation_error: 2.9764055099709754 + euclidean_error: 0.9800640752755445 + wrist_top_marker_pose: + angle_rotation_error: 2.9365895831210413 + euclidean_error: 0.9774884064487284 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.063575350076979 + euclidean_error: 0.9714881389346964 + base_right_marker_pose: + angle_rotation_error: 3.1345331509481906 + euclidean_error: 0.9732147154408529 + shoulder_marker_pose: + angle_rotation_error: 3.1326404815676323 + euclidean_error: 0.9843968807751223 + wrist_inside_marker_pose: + angle_rotation_error: 2.906452032549161 + euclidean_error: 0.981116365334834 + wrist_top_marker_pose: + angle_rotation_error: 2.8137517533590315 + euclidean_error: 0.9791143715560571 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0830811573155823 + euclidean_error: 0.9714447330910392 + base_right_marker_pose: + angle_rotation_error: 3.1237535287014775 + euclidean_error: 0.9734071484227825 + shoulder_marker_pose: + angle_rotation_error: 3.136210266217804 + euclidean_error: 0.9845729190361938 + wrist_inside_marker_pose: + angle_rotation_error: 2.8506837780713288 + euclidean_error: 0.9828971191739558 + wrist_top_marker_pose: + angle_rotation_error: 2.8466528171083203 + euclidean_error: 0.9803623261454283 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.096939971784441 + euclidean_error: 0.9712732362126035 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.065770573671509 + euclidean_error: 0.9843098741317602 + wrist_inside_marker_pose: + angle_rotation_error: 2.968122386534015 + euclidean_error: 0.9807050678550209 + wrist_top_marker_pose: + angle_rotation_error: 2.8531176950194648 + euclidean_error: 0.9779572586914129 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.086346135918626 + euclidean_error: 0.9713714782550175 + base_right_marker_pose: + angle_rotation_error: 3.089006728727824 + euclidean_error: 0.9732662710240154 + shoulder_marker_pose: + angle_rotation_error: 3.119685809554159 + euclidean_error: 0.9843080675785156 + wrist_inside_marker_pose: + angle_rotation_error: 3.1383707606198596 + euclidean_error: 0.9794079937132814 + wrist_top_marker_pose: + angle_rotation_error: 3.057484512939657 + euclidean_error: 0.9781041617766122 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0672793490007555 + euclidean_error: 0.9715834457568366 + base_right_marker_pose: + angle_rotation_error: 3.1233951340367883 + euclidean_error: 0.9731579415545288 + shoulder_marker_pose: + angle_rotation_error: 3.012552127836543 + euclidean_error: 0.9850501155727633 + wrist_inside_marker_pose: + angle_rotation_error: 3.108524858129994 + euclidean_error: 0.9810865480141673 + wrist_top_marker_pose: + angle_rotation_error: 2.8948035222238895 + euclidean_error: 0.9805755293164296 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.071400477437252 + euclidean_error: 0.9713986163330571 + base_right_marker_pose: + angle_rotation_error: 3.1209468948676964 + euclidean_error: 0.9732462854534374 + shoulder_marker_pose: + angle_rotation_error: 3.1266285595057908 + euclidean_error: 0.9839121336335505 + wrist_inside_marker_pose: + angle_rotation_error: 2.936854878705853 + euclidean_error: 0.982797644832407 + wrist_top_marker_pose: + angle_rotation_error: 2.804001698182034 + euclidean_error: 0.9801703527104456 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.1070214345836713 + euclidean_error: 0.9734833818187532 + shoulder_marker_pose: + angle_rotation_error: 3.1309880391168536 + euclidean_error: 0.9839995190780717 + wrist_inside_marker_pose: + angle_rotation_error: 3.104457018024562 + euclidean_error: 0.9799019528165833 + wrist_top_marker_pose: + angle_rotation_error: 2.916056733228779 + euclidean_error: 0.9777997277750515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.077082318143434 + euclidean_error: 0.9716965445588902 + base_right_marker_pose: + angle_rotation_error: 3.129752158646163 + euclidean_error: 0.9730804763765363 + shoulder_marker_pose: + angle_rotation_error: 3.0196749399899314 + euclidean_error: 0.984733925063751 + wrist_inside_marker_pose: + angle_rotation_error: 2.915686382127557 + euclidean_error: 0.9810065992563567 + wrist_top_marker_pose: + angle_rotation_error: 2.855398011434971 + euclidean_error: 0.9788548695870792 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083113750764233 + euclidean_error: 0.971155038047826 + base_right_marker_pose: + angle_rotation_error: 3.075719214631881 + euclidean_error: 0.9731259178345217 + shoulder_marker_pose: + angle_rotation_error: 3.0698943964850898 + euclidean_error: 0.9843400930429048 + wrist_inside_marker_pose: + angle_rotation_error: 3.110211884641138 + euclidean_error: 0.9796816361462454 + wrist_top_marker_pose: + angle_rotation_error: 2.891689751881646 + euclidean_error: 0.977563139489564 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0993350958274437 + euclidean_error: 0.9710548816073976 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.061884891110903 + euclidean_error: 0.9847422299400639 + wrist_inside_marker_pose: + angle_rotation_error: 3.1332902510736425 + euclidean_error: 0.9788681696843292 + wrist_top_marker_pose: + angle_rotation_error: 2.9828642728179435 + euclidean_error: 0.9781058708600026 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1165899103663532 + euclidean_error: 0.9709126298834772 + base_right_marker_pose: + angle_rotation_error: 3.0942674574079194 + euclidean_error: 0.9738034515008104 + shoulder_marker_pose: + angle_rotation_error: 3.1040033203799706 + euclidean_error: 0.985081601698877 + wrist_inside_marker_pose: + angle_rotation_error: 2.998457369109123 + euclidean_error: 0.9811776715660714 + wrist_top_marker_pose: + angle_rotation_error: 2.921717044451275 + euclidean_error: 0.9780850564119382 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0754949557769726 + euclidean_error: 0.9716976705190449 + base_right_marker_pose: + angle_rotation_error: 3.1280698846692623 + euclidean_error: 0.9733512225168488 + shoulder_marker_pose: + angle_rotation_error: 3.050850088753376 + euclidean_error: 0.9834276047580551 + wrist_inside_marker_pose: + angle_rotation_error: 3.136915159331461 + euclidean_error: 0.9799054295922711 + wrist_top_marker_pose: + angle_rotation_error: 2.9398072943177755 + euclidean_error: 0.9786694246630926 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0669606775596114 + euclidean_error: 0.9717533150861518 + base_right_marker_pose: + angle_rotation_error: 3.0928280988795134 + euclidean_error: 0.9728476280397712 + shoulder_marker_pose: + angle_rotation_error: 3.1362678132703548 + euclidean_error: 0.9843557809088267 + wrist_inside_marker_pose: + angle_rotation_error: 3.0945651207931246 + euclidean_error: 0.9788755980363314 + wrist_top_marker_pose: + angle_rotation_error: 3.0068105324497307 + euclidean_error: 0.9765634841664846 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0897214512758797 + euclidean_error: 0.9715841211071689 + base_right_marker_pose: + angle_rotation_error: 3.135183266209459 + euclidean_error: 0.9731201797995441 + shoulder_marker_pose: + angle_rotation_error: 3.123556313068212 + euclidean_error: 0.9835843324081197 + wrist_inside_marker_pose: + angle_rotation_error: 3.1118890331474987 + euclidean_error: 0.9807025669223584 + wrist_top_marker_pose: + angle_rotation_error: 2.9109565978369005 + euclidean_error: 0.9772977604382715 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0598464993079473 + euclidean_error: 0.9716767170510822 + base_right_marker_pose: + angle_rotation_error: 3.103320796049416 + euclidean_error: 0.9735034624644696 + shoulder_marker_pose: + angle_rotation_error: 3.123765021074789 + euclidean_error: 0.984584250246421 + wrist_inside_marker_pose: + angle_rotation_error: 3.106836578475211 + euclidean_error: 0.979919308106539 + wrist_top_marker_pose: + angle_rotation_error: 2.8904570433468053 + euclidean_error: 0.9779455110812315 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.091737449280254 + euclidean_error: 0.9712542905467783 + base_right_marker_pose: + angle_rotation_error: 3.107294161223857 + euclidean_error: 0.9732412978394878 + shoulder_marker_pose: + angle_rotation_error: 3.0643245728517656 + euclidean_error: 0.9847131987466841 + wrist_inside_marker_pose: + angle_rotation_error: 2.9694679833462154 + euclidean_error: 0.9818568066645657 + wrist_top_marker_pose: + angle_rotation_error: 2.9229978958230345 + euclidean_error: 0.9787683448064082 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100310707290553 + euclidean_error: 0.9719087652070404 + base_right_marker_pose: + angle_rotation_error: null + euclidean_error: null + shoulder_marker_pose: + angle_rotation_error: 3.033292147423175 + euclidean_error: 0.9845389189880867 + wrist_inside_marker_pose: + angle_rotation_error: 3.0457627386898833 + euclidean_error: 0.9804219632069866 + wrist_top_marker_pose: + angle_rotation_error: 2.951199522115575 + euclidean_error: 0.9783117889125761 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0485893315243895 + euclidean_error: 0.9712392367141501 + base_right_marker_pose: + angle_rotation_error: 3.1380850150677313 + euclidean_error: 0.9731054610944291 + shoulder_marker_pose: + angle_rotation_error: 3.121325331161576 + euclidean_error: 0.9840910017925508 + wrist_inside_marker_pose: + angle_rotation_error: 3.1317751687418096 + euclidean_error: 0.9794771958096312 + wrist_top_marker_pose: + angle_rotation_error: 2.8201031318567398 + euclidean_error: 0.9798873682594536 +- error_data: + base_left_marker_pose: + angle_rotation_error: null + euclidean_error: null + base_right_marker_pose: + angle_rotation_error: 3.097975589556916 + euclidean_error: 0.9734792759447225 + shoulder_marker_pose: + angle_rotation_error: 3.0867568368965292 + euclidean_error: 0.9843461409479554 + wrist_inside_marker_pose: + angle_rotation_error: 3.0362841000117733 + euclidean_error: 0.9806849079343756 + wrist_top_marker_pose: + angle_rotation_error: 2.7825001616372997 + euclidean_error: 0.9792989078071451 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0937390136001746 + euclidean_error: 0.9715883016051001 + base_right_marker_pose: + angle_rotation_error: 3.1364151347126175 + euclidean_error: 0.9730770413248391 + shoulder_marker_pose: + angle_rotation_error: 3.0777657844560684 + euclidean_error: 0.9844393001250388 + wrist_inside_marker_pose: + angle_rotation_error: 3.0720706446858688 + euclidean_error: 0.9803063449705379 + wrist_top_marker_pose: + angle_rotation_error: 2.8493891017196984 + euclidean_error: 0.9795514100722337 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083729212657759 + euclidean_error: 0.9714703925159709 + base_right_marker_pose: + angle_rotation_error: 3.115441195792279 + euclidean_error: 0.9734824729779928 + shoulder_marker_pose: + angle_rotation_error: 3.123352200201847 + euclidean_error: 0.9848980165398974 + wrist_inside_marker_pose: + angle_rotation_error: 3.0260780947573123 + euclidean_error: 0.9808180457989198 + wrist_top_marker_pose: + angle_rotation_error: 2.9629743692695305 + euclidean_error: 0.977491748186451 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1101690806967612 + euclidean_error: 0.9708455506497148 + base_right_marker_pose: + angle_rotation_error: 3.1157922456634193 + euclidean_error: 0.9733942575615884 + shoulder_marker_pose: + angle_rotation_error: 3.0828176733221833 + euclidean_error: 0.9851194171624318 + wrist_inside_marker_pose: + angle_rotation_error: 3.0009718390142113 + euclidean_error: 0.9807753358127934 + wrist_top_marker_pose: + angle_rotation_error: 2.919883644024195 + euclidean_error: 0.9775274523932314 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.083678873926927 + euclidean_error: 0.9717233609565608 + base_right_marker_pose: + angle_rotation_error: 3.0861580125068517 + euclidean_error: 0.9732417833161415 + shoulder_marker_pose: + angle_rotation_error: 3.065380707344039 + euclidean_error: 0.9845830270446118 + wrist_inside_marker_pose: + angle_rotation_error: 2.994873590921454 + euclidean_error: 0.9797418286355296 + wrist_top_marker_pose: + angle_rotation_error: 2.9546939319368004 + euclidean_error: 0.9775732609504646 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0781818765590896 + euclidean_error: 0.9717750726383162 + base_right_marker_pose: + angle_rotation_error: 3.0686495105809533 + euclidean_error: 0.9736758013449954 + shoulder_marker_pose: + angle_rotation_error: 3.1103959827497323 + euclidean_error: 0.9846626746129319 + wrist_inside_marker_pose: + angle_rotation_error: 3.128160155705776 + euclidean_error: 0.9801854385110816 + wrist_top_marker_pose: + angle_rotation_error: 2.894523162307991 + euclidean_error: 0.9787189152891649 diff --git a/stretch_camera_testrig/data/results/testrig_results_134322070297_202204261813.yaml b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204261813.yaml new file mode 100644 index 0000000..3f2f3cf --- /dev/null +++ b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204261813.yaml @@ -0,0 +1,68 @@ +Realsense Details: + firmware: 05.13.00.50 + serial: '134322070297' + usb: '3.2' +capture_id: '202204261813' +lighting_condition: + brightness: null + temperature: null +null_frames: + base_left_marker_pose: 272 + base_right_marker_pose: 192 + shoulder_marker_pose: 0 + wrist_inside_marker_pose: 0 + wrist_top_marker_pose: 0 +number_samples: 600 +performance_metrics: + angle_rotation_error: + base_left_marker_pose: + maximum: 3.1258827310374016 + mean: 3.0725028300116475 + median: 3.0746407646264298 + rmse: 3.0725811678416126 + base_right_marker_pose: + maximum: 3.1415600463725744 + mean: 3.1281164385598323 + median: 3.131120104508878 + rmse: 3.1281361865272763 + shoulder_marker_pose: + maximum: 3.1389336379556836 + mean: 3.0512989442373804 + median: 3.0493995194523613 + rmse: 3.0515383390778847 + wrist_inside_marker_pose: + maximum: 3.13906352088329 + mean: 2.9671124450790147 + median: 2.9631123705678677 + rmse: 2.967834290736253 + wrist_top_marker_pose: + maximum: 3.1415549339204576 + mean: 3.0767871487676173 + median: 3.084675730671946 + rmse: 3.07717660415396 + euclidean_error: + base_left_marker_pose: + maximum: 0.03414611432137011 + mean: 0.03399378330856081 + median: 0.03399530706887118 + rmse: 0.033993842471503145 + base_right_marker_pose: + maximum: 0.03455412890846682 + mean: 0.03436417794040963 + median: 0.03436250360749031 + rmse: 0.03436421681807256 + shoulder_marker_pose: + maximum: 0.0345151353685676 + mean: 0.03424525455350311 + median: 0.0342402193054973 + rmse: 0.03424533774691318 + wrist_inside_marker_pose: + maximum: 0.03582231291904326 + mean: 0.035335379096608645 + median: 0.03532788514175855 + rmse: 0.03533579402749221 + wrist_top_marker_pose: + maximum: 0.03533980379142684 + mean: 0.034731985234355375 + median: 0.034705777990379355 + rmse: 0.03473224997401931 diff --git a/stretch_camera_testrig/data/results/testrig_results_202204261414.yaml b/stretch_camera_testrig/data/results/testrig_results_202204261414.yaml new file mode 100644 index 0000000..6bfe481 --- /dev/null +++ b/stretch_camera_testrig/data/results/testrig_results_202204261414.yaml @@ -0,0 +1,68 @@ +Realsense Details: + firmware: 05.13.00.50 + serial: '134322070297' + usb: '3.2' +capture_id: '202204261414' +lighting_condition: + brightness: null + temperature: null +null_frames: + base_left_marker_pose: 59 + base_right_marker_pose: 90 + shoulder_marker_pose: 4 + wrist_inside_marker_pose: 0 + wrist_top_marker_pose: 0 +number_samples: 600 +performance_metrics: + angle_rotation_error: + base_left_marker_pose: + maximum: 3.1275576076978107 + mean: 3.0844446192804003 + median: 3.085289002989193 + rmse: 3.084509116150328 + base_right_marker_pose: + maximum: 3.1415675780257146 + mean: 3.120280746109533 + median: 3.1220539908722342 + rmse: 3.1203188088447393 + shoulder_marker_pose: + maximum: 3.1412206574486286 + mean: 3.0803388462890138 + median: 3.086926562084815 + rmse: 3.0805747860699184 + wrist_inside_marker_pose: + maximum: 3.140033572342562 + mean: 3.028636293238632 + median: 3.034294458026425 + rmse: 3.0294976506020994 + wrist_top_marker_pose: + maximum: 3.1414217232795028 + mean: 2.9309349672425977 + median: 2.9226252953142797 + rmse: 2.9319990113675507 + euclidean_error: + base_left_marker_pose: + maximum: 0.9724175395587147 + mean: 0.9711948725610475 + median: 0.9711874765852018 + rmse: 0.9711949482590717 + base_right_marker_pose: + maximum: 0.9739097812523311 + mean: 0.9731779719411534 + median: 0.9731709697130762 + rmse: 0.973177992657312 + shoulder_marker_pose: + maximum: 0.9860701882814852 + mean: 0.9846072444944528 + median: 0.9846312727709248 + rmse: 0.9846073629903658 + wrist_inside_marker_pose: + maximum: 0.9834809515322587 + mean: 0.9805508942375426 + median: 0.9805141568620914 + rmse: 0.9805512942588581 + wrist_top_marker_pose: + maximum: 0.9819304933010518 + mean: 0.9784622428409652 + median: 0.9783632048498961 + rmse: 0.9784627071336145 diff --git a/stretch_camera_testrig/data/testrig_collected_data_202204261414.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204261414.yaml new file mode 100644 index 0000000..8f275a2 --- /dev/null +++ b/stretch_camera_testrig/data/testrig_collected_data_202204261414.yaml @@ -0,0 +1,56874 @@ +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: + - - 0.9977295365816334 + - -0.00406848678583966 + - -0.06722513851136681 + - 0.023690997676874027 + - - -0.0073479712907686436 + - -0.9987908741998045 + - -0.04860860966024006 + - -0.034737885275476346 + - - -0.06694609137589023 + - 0.0489922139779883 + - -0.9965530511814348 + - 0.9695808350720014 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8810804874516984 + - 0.02584302945178188 + - -0.47225979339832846 + - 0.09995633819914215 + - - 0.022458048611997544 + - -0.9996657847458723 + - -0.01280448597018949 + - -0.08999683678440333 + - - -0.472432863679506 + - 0.0006757493425514124 + - -0.8813664009243871 + - 0.9744309793422389 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9611792714675618 + - 0.05311389307989334 + - -0.27076433011566514 + - 0.012661178624303196 + - - 0.022561227762801315 + - -0.9931407406606383 + - -0.11472776578437094 + - -0.09393397979915707 + - - -0.2750007256407194 + - 0.10416517461194089 + - -0.9557846082120915 + - 0.976080297189075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988202817792412 + - 0.017308173754834347 + - -0.04537038491912663 + - 0.05417172086116186 + - - 0.003796130236402317 + - -0.9592933372243473 + - -0.28238605233297787 + - -0.0937462206236567 + - - -0.048411094819943094 + - 0.28188068447172376 + - -0.9582273454770988 + - 0.9741360886715376 + - - 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: + - - 0.9970021020126493 + - -0.003851857391436115 + - -0.07727853373993798 + - 0.023655327750572382 + - - -0.00728101091390696 + - -0.9989987607423381 + - -0.044141396844056165 + - -0.034759973658772335 + - - -0.07703113307248091 + - 0.04457173128686973 + - -0.9960319097838487 + - 0.9695524428503858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992628305914729 + - -0.012005678915044539 + - -0.036464490564190835 + - 0.09160225354602441 + - - -0.012835702667563297 + - -0.999661860471588 + - -0.022614363920160863 + - -0.03397303888696581 + - - -0.03618065968645426 + - 0.023065740661691744 + - -0.9990790416540529 + - 0.9681198525352778 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8823866797915034 + - 0.04029668822640978 + - -0.46879625024578686 + - 0.10004860086073723 + - - 0.012415649407372106 + - -0.9979730969332546 + - -0.06241433687256869 + - -0.09007600131387096 + - - -0.47036113676229685 + - 0.04925316959783193 + - -0.881098477077476 + - 0.9753345444616712 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9281348655380808 + - 0.0668302693768922 + - -0.3661958307622039 + - 0.012661838461615116 + - - 0.01504250545556747 + - -0.9896819331369422 + - -0.14248997947906689 + - -0.0938410893200482 + - - -0.3719400414075203 + - 0.12674141516228116 + - -0.9195636026292228 + - 0.9749531560959706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994722441328712 + - -0.0014880063656808502 + - 0.03245025493055777 + - 0.05399343542413919 + - - 0.0027784294066203275 + - -0.991373790536974 + - -0.1310354446948767 + - -0.09336958326985258 + - - 0.032365313810233984 + - 0.1310564507126885 + - -0.9908464528818567 + - 0.9701930860843548 + - - 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: + - - 0.997768301351236 + - -0.004544011802622409 + - -0.06661658033407833 + - 0.023694051018483923 + - - -0.007586197098072002 + - -0.9989361931477658 + - -0.04548551014376763 + - -0.03474357701998515 + - - -0.06633902646450493 + - 0.04588936670065531 + - -0.9967413403644672 + - 0.9699015478796568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994129236487976 + - -0.013418457865621635 + - -0.03152384862720738 + - 0.09159349319481272 + - - -0.013001510987403077 + - -0.9998257607539787 + - 0.0133943586920875 + - -0.033944074979792085 + - - -0.03169808757333769 + - -0.012976637516567986 + - -0.999413246921891 + - 0.967990234416986 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8824785879901242 + - 0.024436165821277837 + - -0.46971737836587624 + - 0.10001520460159087 + - - 0.019526696036335462 + - -0.9996919333540496 + - -0.01532144016560092 + - -0.09002831691716585 + - - -0.4699470713610856 + - 0.004348814412979837 + - -0.8826838833536846 + - 0.9746186041940784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9499894635255781 + - 0.0499719661196618 + - -0.30825771976143557 + - 0.01267430427498625 + - - 0.028332546348316348 + - -0.9968346754787734 + - -0.07428254559820872 + - -0.09395639526281066 + - - -0.3109940288941331 + - 0.06183390950978941 + - -0.9483982716279754 + - 0.9762667654491555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999692447840951 + - -9.383175550412769e-05 + - -0.007842237023199153 + - 0.053958373160092624 + - - -0.0010266030588530356 + - -0.9928909634499653 + - -0.11902302628298325 + - -0.09340839104213383 + - - -0.007775318134065647 + - 0.11902741656862853 + - -0.9928605232019817 + - 0.9703558766671825 + - - 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: + - - 0.997596245360139 + - -0.002924283934507093 + - -0.06923279430171517 + - 0.023686240593850837 + - - -0.008180539629600747 + - -0.997092504637551 + - -0.0757602532135635 + - -0.03479575798364298 + - - -0.06880995578200697 + - 0.07614450577083753 + - -0.9947196611237723 + - 0.97022044627935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8940606454855331 + - 0.05090473186961535 + - -0.44504412193317916 + - 0.1000837890825337 + - - 0.004313348281011379 + - -0.9944542289095102 + - -0.10508178543686149 + - -0.09010087330323963 + - - -0.44792516921981346 + - 0.09202985861813799 + - -0.88932195964236 + - 0.9754660792961304 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9222089538401091 + - 0.07868783479465258 + - -0.37860120194270513 + - 0.012636087757792942 + - - 0.004648802699493561 + - -0.9812623718503105 + - -0.19262021239777602 + - -0.0939692754219291 + - - -0.3866639808549443 + - 0.17587604227418988 + - -0.9052947496055497 + - 0.9762479778846023 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996429778111808 + - -0.00036275313536459925 + - 0.02671676108658783 + - 0.05402942317944276 + - - 0.004579795119772906 + - -0.9827836994662243 + - -0.1847030739867178 + - -0.09342068470794815 + - - 0.026323798917632212 + - 0.1847594881830019 + - -0.982431162543666 + - 0.9712077865352682 + - - 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: + - - 0.9952956180065818 + - -0.0037341448794034515 + - -0.09681264865148541 + - 0.023669401995628673 + - - -0.0073678890914651365 + - -0.9992805480893466 + - -0.03720350011210209 + - -0.03475260482936495 + - - -0.09660407334699818 + - 0.03774178549399772 + - -0.994607063437865 + - 0.9695705178664279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992815380351181 + - -0.012399215855625317 + - -0.03581434333244741 + - 0.09159193092301705 + - - -0.013101638866553649 + - -0.9997250768898702 + - -0.01944524868840322 + - -0.03397973944263183 + - - -0.035563391305937365 + - 0.019900504609407427 + - -0.9991692624951551 + - 0.9679681840979413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8745013641127319 + - 0.027692138549511094 + - -0.4842318758895637 + - 0.10000790652338906 + - - 0.02026085919930687 + - -0.9995830232398322 + - -0.0205737025161863 + - -0.09002194595694755 + - - -0.48459969227133953 + - 0.008180777058039783 + - -0.8746977838872413 + - 0.9745952878776032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.927315085057289 + - 0.059375847909599266 + - -0.3695419349819572 + - 0.012648010631266278 + - - 0.020725410314618494 + - -0.9939676743986452 + - -0.10769735195370327 + - -0.09387347919127298 + - - -0.373707359296661 + - 0.09221047085643401 + - -0.9229518073398802 + - 0.9754780918848747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954699037014305 + - -0.012953155276867523 + - 0.09419069270919497 + - 0.0540604616324539 + - - 0.005078808017053821 + - -0.9820170841974996 + - -0.1887237453352566 + - -0.09348964157045511 + - - 0.09494143739058591 + - 0.1883471850403245 + - -0.9775026656503782 + - 0.9713593884305943 + - - 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: + - - 0.9975972927608787 + - -0.00547387053064042 + - -0.06906285700417804 + - 0.02365887697589699 + - - -0.007828525898762321 + - -0.999395588330196 + - -0.03386993074091189 + - -0.034731220046383765 + - - -0.06883571499169718 + - 0.034329211577831885 + - -0.9970371856525847 + - 0.9694101618743409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8715893633574237 + - 0.03684466170045326 + - -0.4888501330534544 + - 0.09995436449484779 + - - 0.014908981744940956 + - -0.9987026378077758 + - -0.04869048674145403 + - -0.09000145486445685 + - - -0.4900099018851864 + - 0.03514985263084108 + - -0.8710079126589495 + - 0.9742173052427148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9063190861198943 + - 0.04742710284431413 + - -0.41992425989765636 + - 0.01261831836902365 + - - 0.03565560675474422 + - -0.9987211821765517 + - -0.035842404757801885 + - -0.09376205486521311 + - - -0.4210871546862367 + - 0.017512001246742508 + - -0.9068511112473665 + - 0.9743382683579649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9869595210103947 + - -0.01807291317670595 + - 0.15995084775092475 + - 0.054052855391144516 + - - 0.011525099624249044 + - -0.9831928762584612 + - -0.1822057632273624 + - -0.09350184641839844 + - - 0.16055552299931444 + - 0.18167316225552346 + - -0.9701632780880212 + - 0.9715689269809559 + - - 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: + - - 0.9978883932678156 + - -0.0035676787343554995 + - -0.06485388384534728 + - 0.023692776145264743 + - - -0.008983888459305029 + - -0.9964743589205242 + - -0.08341547675390286 + - -0.0347766450053652 + - - -0.06432763270576757 + - 0.08382197613024027 + - -0.9944022485835866 + - 0.970059260852727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.882648450074679 + - 0.06169102878553337 + - -0.46596773552269644 + - 0.10007604612498236 + - - -0.0018146405055369345 + - -0.990894925084078 + - -0.13462523731624373 + - -0.09012441085416756 + - - -0.47003023377289543 + - 0.11967232098527117 + - -0.874499922772664 + - 0.9756482615314792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9246790034165261 + - 0.08070812822320587 + - -0.37209533547106793 + - 0.012636702450511452 + - - 0.00595163926922232 + - -0.9802200397633505 + - -0.1978212618409474 + - -0.09392835737866838 + - - -0.38070108829714305 + - 0.18070659004320283 + - -0.9068692351625612 + - 0.9756940716331008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968121037867611 + - -0.012285512995522803 + - 0.07883334265809176 + - 0.0540993982429678 + - - 0.017183561134746374 + - -0.9318269863614485 + - -0.3624957830310162 + - -0.0936264071177708 + - - 0.07791248276713882 + - 0.3626948216599983 + - -0.9286453097766028 + - 0.9722344064915027 + - - 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: + - - 0.9962983390722924 + - -0.001987396730211662 + - -0.08593991980464198 + - 0.023673789850285676 + - - -0.008105587318418239 + - -0.997450401107342 + - -0.07090131723054462 + - -0.03477176768272902 + - - -0.08557989843424126 + - 0.07133545811894369 + - -0.9937742869479698 + - 0.9699563541139313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996126866635379 + - -0.012067932642842073 + - -0.025076715555103414 + - 0.09161047385853337 + - - -0.012980720690257198 + - -0.9992470892703671 + - -0.036561666743457816 + - -0.03400009600952235 + - - -0.024616611295327946 + - 0.036873019762774614 + - -0.9990167180092172 + - 0.9684401414395586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9336109626399324 + - 0.03573822458447478 + - -0.35650154241193466 + - 0.012627005304566296 + - - 0.04222508974253902 + - -0.9990537073383806 + - 0.010427446939297588 + - -0.09378623393414656 + - - -0.355791529177935 + - -0.024788488396571957 + - -0.9342365431774973 + - 0.9743654599281601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9835991272729585 + - -0.024903200881007816 + - 0.17864094551293236 + - 0.05409736257549364 + - - 0.013280709477495545 + - -0.9777348306563737 + - -0.20942355091328052 + - -0.09361291911093567 + - - 0.1798787913669887 + - 0.20836130040684908 + - -0.9613683939620227 + - 0.9726061602748912 + - - 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: + - - 0.9970579525685364 + - -0.005116588807453378 + - -0.07648045331203077 + - 0.023655681216299275 + - - -0.0074918653664270375 + - -0.9994974056081501 + - -0.030802729358103062 + - -0.03473002111022701 + - - -0.0762844097648373 + - 0.03128508752669003 + - -0.996595169627707 + - 0.9693555664226094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991884642862531 + - -0.010609225276976105 + - -0.03885688068156912 + - 0.09154990345768368 + - - -0.011319237050582125 + - -0.999772137350807 + - -0.018098294107230503 + - -0.03390671082710017 + - - -0.038656017770485065 + - 0.018523436938685453 + - -0.9990808748915708 + - 0.9677942569431113 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8754422298719472 + - 0.05435845739024182 + - -0.4802562443810451 + - 0.10011155333509518 + - - -0.0009869143751153886 + - -0.9934522015434621 + - -0.11424425258394703 + - -0.0901209161111476 + - - -0.48332176462150866 + - 0.10048821502346313 + - -0.869656363447396 + - 0.975608822040039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9484816062675282 + - 0.0476682420035451 + - -0.31322576726134943 + - 0.012658019158677316 + - - 0.026603404646864524 + - -0.9971081648091942 + - -0.0711868424081077 + - -0.09394084575310292 + - - -0.31571332159629373 + - 0.059186538800077106 + - -0.9470068913115167 + - 0.9760282809831823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961459891708564 + - -0.013945057443266289 + - 0.08659505546923547 + - 0.054130070557121476 + - - 0.010452692080106855 + - -0.9613704463441338 + - -0.2750592774737119 + - -0.09369038003302839 + - - 0.08708564455232813 + - 0.2749043474901515 + - -0.9575195508416111 + - 0.9734047373421167 + - - 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: + - - 0.9976051272208987 + - -0.002821055615265337 + - -0.06910898485573484 + - 0.023675595671030093 + - - -0.00806645403565473 + - -0.9970950157461707 + - -0.07573943420328942 + - -0.03477151622951806 + - - -0.0686945591867746 + - 0.07611551234380097 + - -0.994729855950235 + - 0.9697838775994989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8765504596409391 + - 0.03478040466241512 + - -0.48005167967082146 + - 0.10001937187884383 + - - 0.014642966636141631 + - -0.9988510465463433 + - -0.04563080474161129 + - -0.09005379433196367 + - - -0.481087180489515 + - 0.032968322141001725 + - -0.8760526322680935 + - 0.9749246390116342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9383698063097136 + - 0.05731301704829464 + - -0.3408479495069506 + - 0.012617554943555256 + - - 0.02430489778180687 + - -0.9946565660141016 + - -0.100337369054865 + - -0.09378802710187811 + - - -0.3447772883327536 + - 0.08586928299373502 + - -0.934748676216263 + - 0.9746716525900964 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981204052698589 + - -0.001067280875863056 + - 0.06127411766369778 + - 0.05402262765345599 + - - -0.0006562243651318106 + - -0.9999771499718324 + - -0.006728216984769577 + - -0.09334514159794441 + - - 0.06127989844569971 + - 0.006675361094618887 + - -0.998098298566199 + - 0.9702554568447502 + - - 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: + - - 0.9957396456439236 + - -0.003998103697784109 + - -0.0921225990717545 + - 0.023655723581249097 + - - -0.007495487304073636 + - -0.9992628835215457 + - -0.03764979795803814 + - -0.03478095716503042 + - - -0.09190416618950377 + - 0.03817990024906282 + - -0.9950356372783763 + - 0.9697407160366467 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990942760976302 + - -0.01430766997174291 + - -0.04007390733297509 + - 0.09154380157778233 + - - -0.013680002512117963 + - -0.9997801041384493 + - 0.01589342317377025 + - -0.03392180402667975 + - - -0.040292493100087944 + - -0.015330816967525805 + - -0.9990703083621735 + - 0.9675653691392417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8815777557528067 + - 0.06121154441235176 + - -0.46805321000127675 + - 0.10004265454216536 + - - 0.0008042404258488227 + - -0.9917499084889426 + - -0.12818530418699092 + - -0.0900843795670688 + - - -0.4720381486269749 + - 0.112628885472727 + - -0.8743538873922785 + - 0.975257419600867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9641324453533999 + - 0.032662821162088115 + - -0.2634041911788927 + - 0.012673223504463935 + - - 0.03896734300879384 + - -0.9990646554028778 + - 0.018744612654445138 + - -0.0938386820634051 + - - -0.26254556556092923 + - -0.028336450703354298 + - -0.9645034326355865 + - 0.975424839587842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999377039068295 + - 0.006660410344273558 + - -0.008956965980946172 + - 0.05409760356775931 + - - 0.004567502803129909 + - -0.9763575113625805 + - -0.21611373839719658 + - -0.09358259449659723 + - - -0.010184607193276216 + - 0.21605936438838844 + - -0.9763271095470023 + - 0.9724392021595649 + - - 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: + - - 0.9961155017151118 + - -0.00299582129026872 + - -0.08800529698630595 + - 0.02365563547698076 + - - -0.009096164694120142 + - -0.9975752623834763 + - -0.0689989541108852 + - -0.03475381143966716 + - - -0.08758519869651825 + - 0.06953143846732478 + - -0.9937274334715512 + - 0.9697855557980241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8746530804244952 + - 0.06801717874532359 + - -0.47995380225545475 + - 0.10013468898299739 + - - -0.00643056407110108 + - -0.9883918629335753 + - -0.15178989799200832 + - -0.09019665756978962 + - - -0.48470675335677854 + - 0.13584987553260225 + - -0.8640625987554997 + - 0.9763114869734024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9724872115217835 + - 0.03686326040293003 + - -0.23002113698321627 + - 0.012667378586975232 + - - 0.03416044782851363 + - -0.9992926777633 + - -0.015722848749795886 + - -0.09386563619025365 + - - -0.23043803338585664 + - 0.007432644288497217 + - -0.973058615175951 + - 0.9751707659170998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993103141360154 + - -0.016904653921246654 + - 0.11601889198055972 + - 0.05422001702778086 + - - 0.004297496563556545 + - -0.9836374880904819 + - -0.18010781089762337 + - -0.09383106976100718 + - - 0.11716519169053634 + - 0.17936422357552442 + - -0.976780831690134 + - 0.9743170169712105 + - - 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: + - - 0.9954734561488396 + - -0.0033823500322181597 + - -0.09497977580171381 + - 0.023685673231146884 + - - -0.007507454993512023 + - -0.9990422225862394 + - -0.0431077209959842 + - -0.03477057866450053 + - - -0.09474300091618724 + - 0.04362564839869752 + - -0.9945454069971813 + - 0.9699139335594356 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993036921777761 + - -0.011989474580282216 + - -0.03533246805918226 + - 0.09159513476399063 + - - -0.012736028406995075 + - -0.999698758044416 + - -0.020980627847347492 + - -0.03396367918635465 + - - -0.03507027773315437 + - 0.02141601418895321 + - -0.9991553582681616 + - 0.9680849050307061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8798747336067662 + - 0.05141349810856669 + - -0.4724162416478319 + - 0.10000973987697018 + - - 0.005110990749547226 + - -0.9950963648405532 + - -0.09877804642062525 + - -0.0900913567764968 + - - -0.47517820965820845 + - 0.0844977922395465 + - -0.875822922840378 + - 0.9753963315979925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.928707612208153 + - 0.06455301735386088 + - -0.36515076198351704 + - 0.012650090048222035 + - - 0.020219107799979607 + - -0.9920811634831648 + - -0.12396028695378192 + - -0.09387971212104956 + - - -0.37026120335028867 + - 0.10773983948569485 + - -0.9226585328718279 + - 0.9751127287270867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963916082299549 + - -0.013238863584061364 + - 0.08383612312080395 + - 0.053968341068718485 + - - 0.005452264987518057 + - -0.975736077404049 + - -0.218882114524386 + - -0.09345305881466122 + - - 0.08469968037383534 + - 0.21854939886250696 + - -0.9721430575802142 + - 0.971220663807154 + - - 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: + - - 0.996705533985875 + - -0.003564237383646534 + - -0.08102700002964931 + - 0.023683770187105404 + - - -0.008177870084740862 + - -0.9983589526735448 + - -0.05667913246918938 + - -0.03472726297813279 + - - -0.08069201300506064 + - 0.057155033273158316 + - -0.995099040904339 + - 0.969857647134899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.870977308332033 + - 0.025448933187718917 + - -0.4906637139327645 + - 0.09998162202136825 + - - 0.01812056934893143 + - -0.9996420688150954 + - -0.019681951670172955 + - -0.0899789326037849 + - - -0.49098897476130493 + - 0.008251427433085493 + - -0.8711267075507212 + - 0.9744374648941778 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9501382701030175 + - 0.054887575787351685 + - -0.30696029337657493 + - 0.012632369174853735 + - - 0.028617252315070944 + - -0.9955809619072565 + - -0.08944048947628837 + - -0.09375136686992314 + - - -0.3105129957917716 + - 0.07619647178190213 + - -0.9475103044993283 + - 0.9740989414818106 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935823180901102 + - -0.012531213732845308 + - 0.11241506065054119 + - 0.05406466969967922 + - - 0.004071038546352588 + - -0.9892385374690792 + - -0.14625506019003673 + - -0.09355097790144692 + - - 0.1130380636061907 + - 0.1457740877811242 + - -0.982838904148459 + - 0.9720027502484685 + - - 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: + - - 0.9972801436858327 + - -0.004399930358478702 + - -0.07357279132128648 + - 0.02365948637986519 + - - -0.008002512795401233 + - -0.9987792753819624 + - -0.04874339808058125 + - -0.03473059253848511 + - - -0.07326851164671268 + - 0.049199590245479784 + - -0.9960979497623479 + - 0.9693294451774742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8813365867483939 + - 0.05534700061999418 + - -0.469236113679522 + - 0.10009282597206459 + - - -0.0025936459029575615 + - -0.9925338246224992 + - -0.12194211733918883 + - -0.09015584197967003 + - - -0.4724818450053092 + - 0.10868908180035744 + - -0.8746128227037233 + - 0.9756330778510736 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.94246938993603 + - 0.07117952742310826 + - -0.3266265817557266 + - 0.012645438129345684 + - - 0.01011803011041542 + - -0.9826945682437667 + - -0.1849567814676796 + - -0.09393982970774094 + - - -0.3341393040339495 + - 0.1710112874053091 + - -0.9268797468278654 + - 0.9760509013902141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9897146171874965 + - -0.020715934240698824 + - 0.1415479657004725 + - 0.054100114224041616 + - - 0.0049289484391173005 + - -0.9839339089613316 + - -0.17846503372750516 + - -0.09359078228189827 + - - 0.14297091310015342 + - 0.177327135161571 + - -0.9737116642737209 + - 0.9722960942658319 + - - 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: + - - 0.9964409353068769 + - -0.004087113146317103 + - -0.08419476201573126 + - 0.023645042841299722 + - - -0.007881707401663577 + - -0.9989654984436287 + - -0.0447862881662172 + - -0.03473438423173518 + - - -0.08392461577624877 + - 0.045290489348229476 + - -0.9954423290384066 + - 0.9693058746348806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995811710173974 + - -0.011813747078085112 + - -0.02641813633592695 + - 0.09160804019749402 + - - -0.012350859194617357 + - -0.9997184284752179 + - -0.020261294237918552 + - -0.0339529949918942 + - - -0.026171335935395505 + - 0.020579094902735913 + - -0.9994456273496528 + - 0.9680266631267139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8696504539087999 + - 0.052013284490121256 + - -0.4909202646589037 + - 0.10009690217015821 + - - 0.002279485022646084 + - -0.9948465367951831 + - -0.1013665239349877 + - -0.09014609336144147 + - - -0.49366273098569013 + - 0.08703439816061585 + - -0.8652873057965025 + - 0.9758553167599768 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9343238397532232 + - 0.06859231762027815 + - -0.3497628574223858 + - 0.012621536755257352 + - - 0.01356472603291358 + - -0.9874398205838876 + - -0.1574121943589896 + - -0.09390700755881401 + - - -0.3561670404128452 + - 0.14232952852004813 + - -0.9235190006896533 + - 0.9758661594407164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954813344675154 + - -0.016476651207676322 + - 0.09351701819324251 + - 0.05417316411979461 + - - 0.01682598413753881 + - -0.9386395347469967 + - -0.34448905652828127 + - -0.09378827185203352 + - - 0.09345479647710953 + - 0.3445059415669382 + - -0.934120900762048 + - 0.9742208436268588 + - - 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: + - - 0.9971817820504492 + - -0.0025077172149715003 + - -0.07498136369165487 + - 0.02367085078536756 + - - -0.008532286549605935 + - -0.9967474496742023 + - -0.08013564534093595 + - -0.03478291754665771 + - - -0.07453652549539652 + - 0.0805495681077347 + - -0.9939597946822248 + - 0.9699730397388767 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8906869768448006 + - 0.06252249646937741 + - -0.45029728703858124 + - 0.10008287370774986 + - - -0.005791914743149464 + - -0.9888569151465995 + - -0.14875636151223828 + - -0.09011996238258871 + - - -0.4545802052473004 + - 0.13510343741736672 + - -0.8803998513149207 + - 0.9753623168735974 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9189824177811856 + - 0.0784912749645697 + - -0.3864070852915132 + - 0.012634918342203507 + - - 0.0040765334253325194 + - -0.9818251265923211 + - -0.18974404514293663 + - -0.09394142731623728 + - - -0.39427743745271376 + - 0.17279623996606214 + - -0.9026000009801199 + - 0.9756048304025859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9937517672989127 + - -0.014113182795079894 + - 0.11071695020041156 + - 0.05409532346013985 + - - 0.012664114467887814 + - -0.9713094479213039 + - -0.23748173947391663 + - -0.09351513295653927 + - - 0.1108920429743811 + - 0.23740003043429805 + - -0.9650617495035038 + - 0.971863769541784 + - - 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: + - - 0.9972368518520696 + - -0.0021916679266584128 + - -0.07425535603492088 + - 0.023675484752044035 + - - -0.00781577505369974 + - -0.9971125597597255 + - -0.07553447444523838 + - -0.034776973213576694 + - - -0.0738754016468511 + - 0.07590612466137144 + - -0.9943745196204543 + - 0.9698858493204972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8754669095816049 + - 0.02584305980170159 + - -0.48258659998773246 + - 0.09999582048062111 + - - 0.02018668824978672 + - -0.9996531872823354 + - -0.01691161653344369 + - -0.09010672730606548 + - - -0.4828562807348994 + - 0.005063735415086239 + - -0.875684972315105 + - 0.975323071614236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9351178715662439 + - 0.07026048407913085 + - -0.34730106630182417 + - 0.012651592015864556 + - - 0.012824440223439523 + - -0.9862127193390514 + - -0.1649848658114688 + - -0.09388573708906757 + - - -0.35410464556451854 + - 0.1498263547939385 + - -0.9231261903980339 + - 0.9754185296667565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9915291108665651 + - -0.012124034174144507 + - 0.12931755526417507 + - 0.054042593325794044 + - - 0.0011086630875000803 + - -0.994807570392557 + - -0.10176771961588713 + - -0.09340361323603681 + - - 0.1298799182719069 + - 0.1010490261457456 + - -0.9863672242854995 + - 0.970843939524018 + - - 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: + - - 0.9960508607326455 + - -0.0027450206596769883 + - -0.08874202891152576 + - 0.023666823086895425 + - - -0.00762662693936973 + - -0.9984727869580061 + - -0.054716800581177186 + - -0.034791026839168994 + - - -0.0884563021795723 + - 0.05517751866376902 + - -0.9945506141161575 + - 0.9699980454521409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996231573079504 + - -0.012987394138493933 + - -0.02418410567244776 + - 0.09160560195061371 + - - -0.01333704746540733 + - -0.9998080352853911 + - -0.01435324854072715 + - -0.033971445096547724 + - - -0.023993051881538087 + - 0.014670384189169269 + - -0.9996044784259184 + - 0.9681201155281919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8699240197800792 + - 0.03663214181718426 + - -0.49182342969357823 + - 0.09995758496929684 + - - 0.01307453033183342 + - -0.9986001564432407 + - -0.05125216296057886 + - -0.09002768511634983 + - - -0.49301243033646763 + - 0.03815512727565542 + - -0.8691852102954288 + - 0.9748300544788379 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9483463073385765 + - 0.08231538955725715 + - -0.30637143796268457 + - 0.012631558409581694 + - - -0.00023772974612351616 + - -0.9655648709487252 + - -0.2601623021775806 + - -0.09395843979064158 + - - -0.3172368592106754 + - 0.24679679218297781 + - -0.9156703110434112 + - 0.9759973249053657 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970362210256598 + - -0.007858911338042033 + - 0.07653111442709068 + - 0.05404649247013321 + - - 0.010642103109003416 + - -0.9711168683592961 + - -0.23836688870195538 + - -0.09353352454532687 + - - 0.07619396041871687 + - 0.2384748739398217 + - -0.9681550572584419 + - 0.9715597159903105 + - - 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: + - - 0.9974463713011621 + - -0.0035376012683139687 + - -0.07133177241181292 + - 0.023674004982649145 + - - -0.0069088048364170105 + - -0.9988677138564903 + - -0.04706972095564308 + - -0.034756302299060904 + - - -0.07108449052976713 + - 0.04744233965959339 + - -0.9963414171927956 + - 0.9695170271311179 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996169813746808 + - -0.010794935813402592 + - -0.025482541242104566 + - 0.09158182176546259 + - - -0.011704532338990282 + - -0.9992897187335451 + - -0.03581985421743863 + - -0.03397656665516235 + - - -0.025077768443315936 + - 0.036104395774165 + - -0.9990333218345055 + - 0.9681125259210883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8588732624290418 + - 0.04022323506888188 + - -0.5106063164954854 + - 0.10001645259545516 + - - 0.009859540908642075 + - -0.9980252445058674 + - -0.06203548002614627 + - -0.09010038385724677 + - - -0.5120932615623498 + - 0.04824627125070963 + - -0.857573780366936 + - 0.9751557268623757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9199252745503459 + - 0.05829673681923443 + - -0.3877357085950426 + - 0.012664604785491335 + - - 0.027162289161175385 + - -0.9959846633804691 + - -0.08530392932578545 + - -0.09394673456880649 + - - -0.39115175992317297 + - 0.0679414511702747 + - -0.9178149377308488 + - 0.975997195276272 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9849682505086349 + - -0.019831091484841516 + - 0.17159333699324986 + - 0.05409099443046307 + - - 0.017378131141258878 + - -0.9769713603011297 + - -0.21266161315431872 + - -0.0935154863146209 + - - 0.1718590877666828 + - 0.21244690857218831 + - -0.9619411442443471 + - 0.9717487908804013 + - - 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: null + base_right_marker_pose: + - - 0.9995841480738594 + - -0.013170020817574362 + - -0.025653098665098406 + - 0.09160149072110357 + - - -0.013399738892843576 + - -0.9998714639044527 + - -0.008803559914665493 + - -0.033963375762589246 + - - -0.025533858248612387 + - 0.00914364376122276 + - -0.9996321402704639 + - 0.9681120844705556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8771765819618408 + - 0.03746840863370529 + - -0.47870383580268067 + - 0.10002592363238902 + - - 0.014895356533474187 + - -0.9985943869474484 + - -0.050866282651581794 + - -0.09008068048778355 + - - -0.4799368421068369 + - 0.03748824764519678 + - -0.8765017164141835 + - 0.9750533895526771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9390203141281723 + - 0.026751448700991554 + - -0.3428195000973936 + - 0.012643070635131481 + - - 0.05286806819654109 + - -0.9963470971403069 + - 0.06706287635680984 + - -0.09379978498771671 + - - -0.33977318466852924 + - -0.08109760793316349 + - -0.9370044615516638 + - 0.9744918686884708 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948875511114308 + - -0.009022467463063552 + - 0.10058506710430826 + - 0.05402485452751371 + - - -0.0021476782428031917 + - -0.9976660877570089 + - -0.0682478191431034 + - -0.09340956905302583 + - - 0.10096607411237513 + - 0.06768288129580716 + - -0.9925849482325593 + - 0.9709537084818579 + - - 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: + - - 0.9954315603616819 + - -0.0041029064614719075 + - -0.0953895947914426 + - 0.02366699444066022 + - - -0.0075632885455635505 + - -0.999325217266597 + - -0.03594310506127241 + - -0.03475011394625638 + - - -0.09517775634192974 + - 0.03650036018503833 + - -0.9947908917979089 + - 0.9700343203257009 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992850813378511 + - -0.013295073696072005 + - -0.03539162656646722 + - 0.09155913026406542 + - - -0.012683558605035785 + - -0.9997673319036291 + - 0.017447332157445865 + - -0.0338967702304139 + - - -0.0356153556309196 + - -0.01698596696439847 + - -0.9992212084266268 + - 0.967684511209078 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8689678988946623 + - 0.015771802627704945 + - -0.4946170649426369 + - 0.09996769695112813 + - - 0.03239993406300383 + - -0.9991607259291402 + - 0.025061684569623315 + - -0.0899676141619856 + - - -0.49380667772247566 + - -0.037803359673804264 + - -0.868749602033903 + - 0.974597628354406 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9563183122619263 + - 0.07007841917211277 + - -0.28380327834406427 + - 0.012681759733786876 + - - 0.0104829440787318 + - -0.9784373188271108 + - -0.2062777763353483 + - -0.09392915354178787 + - - -0.29213933921323043 + - 0.19429212102592183 + - -0.9364321535441341 + - 0.9756827807371734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989578489275911 + - -0.00575770496196383 + - 0.04527764238044069 + - 0.05412906357935075 + - - 0.002189093296324624 + - -0.9848256898253624 + - -0.17353261517806798 + - -0.09369974473737594 + - - 0.04558973499045688 + - 0.17345088496047065 + - -0.9837867485232407 + - 0.9732814851419422 + - - 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: + - - 0.9978641417777485 + - -0.003003428060118014 + - -0.06525437896451831 + - 0.0236874421435607 + - - -0.0072572192659744045 + - -0.9978556821094 + - -0.0650489850075344 + - -0.034816835596418606 + - - -0.06491908288541086 + - 0.06538361493426745 + - -0.9957462003821282 + - 0.9702085203946531 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8699427480466206 + - 0.04072410748324804 + - -0.4914683735407466 + - 0.1000565046389846 + - - 0.010839738634883323 + - -0.997922796898605 + - -0.06350268889104267 + - -0.09010476679616039 + - - -0.49303358423886434 + - 0.049916314965730374 + - -0.8685771389535993 + - 0.9754052665616924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9546906830465872 + - 0.06229045791925258 + - -0.2910079011921337 + - 0.012656965271121255 + - - 0.014233005065651692 + - -0.9862873544591847 + - -0.1644222491048694 + - -0.0938176045665099 + - - -0.29725935018236516 + - 0.15283047237417158 + - -0.9424859285119569 + - 0.974537479101368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911331285939494 + - -0.022109304608022174 + - 0.13102022764947183 + - 0.0541651636506906 + - - 0.019394707501822362 + - -0.9514259077658331 + - -0.30726631340398863 + - -0.09365954483695811 + - - 0.1314494835459177 + - 0.30708292150770794 + - -0.9425609330933472 + - 0.973248978166259 + - - 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: + - - 0.996746638016765 + - -0.005273781519282294 + - -0.0804259089520474 + - 0.023650177624365585 + - - -0.007954879559923404 + - -0.9994219635166451 + - -0.03305236348162354 + - -0.0347453136242894 + - - -0.08020510889876814 + - 0.03358461059802726 + - -0.9962124343921412 + - 0.9692527852845546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996334114607228 + - -0.012254804920473221 + - -0.024142544351381325 + - 0.0915630246713765 + - - -0.012354969666156226 + - -0.9999156573977447 + - -0.0040040998218922675 + - -0.033925681732668786 + - - -0.024091438644166286 + - 0.004300912367912587 + - -0.999700507520556 + - 0.9680296505519748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8735253149947969 + - 0.05246721606675403 + - -0.4839428843380647 + - 0.10013326733586331 + - - -0.0013301294520873287 + - -0.9939132933591159 + - -0.11015714248144623 + - -0.09014742608948867 + - - -0.48677690456602557 + - 0.09686875926861818 + - -0.8681386344696783 + - 0.975564638798978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9488513297157455 + - 0.0828653466573234 + - -0.3046547035908411 + - 0.012687557102991808 + - - -0.0017833086999455919 + - -0.9635202929891643 + - -0.26762934220327295 + - -0.0940776460698466 + - - -0.31571818748171976 + - 0.2544837506039187 + - -0.9140897367172552 + - 0.9770087790564455 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999769804797889 + - 0.004653990215595954 + - -0.02094463629342516 + - 0.054112662328839274 + - - 0.0008933526698834127 + - -0.9843738515608905 + - -0.1760889612786273 + - -0.09362792713833976 + - - -0.021436868600566112 + - 0.17602971549784382 + - -0.9841514110777625 + - 0.9728934949338444 + - - 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: + - - 0.99567536524459 + - -0.002077283391773265 + - -0.09287761807218439 + - 0.02365720114517582 + - - -0.009825543118591174 + - -0.9964973392912192 + - -0.08304523759943185 + - -0.03476960964198347 + - - -0.0923797907958066 + - 0.08359867031975836 + - -0.9922082627015821 + - 0.9700915651985246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8524061563096382 + - 0.014854516428027728 + - -0.5226691955980551 + - 0.09989717347359502 + - - 0.03491700086352743 + - -0.998982230577853 + - 0.02855356440785959 + - -0.08997930010932925 + - - -0.521713089481302 + - -0.042589274839879766 + - -0.8520572785514411 + - 0.9743155854374176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9364706087616541 + - 0.04204164534990783 + - -0.34821731574097453 + - 0.012645171218416547 + - - 0.03570210946801548 + - -0.9990595172762947 + - -0.02460569688488988 + - -0.09384381809432879 + - - -0.348924287353447 + - 0.010610419215554778 + - -0.9370908497573539 + - 0.9751510337880818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978804208555472 + - -0.008917298233495567 + - 0.06446043333216818 + - 0.05408899983800307 + - - 0.009801302068734408 + - -0.9586706455363274 + - -0.2843493060739196 + - -0.09367648590690084 + - - 0.06433195279884969 + - 0.2843784013935958 + - -0.956551266096026 + - 0.9729540265296767 + - - 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: + - - 0.9971110503458795 + - -0.0015945198940136777 + - -0.07594083739625554 + - 0.02369508084239919 + - - -0.007760573918111599 + - -0.9966863386895904 + - -0.0809698447695295 + - -0.03481298780548996 + - - -0.0755600871531952 + - 0.0813252714465053 + - -0.9938193364256679 + - 0.9701928768939715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992433200756726 + - -0.012455757284045852 + - -0.03684618561842913 + - 0.09160170602957507 + - - -0.012963246378994113 + - -0.9998239369234304 + - -0.013566480687693736 + - -0.03397614097539283 + - - -0.03667071757498469 + - 0.01403386138641143 + - -0.9992288572730086 + - 0.9681026122188342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8678051696726493 + - 0.05203478945875675 + - -0.49417260969767157 + - 0.10003560984332993 + - - 0.002181428596594332 + - -0.9948913300691172 + - -0.1009281067026481 + - -0.09015290531276032 + - - -0.4968998177285863 + - 0.08650793049938263 + - -0.8634853496742212 + - 0.9753901510569173 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.919164930976473 + - 0.0666905784804618 + - -0.38818577563449824 + - 0.012656387069395474 + - - 0.0200379624720638 + - -0.9922025904594263 + - -0.12301422497245257 + - -0.09385210133369318 + - - -0.3933628219887891 + - 0.10529190960157564 + - -0.9133341688831481 + - 0.9751506089570479 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898026436549447 + - -0.02073941889864032 + - 0.14092765206810637 + - 0.054136323032563924 + - - 0.0246427753938615 + - -0.9494962131717167 + - -0.3128093265768435 + - -0.0936642480364691 + - - 0.14029775562912694 + - 0.31309234688238124 + - -0.9393027850960057 + - 0.9731605417319249 + - - 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: + - - 0.9974122542288824 + - -0.004423902028633405 + - -0.07175809504787876 + - 0.02369732889556473 + - - -0.008560290780514903 + - -0.9983123254072609 + - -0.057438857593963014 + - -0.034764731405665314 + - - -0.07138288685541082 + - 0.057904490592592076 + - -0.9957668167966832 + - 0.9700454202840759 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996155039352544 + - -0.010873805276267244 + - -0.025506952994841396 + - 0.091571687544726 + - - -0.011413180220577848 + - -0.9997122907606105 + - -0.021096801165693617 + - -0.03393102282563352 + - - -0.02527021190096823 + - 0.02137980498007462 + - -0.9994520100182369 + - 0.9680378018362328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8688793029737933 + - 0.05351714532180278 + - -0.49212261888718356 + - 0.09996848189145363 + - - 0.0010305049251183897 + - -0.9943323080827835 + - -0.10631180161376745 + - -0.09006034919060443 + - - -0.4950229236342236 + - 0.09186498930153307 + - -0.8640099124531246 + - 0.9748061909840283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.97561916516911 + - 0.045822145071288366 + - -0.21463358445451805 + - 0.012652904056314173 + - - 0.024187114412052436 + - -0.9944530057902027 + - -0.1023630928179217 + - -0.09389095047802953 + - - -0.21813350969336923 + - 0.09467602809527854 + - -0.9713157167743945 + - 0.97580025080473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947688493374364 + - -0.013691445923601015 + - 0.1012298409383016 + - 0.054190881992874015 + - - 0.014454649244515009 + - -0.9621395200292576 + - -0.27217385457293314 + - -0.09379639129045907 + - - 0.10112368418471894 + - 0.27221331397709264 + - -0.9569085181931021 + - 0.9741458534270004 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8755248702077718 + - 0.014764798287049503 + - -0.48294741160835203 + - 0.099962923251091 + - - 0.03068699706429759 + - -0.9992142533388536 + - 0.025083543123979677 + - -0.08998700608147388 + - - -0.4821975838376215 + - -0.03678147164020898 + - -0.8752900167859451 + - 0.974734515422636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9320901866938296 + - 0.06662727143713264 + - -0.3560459107613857 + - 0.012609635090480137 + - - 0.016317174959173054 + - -0.9896631522967979 + - -0.14248015576674716 + - -0.09380060335071153 + - - -0.36185858241917346 + - 0.12699469156940163 + - -0.9235424812334182 + - 0.9744493582581121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949998438866795 + - -0.014948255018369586 + - 0.09875150802589895 + - 0.05402986945756582 + - - 0.01106445460677361 + - -0.9661530651225344 + - -0.2577320946226672 + - -0.09353785492620176 + - - 0.09926171724153297 + - 0.2575360254920438 + - -0.9611567546784574 + - 0.9716152092136326 + - - 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: null + base_right_marker_pose: + - - 0.999255963777628 + - -0.012094146437770419 + - -0.03662308666381891 + - 0.09159296072041156 + - - -0.013153842022132147 + - -0.9994976671100481 + - -0.028833832239725778 + - -0.03397338448642481 + - - -0.03625596909338676 + - 0.02929411312044835 + - -0.9989130891331768 + - 0.9679162738045326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8621816077859279 + - 0.04440338290632766 + - -0.5046495960388223 + - 0.10003828576242274 + - - 0.007244863365514404 + - -0.9971301968721551 + - -0.07535836012356976 + - -0.09009524478183137 + - - -0.5065475171694039 + - 0.061316474720687034 + - -0.8600290127532565 + - 0.9751129366939486 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9256810638851833 + - 0.07189664027558262 + - -0.3714100713247804 + - 0.012616631983588235 + - - 0.007337619114047192 + - -0.9850020754875921 + - -0.17238639920501916 + - -0.09392506367760704 + - - -0.37823369404394974 + - 0.15684955977693574 + - -0.9123253193283898 + - 0.9756646934197772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883930026473535 + - -0.01603016236420602 + - 0.15107053389832753 + - 0.05407444125903483 + - - 0.0006123790543919819 + - -0.9939889029606143 + - -0.10947915684297192 + - -0.09352499385502906 + - - 0.1519174029189621 + - 0.10830094499002073 + - -0.9824418598597201 + - 0.9719511619942993 + - - 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: + - - 0.9979847879639911 + - -0.003705429241065804 + - -0.06334534542179997 + - 0.023680589073832282 + - - -0.008144135245984216 + - -0.9975167123707771 + - -0.06995771295641313 + - -0.03476888533344515 + - - -0.06292881735391838 + - 0.07033262639157044 + - -0.9955366822027711 + - 0.9700030492692623 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995854111877059 + - -0.012979309469797496 + - -0.02570103629023963 + - 0.09159922655682337 + - - -0.013193270996267754 + - -0.9998795624653366 + - -0.008173014409990456 + - -0.03396027366996994 + - - -0.02559186083746216 + - 0.008508706706315398 + - -0.9996362631322764 + - 0.9681270745543793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8795417187366409 + - 0.048292278088285935 + - -0.4733647862683064 + - 0.10006050985170528 + - - 0.0034453046364138484 + - -0.9954565968455753 + - -0.09515405231827291 + - -0.09008096937774195 + - - -0.4758093051609626 + - 0.08206107282792476 + - -0.8757119877268854 + - 0.9752692861844767 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9673581770222021 + - 0.045617600247416346 + - -0.24927332768659555 + - 0.012658813681703155 + - - 0.024812806829609357 + - -0.9959881120570744 + - -0.08597677162014328 + - -0.09389661416370323 + - - -0.2521953250270877 + - 0.07698516213305459 + - -0.9646091451182858 + - 0.9754322236714956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988195727665368 + - -0.00283555738507745 + - 0.04849144948121268 + - 0.05406876236986335 + - - 0.005228632086239773 + - -0.9862180585728116 + - -0.16536808141652104 + - -0.09350952561378485 + - - 0.04829205384925985 + - 0.16542642037833716 + - -0.9850390738320131 + - 0.9717667255718578 + - - 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: + - - 0.9974123368498387 + - -0.0036983682493228194 + - -0.07179799699181263 + - 0.023683238718105938 + - - -0.008743070536121174 + - -0.997503344433248 + - -0.0700759342576657 + - -0.03475789268740925 + - - -0.07135957551264122 + - 0.07052233629692564 + - -0.9949544768811678 + - 0.9701467866727547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8731905920369573 + - 0.037790412909276455 + - -0.48591159141380275 + - 0.10006038803625675 + - - 0.011717992398289965 + - -0.9983290266855732 + - -0.05658483128179085 + - -0.09006352017355164 + - - -0.4872380102499205 + - 0.043715433992830365 + - -0.8721743416304542 + - 0.9750935390449069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9544342071657033 + - 0.05923052749382207 + - -0.29248433941799173 + - 0.012670187992170023 + - - 0.020080849166376136 + - -0.9906307473685688 + - -0.13508324050284126 + - -0.09383410129901625 + - - -0.29774503134180536 + - 0.12305473164732346 + - -0.9466812712473364 + - 0.9749559643474355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928103845925184 + - -0.012643861565972041 + - 0.11902803455470636 + - 0.05410924536488368 + - - 0.006546123685748308 + - -0.9871818187838203 + - -0.159465372188947 + - -0.09366308054007874 + - - 0.11951856972850168 + - 0.1590980497283642 + - -0.9800015928878301 + - 0.9731071599042079 + - - 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: + - - 0.9969552148266129 + - -0.004852740159935859 + - -0.07782512796624344 + - 0.023647449421977898 + - - -0.008703079680686602 + - -0.9987504534622925 + - -0.04921166643121541 + - -0.034738077829779494 + - - -0.07748907041701844 + - 0.04973914576875782 + - -0.9957517066739585 + - 0.9696405877641331 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8747011988765049 + - 0.04151557973821122 + - -0.48288121657712585 + - 0.10005062520154456 + - - 0.009877216707115062 + - -0.9976445706128787 + - -0.06788041924418182 + - -0.0900881970806962 + - - -0.4845619189269062 + - 0.054605561673197994 + - -0.8730509603455169 + - 0.9751028725092146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.976753212744661 + - 0.05820810559516228 + - -0.20631281549144104 + - 0.012667019117710501 + - - 0.012494949009081598 + - -0.9762514936895167 + - -0.21627967384442112 + - -0.0939550813173093 + - - -0.21400242438403216 + - 0.20867399816942014 + - -0.9542840902193365 + - 0.9760530034272648 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973963684114349 + - 0.021714910675820435 + - -0.0687673391518268 + - 0.05412409360955658 + - - -5.23349448458485e-05 + - -0.9533688003375612 + - -0.3018077663082468 + - -0.09368644597577086 + - - -0.07211436431623576 + - 0.30102556900911404 + - -0.9508854427647974 + - 0.9736410240928934 + - - 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: + - - 0.996924716035004 + - -0.003604249956143151 + - -0.0782823092453227 + - 0.023659139337248714 + - - -0.007137322257913701 + - -0.9989660045964659 + - -0.0448996691698339 + - -0.03474216860154583 + - - -0.07803953606674877 + - 0.04532031600537981 + - -0.9959196251543893 + - 0.9692926442961076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8715169095426263 + - 0.025390214545864688 + - -0.4897076815678766 + - 0.09998802646869899 + - - 0.02043136150763452 + - -0.9996715710118778 + - -0.015469634048330402 + - -0.09002320435142197 + - - -0.4899396246969765 + - 0.0034766529823774435 + - -0.8717494347780368 + - 0.9746923070531137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9581979355890773 + - 0.04117990387077109 + - -0.283127059374452 + - 0.012638590170423021 + - - 0.03333223227938938 + - -0.9989163686850328 + - -0.03248154344209148 + - -0.09367696119278286 + - - -0.2841578408633188 + - 0.021686490963309296 + - -0.9585322204211996 + - 0.9735961176232747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997666868778411 + - 0.0005031327023319698 + - 0.021594412860472458 + - 0.05407516492134723 + - - 0.00731642888514491 + - -0.9485201129301079 + - -0.31663238184908543 + - -0.09362901922080563 + - - 0.020323426819149157 + - 0.3167165013455097 + - -0.9483024918757661 + - 0.9727490907058156 + - - 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: + - - 0.9951223949088719 + - -0.00336256699399594 + - -0.09859062984909918 + - 0.02366199862181075 + - - -0.007601984290755216 + - -0.9990608908459843 + - -0.04265613926355794 + - -0.03476995131820293 + - - -0.09835460836012876 + - 0.04319756388084666 + - -0.9942134285399119 + - 0.9697921229027664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997961444058767 + - -0.013124199102719414 + - -0.015343566373418403 + - 0.09161168025278844 + - - -0.013227108402318269 + - -0.9998905714020766 + - -0.006624864115017437 + - -0.03395422455948309 + - - -0.015254941312789063 + - 0.006826464615106655 + - -0.9998603333198105 + - 0.9681238681375042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8823720027791512 + - 0.03211077082713966 + - -0.46945558587410224 + - 0.10000167012544572 + - - 0.01849416056880916 + - -0.9992646104721586 + - -0.033588752325447606 + - -0.09003509359473952 + - - -0.47018891388075573 + - 0.02095558767517805 + - -0.8823169774003123 + - 0.9748448144831144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9212054190436976 + - 0.06071961476614742 + - -0.3843093861814675 + - 0.01261105889007899 + - - 0.025187250146545777 + - -0.9949822808328521 + - -0.09682904140138546 + - -0.09381016038436654 + - - -0.38826045170037726 + - 0.07951974101634474 + - -0.9181124290815983 + - 0.9746675063164991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9916563190596597 + - -0.019627930046689956 + - 0.1274067864406314 + - 0.0540106062822525 + - - 0.006944504653157167 + - -0.9787711516458004 + - -0.20483848896405085 + - -0.09346456184422391 + - - 0.1287226426242434 + - 0.20401415898911415 + - -0.9704682911913174 + - 0.9715650179004132 + - - 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: + - - 0.9950952706342855 + - -0.0022448609269475634 + - -0.09889571760544916 + - 0.0236749269396806 + - - -0.008431683600601519 + - -0.9980289848054674 + - -0.06218562695533177 + - -0.03479190462032909 + - - -0.09856119455920484 + - 0.06271448068498217 + - -0.9931528506929211 + - 0.9702035290967734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8751646966767812 + - 0.055260498292746825 + - -0.4806589549972776 + - 0.1000617210738565 + - - 0.0012791135971630535 + - -0.9937167489826142 + - -0.11191687388338788 + - -0.09011135806124902 + - - -0.48382343634743774 + - 0.09733087958023352 + - -0.869736501660759 + - 0.9753590016644544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9363473917524813 + - 0.06678324232851396 + - -0.34466441722698377 + - 0.012635099560018513 + - - 0.016586587360468565 + - -0.9890593741102056 + - -0.14658253512769476 + - -0.09384162950856742 + - - -0.35068282974514003 + - 0.13153536797690307 + - -0.9272108713195298 + - 0.9749504335847288 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9887775572564191 + - -0.015518944320333192 + - 0.14858702713632566 + - 0.054067147159468906 + - - 0.008968991636670953 + - -0.9866296267136592 + - -0.16273148705732352 + - -0.09348491172410449 + - - 0.14912578400481286 + - 0.16223791806494844 + - -0.9754180429369256 + - 0.9719035336561579 + - - 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: + - - 0.9955032974336981 + - -0.001427791815881813 + - -0.09471613489350418 + - 0.02366629713417438 + - - -0.008930184106730715 + - -0.9968478540489482 + - -0.07883278309070949 + - -0.034792944712077445 + - - -0.09430501900988024 + - 0.07932412803515371 + - -0.9923780761892157 + - 0.9702477923271575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996406437280256 + - -0.012766599718744645 + - -0.02357111237595463 + - 0.09158712391288257 + - - -0.013231918840772733 + - -0.999718535168025 + - -0.01969179436438571 + - -0.03396162603755586 + - - -0.023313080680376328 + - 0.019996609040519805 + - -0.9995282066535544 + - 0.9681031198987208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.879148974445116 + - 0.048636731755351846 + - -0.4740585924295211 + - 0.100098668297113 + - - 0.0013713091455156146 + - -0.9950322494712894 + - -0.09954366892642685 + - -0.0901655063881947 + - - -0.4765450663298575 + - 0.08686363356586346 + - -0.8748482776575651 + - 0.9757379236436293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9551005673876992 + - 0.04324295336023262 + - -0.2931091147685103 + - 0.012649065026692021 + - - 0.03222575863950658 + - -0.9985844703354982 + - -0.0423149628958971 + - -0.09389201363072613 + - - -0.29452403408856687 + - 0.030969381483291307 + - -0.9551421311798257 + - 0.9757684494914661 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934719966213785 + - -0.01473362600289129 + - 0.11312078586156672 + - 0.054129550962341504 + - - 0.010952588068059448 + - -0.9747237954837118 + - -0.22314471387966545 + - -0.09364721059527034 + - - 0.11354925250191174 + - 0.2229269898030144 + - -0.9681994239172129 + - 0.9731586663084627 + - - 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: + - - 0.9970423556219618 + - -0.0044731534191018605 + - -0.07672373814080388 + - 0.02366849161592033 + - - -0.007429765675534599 + - -0.9992389027596721 + - -0.038293782702340226 + - -0.034746878895473766 + - - -0.07649404995041192 + - 0.03875056270735408 + - -0.9963167439183425 + - 0.9696447150739216 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997077989198031 + - -0.012312334939541958 + - -0.020801999597613013 + - 0.09158644476852426 + - - -0.01241577587999756 + - -0.9999111550408315 + - -0.004850828198195869 + - -0.03392629877881741 + - - -0.020740426423297775 + - 0.00510768374581627 + - -0.9997718471123964 + - 0.9679098199844746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8765849318065111 + - 0.03562817253658339 + - -0.47992654714182853 + - 0.10009038978676325 + - - 0.012000350411086987 + - -0.9985639446011311 + - -0.05221149425788771 + - -0.09013031471852563 + - - -0.48109754615855754 + - 0.04000852239628154 + - -0.875753657837569 + - 0.9755614965436343 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9448919702698958 + - 0.08665669595615375 + - -0.31570521307928545 + - 0.01263955376360268 + - - -0.006233801769308343 + - -0.9593947326561924 + - -0.2819980259985077 + - -0.0939740204432177 + - - -0.3273229356995554 + - 0.2684257141138248 + - -0.9059841785414957 + - 0.9763879669344603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978984224288933 + - -0.006593565925797639 + - 0.06446133261350016 + - 0.0540355513070782 + - - 0.009725384749010184 + - -0.9683003896598242 + - -0.24959922330831935 + - -0.09347789385528715 + - - 0.06406368242155504 + - 0.2497015824399491 + - -0.9662013063133248 + - 0.9713846425976501 + - - 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: + - - 0.9980733206858471 + - -0.004220916601825098 + - -0.06190178025038403 + - 0.023681346981676676 + - - -0.008404789653897796 + - -0.997684876318716 + - -0.06748516189342421 + - -0.03475313683302143 + - - -0.06147362073279993 + - 0.06787541107019818 + - -0.9957981334216545 + - 0.9696872641990825 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995219040639873 + - -0.010759204344551992 + - -0.028986252227110206 + - 0.09162017479622095 + - - -0.011923276788278099 + - -0.9991168610547376 + - -0.04029061214178302 + - -0.033982645162228445 + - - -0.0285271584096907 + - 0.040616960472217245 + - -0.9987674723152873 + - 0.968228351417404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8746409742458431 + - 0.030387539136845047 + - -0.4838179033846196 + - 0.09993976141382391 + - - 0.018394197038319626 + - -0.9993950181027839 + - -0.02951696642021042 + - -0.08999741567575358 + - - -0.48442215028381796 + - 0.016917306421031293 + - -0.8746707866722536 + - 0.9744700297648499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9497964995988908 + - 0.06104129884511987 + - -0.3068559420721634 + - 0.012659697182997698 + - - 0.017301078313613275 + - -0.9895293826083288 + - -0.14329087076282004 + - -0.0938937497520172 + - - -0.31238963177237544 + - 0.13078822879021545 + - -0.9409076241433264 + - 0.9754969744345223 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971030003319562 + - -0.010530149166745977 + - 0.0753307552566487 + - 0.05396589442805861 + - - -0.00047720333395372475 + - -0.991217422034474 + - -0.13224142517497867 + - -0.09337195002573746 + - - 0.07606167895852084 + - 0.13182237372258737 + - -0.9883508905141704 + - 0.9705346689688128 + - - 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: + - - 0.9981716266011802 + - -0.004713678698187514 + - -0.060259315308791396 + - 0.02371173410207661 + - - -0.008922428649218998 + - -0.9975234128624986 + - -0.06976697684544184 + - -0.0347498709230991 + - - -0.059781218750989705 + - 0.07017707620215505 + - -0.9957416250515807 + - 0.9700722812324183 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998295369263122 + - -0.013878532264650656 + - -0.012177168467883068 + - 0.09158789668575636 + - - -0.013850372539550246 + - -0.9999012135744698 + - 0.002393798825898642 + - -0.03395285120899356 + - - -0.012209187943177359 + - -0.0022247324518359446 + - -0.9999229901823874 + - 0.9680493261759524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8666127304743891 + - 0.0367384578726003 + - -0.4976270301067525 + - 0.10008001014407543 + - - 0.011905593444768598 + - -0.9985243411896563 + - -0.052984874223606725 + - -0.09011944579814586 + - - -0.4988392849650592 + - 0.03999282141718329 + - -0.8657712989067277 + - 0.9754360544108606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9531886142221004 + - 0.05094580299668859 + - -0.29805367113051 + - 0.012663126410001785 + - - 0.029133947389951106 + - -0.9965918773525564 + - -0.0771741090287873 + - -0.09390010986148156 + - - -0.3009695646188019 + - 0.06487800206487698 + - -0.9514242828629291 + - 0.9757238755744694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999370632442105 + - -0.004206139056372671 + - 0.035222825078428055 + - 0.05402814415914079 + - - 0.0014281094776660633 + - -0.9873697575432154 + - -0.1584263942415282 + - -0.09358906209017469 + - - 0.03544431570205418 + - 0.158376987859003 + - -0.9867423322231204 + - 0.9720618178313598 + - - 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: + - - 0.9972728400127916 + - -0.003932676248294737 + - -0.07369814536572088 + - 0.023666406522284206 + - - -0.00818509041354942 + - -0.9983126678174933 + - -0.057487577528035336 + - -0.03474668048681942 + - - -0.07334771208253772 + - 0.05793402568996868 + - -0.9956222987657577 + - 0.9697848961589882 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999789904210864 + - -0.01357453122899422 + - -0.015358370354452741 + - 0.09157022229255607 + - - -0.013465683890004042 + - -0.9998836370387917 + - 0.007168524217191193 + - -0.03394411862507 + - - -0.015453892564851024 + - -0.006960207180180171 + - -0.9998563560435084 + - 0.9677579174777535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8729958274882366 + - 0.05575329958662545 + - -0.48453055091844655 + - 0.10008853511956864 + - - 0.0032790375010917187 + - -0.9940933311617359 + - -0.1084790157257659 + - -0.09017050255247158 + - - -0.48771665247477014 + - 0.09311293425173822 + - -0.8680221473982315 + - 0.976006294890724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9291020643227914 + - 0.058895043121831 + - -0.365103722203438 + - 0.012622203267561949 + - - 0.018582619505024933 + - -0.9934255727716806 + - -0.11296157583705341 + - -0.0938443622377208 + - - -0.3693562512310561 + - 0.09816824974978708 + - -0.924088174590285 + - 0.9747825569485971 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9725095258370873 + - -0.024303123841220606 + - 0.23159140814737067 + - 0.05411950810126072 + - - 0.01241684174791555 + - -0.9877119107255959 + - -0.15579153844737276 + - -0.09358499342132742 + - - 0.23253181330117167 + - 0.15438438905002766 + - -0.9602574739206763 + - 0.9718793623706092 + - - 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: null + base_right_marker_pose: + - - 0.9995198833210791 + - -0.011899894978042143 + - -0.02860760991988064 + - 0.09158900735194804 + - - -0.012343600435579067 + - -0.999805468057529 + - -0.015383808714103909 + - -0.03392945165961481 + - - -0.02841897911789335 + - 0.015729543597222853 + - -0.9994723323254725 + - 0.9680904072614485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8685460326245383 + - 0.03555833471244446 + - -0.494331259424945 + - 0.10000676328723654 + - - 0.01837323171065748 + - -0.9990474035434064 + - -0.03958168553365155 + - -0.09005041458646165 + - - -0.49526782004152153 + - 0.02529605316360949 + - -0.8683719802743886 + - 0.9751043964181696 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8859111887424156 + - 0.06778081864758484 + - -0.45887593779197383 + - 0.012603444246620864 + - - 0.025139855279955763 + - -0.9948282250406184 + - -0.09841133237099725 + - -0.09392869304475554 + - - -0.4631731353797445 + - 0.07564762577897091 + - -0.8830334554117986 + - 0.9759779311643735 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9812164687362169 + - -0.027900556861398165 + - 0.1908816397866822 + - 0.05411645451132257 + - - 0.02440640253025166 + - -0.9635802700082517 + - -0.2663031933085971 + - -0.09359344801443341 + - - 0.1913597893925475 + - 0.265959813087708 + - -0.9447998776598097 + - 0.9725996824615435 + - - 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: + - - 0.9965274383350592 + - -0.00488311351990852 + - -0.08312171706429357 + - 0.023670848950691548 + - - -0.007999675676881434 + - -0.9992757345702128 + - -0.03720230487786654 + - -0.03475360446794049 + - - -0.0828798518002385 + - 0.03773806435832008 + - -0.9958447512860914 + - 0.9700069250277437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994557061083653 + - -0.011977389740412332 + - -0.03073814669812082 + - 0.09161851317438124 + - - -0.01253656213512388 + - -0.9997582395583585 + - -0.01806369411291173 + - -0.03395807698895802 + - - -0.03051435952565789 + - 0.01843921284054526 + - -0.9993642325461528 + - 0.9683235900629568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8665297447580138 + - 0.031838952275240556 + - -0.4981089063323667 + - 0.09995314438334149 + - - 0.016048294057461242 + - -0.9992246574060848 + - -0.0359518607242756 + - -0.09004227918165778 + - - -0.49886737085868504 + - 0.02315955849551995 + - -0.866368848206603 + - 0.9748109029531337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9406269783845481 + - 0.03876800153320319 + - -0.33722089139357375 + - 0.012627290808391551 + - - 0.04194947766382597 + - -0.9991174199391349 + - 0.002149999511264362 + - -0.09371006879427746 + - - -0.3368399157743736 + - -0.01616858779509906 + - -0.9414230971831024 + - 0.9739595130022175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946530980957746 + - -0.008709555000251968 + - 0.10290460679763007 + - 0.05399678259221179 + - - 0.002920294839950374 + - -0.9936668832206598 + - -0.11232807782824392 + - -0.09342474351443128 + - - 0.10323122747756623 + - 0.11202798240724435 + - -0.988328409402076 + - 0.9710065072093627 + - - 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: + - - 0.9962318256913713 + - -0.0036225817711777585 + - -0.08665463854259846 + - 0.023663578139781066 + - - -0.007820283542507854 + - -0.9988094317791598 + - -0.04815145017865384 + - -0.0347505956984253 + - - -0.08637703771808826 + - 0.04864767096484407 + - -0.9950740733557201 + - 0.9697233396442125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.884201385345514 + - 0.041730640901791204 + - -0.46523807213404156 + - 0.09998829966751456 + - - 0.006637358896520923 + - -0.9970232050952539 + - -0.07681584451443449 + - -0.09004383441310643 + - - -0.46705872823441885 + - 0.06483272407906945 + - -0.8818462804074949 + - 0.9747132552425168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9007644659873175 + - 0.06956134114753572 + - -0.4287010574191985 + - 0.01266626411049827 + - - 0.01838396494277025 + - -0.9923123137447414 + - -0.12238587264689309 + - -0.09403930442795418 + - - -0.4339186636312914 + - 0.10235962000864741 + - -0.8951184846399498 + - 0.976735583777339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946950330687981 + - -0.011315239220093247 + - 0.1022436137353063 + - 0.05405364022491966 + - - 0.008086456545145851 + - -0.9822549628558526 + - -0.18737608482832285 + - -0.09346503481088608 + - - 0.10254950223577841 + - 0.18720884943409977 + - -0.9769526325696422 + - 0.9714346280108332 + - - 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: + - - 0.996628011128163 + - -0.003561443396324843 + - -0.08197513986360151 + - 0.023679553012920608 + - - -0.008188364455407996 + - -0.9983872910370853 + - -0.05617622079827485 + - -0.034747926944709545 + - - -0.08164286939021477 + - 0.056658037528367414 + - -0.9950499025984412 + - 0.9698916658703325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997727638136136 + - -0.01377596568730146 + - -0.016267867280957606 + - 0.09159531373664617 + - - -0.013688390110716032 + - -0.9998912792562362 + - 0.005482485157766418 + - -0.03395949305931181 + - - -0.016341625153741896 + - -0.005258558425136146 + - -0.9998526385676165 + - 0.968071191519088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9376619291994043 + - 0.03968423580172437 + - -0.3452756405524209 + - 0.012641689703620757 + - - 0.04351678785620406 + - -0.9990470701529283 + - 0.0033527292657736917 + - -0.09376150100878547 + - - -0.34481356659030915 + - -0.018169013393263322 + - -0.9384953336312265 + - 0.9744389838349669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921759562252308 + - -0.01419617333558637 + - 0.12403765779461808 + - 0.054096469012471435 + - - 0.011835661955342639 + - -0.9783443247026529 + - -0.20664534697928544 + - -0.09361045245209773 + - - 0.12428511171748467 + - 0.20649661252605672 + - -0.9705216947707229 + - 0.9721613954379127 + - - 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: + - - 0.9965075911750509 + - -0.003720835681043966 + - -0.08341927902069356 + - 0.023660521660570945 + - - -0.008734680079606396 + - -0.998170961204225 + - -0.059820043234187485 + - -0.0347563909918929 + - - -0.08304412137174179 + - 0.060339767902004744 + - -0.9947174404398101 + - 0.9697406747523278 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991580925537187 + - -0.01171768394254207 + - -0.03931668815448819 + - 0.09157913336541706 + - - -0.012164220905956613 + - -0.999863984665735 + - -0.011137499634589154 + - -0.03389989543263414 + - - -0.03918083478137836 + - 0.01160637977071564 + - -0.9991647282277597 + - 0.9680105489534873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8625978921769398 + - 0.0273033466328286 + - -0.505152851792948 + - 0.0999170831138347 + - - 0.02323278009521046 + - -0.9996269838209505 + - -0.014357268057601985 + - -0.0899686671188608 + - - -0.5053564230728131 + - 0.0006484440437327845 + - -0.8629104618553278 + - 0.9745813866337422 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9064187567528772 + - 0.052803714199192775 + - -0.4190665879944837 + - 0.012642106464785438 + - - 0.033191047256323575 + - -0.9979913410963681 + - -0.053959591165059884 + - -0.09392478482807637 + - - -0.42107409299147924 + - 0.03500072661305592 + - -0.9063506812200013 + - 0.9757185053648366 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926603976235628 + - -0.014817438839023948 + - 0.12002407465205435 + - 0.054046784710793064 + - - 0.014022055223895954 + - -0.9716698581554198 + - -0.23592598144232765 + - -0.09353025571397983 + - - 0.12011959439295548 + - 0.2358773627512384 + - -0.9643304168097125 + - 0.9719545343911749 + - - 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: + - - 0.9959389375423939 + - -0.0052814505148517325 + - -0.0898762425081669 + - 0.02367010454756404 + - - -0.00711325849799232 + - -0.9997732051164305 + - -0.020073362567352548 + - -0.03475651855089352 + - - -0.08974984256514547 + - 0.020631156334021194 + - -0.9957506320097682 + - 0.9698615392836133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995589592482448 + - -0.008271642331085367 + - -0.028521341478134718 + - 0.09159257612916703 + - - -0.010138324741282009 + - -0.9977722199669293 + - -0.06593793622571563 + - -0.033964338417380655 + - - -0.027912387178564292 + - 0.06619801353071576 + - -0.9974160223530509 + - 0.9684154345094108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8676944728609627 + - 0.03155272944176159 + - -0.49609548176869245 + - 0.10002521322858042 + - - 0.018385180198475903 + - -0.9993376847375652 + - -0.03140345542186237 + - -0.09004763268193496 + - - -0.4967577748919544 + - 0.018127799870318484 + - -0.8676998881849972 + - 0.9749069476680239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9521567378507526 + - 0.05574995698681178 + - -0.30048209407780324 + - 0.012641096436233639 + - - 0.023646286186834044 + - -0.9937122173864271 + - -0.10943894264164289 + - -0.09391853624956978 + - - -0.30469394433592456 + - 0.09709774102891941 + - -0.9474880627069122 + - 0.9759387711493144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984830835134905 + - -0.004595841301776095 + - 0.05486720495998559 + - 0.054047121010043886 + - - 0.009094739410268431 + - -0.9690546720099393 + - -0.24667859325601793 + - -0.0935340443890002 + - - 0.054303016973750985 + - 0.24680340536231976 + - -0.9675428990226277 + - 0.9720850337444349 + - - 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: + - - 0.9972143630472122 + - -0.004481036807109537 + - -0.07445424394536627 + - 0.023669151226856002 + - - -0.007318285042511321 + - -0.9992555625655192 + - -0.03787827062981478 + - -0.03475647433208136 + - - -0.07422908349413547 + - 0.03831763289925754 + - -0.9965047928497983 + - 0.9694340831564567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998657905956694 + - -0.0125280633072925 + - -0.050253701355813245 + - 0.09156240149383874 + - - -0.013594317757079085 + - -0.9996884736169667 + - -0.020932038651295407 + - -0.03395132347429065 + - - -0.0499758080966217 + - 0.021587110671607533 + - -0.9985171081448438 + - 0.9678726446094522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8835987598579116 + - 0.04917757228859147 + - -0.4656552350842425 + - 0.10006322448796479 + - - 0.005233503283169193 + - -0.9954446435620763 + - -0.09519754223170042 + - -0.09010573818698789 + - - -0.4682155935260442 + - 0.08167942205581334 + - -0.879831023544682 + - 0.9753501233978548 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9329179933601143 + - 0.06515100028678728 + - -0.3541459654246659 + - 0.012656470325268617 + - - 0.019047307443956277 + - -0.9910475462649255 + - -0.13214371389288654 + - -0.09393073979133457 + - - -0.359584785195471 + - 0.11653372131662446 + - -0.9258070393186831 + - 0.9758991338410103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983170638839711 + - -0.0044858188166195245 + - 0.05781796768852652 + - 0.05402198421705217 + - - 0.0014676376694338577 + - -0.9947301301229545 + - -0.10251738518534773 + - -0.0934168116264905 + - - 0.05797314893774783 + - 0.10242971080264826 + - -0.993049479304595 + - 0.970909190289142 + - - 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: null + base_right_marker_pose: + - - 0.9991616330249199 + - -0.01166864334271603 + - -0.03924122645274732 + - 0.09158710729074893 + - - -0.012549623355688622 + - -0.9996730122846689 + - -0.02227948525721796 + - -0.03397134582485074 + - - -0.03896842368643697 + - 0.02275326948455379 + - -0.9989813565243134 + - 0.9680349618048387 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8837218041768601 + - 0.04482797140233717 + - -0.46586073648929316 + - 0.10001170806087026 + - - 0.007753334295880151 + - -0.9966678602721727 + - -0.0811976730441574 + - -0.09006560801537822 + - - -0.46794835038676197 + - 0.06814418009221915 + - -0.8811246858929036 + - 0.974988511774189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9114964304151971 + - 0.09445244222192427 + - -0.40031611696091846 + - 0.012631993270913652 + - - -0.007069913236982306 + - -0.9695341430361203 + - -0.24485416437961152 + - -0.09396849018850957 + - - -0.4112472172151141 + - 0.22601389701859118 + - -0.8830591399715507 + - 0.9760845493322856 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902775346253426 + - -0.004924650498164109 + - 0.1390185319798201 + - 0.05401119794686794 + - - -0.005422883789775496 + - -0.9999801587388306 + - 0.0032053798631386334 + - -0.09332816413019848 + - - 0.13899998830127977 + - -0.003928097011958396 + - -0.9902845920775049 + - 0.9700400543192373 + - - 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: + - - 0.9971027221456218 + - -0.003169996120372115 + - -0.07600074088051988 + - 0.023666708137674547 + - - -0.008025922955230195 + - -0.9979385309456791 + - -0.06367317343038915 + - -0.034761564805697365 + - - -0.07564222399234312 + - 0.06409867064593876 + - -0.9950726678845698 + - 0.969719454786108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993625935525423 + - -0.013580739293742913 + - -0.03301469563954037 + - 0.09160332789466911 + - - -0.013575228801265153 + - -0.9999077758621415 + - 0.0003910670269237186 + - -0.033946833210997875 + - - -0.03301696186703736 + - 5.7364288831522056e-05 + - -0.9994547898421469 + - 0.9681064897861699 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8781815911421406 + - 0.026001445539741444 + - -0.4776201605972074 + - 0.1000553136477109 + - - 0.020818876471408197 + - -0.9996529474896926 + - -0.016141838731644622 + - -0.09006273295204906 + - - -0.47787411246219086 + - 0.004231950497588098 + - -0.8784181368991988 + - 0.97509912020386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9512863415709393 + - 0.06841595902902488 + - -0.30062194346174564 + - 0.012631023771968961 + - - 0.01182080455705466 + - -0.9824444672253809 + - -0.1861803894019481 + - -0.09384220763402572 + - - -0.30808207497386486 + - 0.17355726826720885 + - -0.9353947347037087 + - 0.9751698264999807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946997896065045 + - -0.011391881889544968 + - 0.10218881339848544 + - 0.05404803814050131 + - - 0.007416089959688022 + - -0.9833065330608806 + - -0.1818055655075004 + - -0.09344660562380155 + - - 0.1025540353495933 + - 0.18159979919263916 + - -0.9780103183334562 + - 0.9711662957265121 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8889884474459747 + - 0.04866817955119 + - -0.45533608313724566 + - 0.10004285714317757 + - - 0.005864370008251674 + - -0.9954647816477951 + - -0.09494986921167237 + - -0.09010104109490692 + - - -0.4578920718597363 + - 0.08173907754605811 + - -0.8852420989367357 + - 0.9750832930886675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9291616887462985 + - 0.06483044262555035 + - -0.3639444598769186 + - 0.01262355944934684 + - - 0.018206571465021547 + - -0.9913327939707935 + - -0.13010692661634193 + - -0.09390598315750545 + - - -0.3692249679011643 + - 0.11426419083438323 + - -0.9222887930422601 + - 0.9753104105461518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9937760697090294 + - -0.013731052259549063 + - 0.11054673888233797 + - 0.05408686719017801 + - - 0.017394304318005396 + - -0.9610737224555337 + - -0.27574397216032837 + - -0.09356297808881113 + - - 0.11002982073495758 + - 0.2759506445169296 + - -0.9548532245008778 + - 0.9723768175958574 + - - 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: + - - 0.9960572965648273 + - -0.0015051199410192262 + - -0.08869947335768644 + - 0.023678618242715815 + - - -0.009040468452606375 + - -0.9963728431853831 + - -0.08461339901477552 + - -0.03480708024793041 + - - -0.0882503931443096 + - 0.08508167826647128 + - -0.9924580475431874 + - 0.9704486796257525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8812684753184585 + - 0.03723316552531406 + - -0.47114707448401294 + - 0.10005166871619484 + - - 0.016347097029905805 + - -0.9986968295514105 + - -0.04834682060546032 + - -0.09010899814539883 + - - -0.4723331947138315 + - 0.03490464193952264 + - -0.8807286864537229 + - 0.9755045422165529 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9435479578034993 + - 0.058417591741574085 + - -0.32604391774722735 + - 0.012645027498300177 + - - 0.01929683556377595 + - -0.9923478789021111 + - -0.12195621909400865 + - -0.0938480556622723 + - - -0.3306733788227752 + - 0.10877992560025045 + - -0.9374550892305901 + - 0.975305271226775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910726538130787 + - -0.01965854792553097 + - 0.13186559959807928 + - 0.0541747952766708 + - - 0.018893310590164872 + - -0.9583789810572457 + - -0.2848732551199199 + - -0.09370281579939443 + - - 0.13197741351778694 + - 0.28482147068143404 + - -0.9494517850633702 + - 0.973855373905707 + - - 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: + - - 0.9958833447262345 + - -0.0006490889312359065 + - -0.09064183570762041 + - 0.023684218202560336 + - - -0.008088081932291801 + - -0.996621930451516 + - -0.08172704982898697 + - -0.03480315605654823 + - - -0.09028259315917125 + - 0.08212372633199576 + - -0.9925244314100297 + - 0.9704033453036994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990544009766321 + - -0.012743794501655976 + - -0.04156801163060718 + - 0.0916049674589646 + - - -0.012684716938846076 + - -0.9999181265513852 + - 0.0016846810229219555 + - -0.0339576525903231 + - - -0.04158607754289989 + - -0.0011558095289470804 + - -0.9991342563734508 + - 0.968224885594636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8849395729933385 + - 0.0712516312395175 + - -0.4602229429266599 + - 0.10018040865667457 + - - -0.00940571482647224 + - -0.9852905773771864 + - -0.17062828212325762 + - -0.09026013131509521 + - - -0.4656108725953153 + - 0.15532444488051048 + - -0.8712524502941673 + - 0.9765081635089846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9295302041301788 + - 0.06085186470377308 + - -0.3636903218010919 + - 0.012639776067970633 + - - 0.020414645039503777 + - -0.9932692269525335 + - -0.11401528431323046 + - -0.09388029303306464 + - - -0.36818044744067974 + - 0.0985560416777653 + - -0.9245160165033328 + - 0.9756491678461771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990222338750559 + - -0.016138843718192988 + - 0.13856138554017491 + - 0.05404576469678404 + - - 0.005550945310282541 + - -0.9879397615964649 + - -0.15473918205445467 + - -0.09353265807559297 + - - 0.1393876136732942 + - 0.1539953414235611 + - -0.9781904354338703 + - 0.9719493740304656 + - - 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: + - - 0.9972875494501152 + - -0.004328584958475679 + - -0.07347657493406466 + - 0.023669552225736742 + - - -0.007408082283312082 + - -0.9991031031419019 + - -0.041690641744958824 + - -0.03476031322607004 + - - -0.07323021254009603 + - 0.042121878453840154 + - -0.9964251518939357 + - 0.9698757593124119 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994766285590523 + - -0.012864879748263166 + - -0.029681034909399315 + - 0.09158720979954241 + - - -0.012748872292965174 + - -0.999910346991531 + - 0.004094415041738004 + - -0.033922836015705574 + - - -0.029731048072476646 + - -0.0037138724182547984 + - -0.9995510351813826 + - 0.9681852067001344 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.877983537102671 + - 0.03188732005735039 + - -0.47762758232355357 + - 0.10003660188298064 + - - 0.016574109827390184 + - -0.9992055915480584 + - -0.036242029503397985 + - -0.0900307848631674 + - - -0.4784038121295779 + - 0.023903653249151304 + - -0.8778145635048629 + - 0.9748809521934364 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9402151553606145 + - 0.05322010284990278 + - -0.3363972090889895 + - 0.012668845451603015 + - - 0.023581366463887133 + - -0.9955177197523527 + - -0.09158814778546889 + - -0.09391264469128945 + - - -0.3397637131683009 + - 0.07817985873434924 + - -0.9372558502897523 + - 0.9758401958281588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998496444962146 + - 0.0022083006446945537 + - 0.017199180476287445 + - 0.054080800180764624 + - - 0.005147168770568498 + - -0.9849505256406297 + - -0.17275985845645767 + - -0.09352115799654759 + - - 0.01655883614390063 + - 0.17282241014553248 + - -0.9848137994042576 + - 0.9722599521200328 + - - 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: + - - 0.9957516498389968 + - -0.002549669125876514 + - -0.09204428841739411 + - 0.023658730565224495 + - - -0.006808113765130397 + - -0.9989191200329346 + - -0.04598087884749915 + - -0.034783284768631344 + - - -0.09182756356278284 + - 0.0464121839604204 + - -0.994692720265986 + - 0.9698700439983297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992337598117962 + - -0.012016544649006155 + - -0.03724910612457793 + - 0.09159736530862139 + - - -0.012938597977786046 + - -0.9996133393250338 + - -0.024612284043244004 + - -0.03396798070293772 + - - -0.036938948749942226 + - 0.025075376331264387 + - -0.999002872652074 + - 0.9681997617490977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8772999511553602 + - 0.05081792065355738 + - -0.47724452290545105 + - 0.10002568314096973 + - - 0.007547000150097481 + - -0.9957163098502421 + - -0.09215244482352172 + - -0.09011629795952528 + - - -0.4798831508727278 + - 0.07724357085652198 + - -0.8739253928510129 + - 0.9754434203601092 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.963290644589834 + - 0.07610077393007053 + - -0.2574486477978595 + - 0.012662255378546174 + - - 0.0018095865329122024 + - -0.9607996903518065 + - -0.2772375883902699 + - -0.0939315092700086 + - - -0.2684545761246805 + - 0.2665944996190227 + - -0.9256670639763527 + - 0.9760759987024172 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996679904471941 + - -0.021033058870770407 + - 0.07865607704647759 + - 0.054205240438956394 + - - 8.878292164701991e-05 + - -0.9657757082160374 + - -0.25937862968526254 + - -0.09371701776837937 + - - 0.08141965450304697 + - 0.2585244511730959 + - -0.9625673732296636 + - 0.9734146202396208 + - - 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: + - - 0.9960179564431204 + - -0.0034415789972279094 + - -0.08908639613810937 + - 0.023675260287427436 + - - -0.007869617191451406 + - -0.9987479920852428 + - -0.04940159340503728 + - -0.0347624880880955 + - - -0.08880483977875486 + - 0.04990594994289208 + - -0.9947980179876555 + - 0.9702209925466565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993159315902282 + - -0.010555274420466373 + - -0.0354436884630092 + - 0.09158726746255791 + - - -0.011756076625952763 + - -0.9993580016820319 + - -0.03384345042190641 + - -0.033958012067814174 + - - -0.0350637067680947 + - 0.03423697790407264 + - -0.9987984610579236 + - 0.9682683721924379 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8824514371147543 + - 0.03305826616844117 + - -0.4692404630592309 + - 0.10006906772673958 + - - 0.014877252944507587 + - -0.9989898870593138 + - -0.042401331323969546 + - -0.09005722896669097 + - - -0.47016819169200513 + - 0.030436106701685728 + - -0.8820518776862923 + - 0.9751509081290466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9314178404827569 + - 0.03670164737804489 + - -0.3620963898054982 + - 0.012611467852367879 + - - 0.04183284257838328 + - -0.999104518698429 + - 0.006338296158557971 + - -0.09388361196838757 + - - -0.3615395133484718 + - -0.021051123393278533 + - -0.932119107459788 + - 0.9754514268243678 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985627647720869 + - -0.003265350043946831 + - 0.05349525492804268 + - 0.053994568332383044 + - - 0.0038506890940568765 + - -0.9911914597774698 + - -0.1323807473075697 + - -0.09330811802298677 + - - 0.053456309302332965 + - 0.13239647862877701 + - -0.9897543106460684 + - 0.9709435913083484 + - - 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: + - - 0.9973013565292643 + - -0.004626181489250268 + - -0.07327074934595472 + - 0.02366793363935762 + - - -0.008270577282389436 + - -0.9987391985265991 + - -0.049513744332887674 + - -0.034776917460135406 + - - -0.07294930990972588 + - 0.04998611578503635 + - -0.9960822187010566 + - 0.9699605666321909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997359490175769 + - -0.012942342381212729 + - -0.01898757529576448 + - 0.09157783844448866 + - - -0.012963936711195235 + - -0.9999154498555801 + - -0.001014635432656172 + - -0.033935012164512626 + - - -0.01897283813436949 + - 0.0012605212416067226 + - -0.9998192049062304 + - 0.9681298805823715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.954039626195485 + - 0.05622584343430688 + - -0.29435870324975955 + - 0.01267509805366181 + - - 0.015483565080850286 + - -0.9901780969670891 + - -0.1389517740045861 + - -0.09401205812914869 + - - -0.29928022129964793 + - 0.12800777639165248 + - -0.9455397180034792 + - 0.9766185483948826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998732859421995 + - 0.0017081044170599857 + - 0.015827016094291272 + - 0.054130558900960773 + - - 0.004694445473904815 + - -0.9816509280321664 + - -0.19062900533570357 + - -0.09367881013530645 + - - 0.015210990790907387 + - 0.19067914902497227 + - -0.9815345576627814 + - 0.9736765328802979 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8594656638427142 + - 0.03666354240929932 + - -0.509877002161702 + - 0.10006377255726934 + - - 0.017425432881249522 + - -0.9989462819030747 + - -0.04245798112163121 + - -0.09006788531602469 + - - -0.5108963955287841 + - 0.027606349451262738 + - -0.8591989074164792 + - 0.9752404252043236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9413685152486425 + - 0.06797247908400399 + - -0.3304618897630117 + - 0.012637970535068694 + - - 0.012057434553051635 + - -0.9856467629097676 + - -0.1683896583448485 + - -0.09394088727918137 + - - -0.3371645544397648 + - 0.15453220005122095 + - -0.9286764034779628 + - 0.975821881725716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971838402395328 + - -0.006392313627211781 + - 0.07472300242649209 + - 0.05406994940861353 + - - -0.0004682804130704296 + - -0.9968721294361423 + - -0.07902998334116838 + - -0.09357575734147813 + - - 0.07499446298622929 + - 0.07877243096377044 + - -0.9940677716541587 + - 0.9723821276330766 + - - 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: + - - 0.9974915716916224 + - -0.0042332699576372295 + - -0.07065864299321503 + - 0.023675058892712535 + - - -0.008625523061297255 + - -0.9980405687586219 + - -0.061972763887740784 + - -0.03476037590237436 + - - -0.07025784480110303 + - 0.06242677740707432 + - -0.9955735697106828 + - 0.9699661070552631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999001001121376 + - -0.012355427335121103 + - -0.042945816721248274 + - 0.0915694468371568 + - - -0.012599182538796667 + - -0.9999059926792001 + - -0.0054098432118974814 + - -0.03391830068273639 + - - -0.04287493857537975 + - 0.005945520968743978 + - -0.9990627559981242 + - 0.9681053868823409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8629639233006625 + - 0.030751222130063396 + - -0.5043288901292844 + - 0.10002942613326425 + - - 0.02035880506511843 + - -0.9994518765551794 + - -0.02610489430453621 + - -0.09009673341288824 + - - -0.5048552130441448 + - 0.012260048443542056 + - -0.8631169706791272 + - 0.9752110972563348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9123858968643721 + - 0.03190973585058697 + - -0.4080854615897767 + - 0.012630300808133774 + - - 0.05218554859858637 + - -0.9978893404471613 + - 0.038646251298089 + - -0.09376473024801288 + - - -0.40599094044136 + - -0.056556458339222675 + - -0.9121253879262788 + - 0.974428097857496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9868037999161108 + - -0.014576692735007023 + - 0.16126307853948924 + - 0.054060906251453524 + - - 0.004875293505982005 + - -0.9928133049369099 + - -0.11957413204151163 + - -0.09349522566110348 + - - 0.16184712535091506 + - 0.1187824127097927 + - -0.9796408762635855 + - 0.9717146571679813 + - - 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: + - - 0.9982322994048529 + - -0.003936196956370027 + - -0.05930246856936754 + - 0.02368487481118539 + - - -0.0075753157153338165 + - -0.9980927164392078 + - -0.06126617323463371 + - -0.034742664240070345 + - - -0.05894820622133618 + - 0.06160710790585608 + - -0.9963582052850085 + - 0.9696954572649156 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991428371292055 + - -0.013957867217205664 + - -0.03897138637704338 + - 0.09157726089799742 + - - -0.013852928555522752 + - -0.9998996580194998 + - 0.0029614629701837317 + - -0.03395257706168823 + - - -0.03900881161785795 + - -0.002419056682891603 + - -0.9992359384954727 + - 0.9679984617587782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.853201369060347 + - 0.02679120474034945 + - -0.5208931322086232 + - 0.09999645672040937 + - - 0.021771374455323806 + - -0.9996388437883019 + - -0.015754023102466642 + - -0.09004492937856562 + - - -0.5211270776767176 + - 0.002100794646712447 + - -0.8534765114365929 + - 0.9750411737359899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9486431495369667 + - 0.030222436230002946 + - -0.3149012213137759 + - 0.01264991403203642 + - - 0.04604122826944116 + - -0.9980172615861529 + - 0.04291562507430716 + - -0.09383250573957874 + - - -0.3129798398236306 + - -0.055210052747671726 + - -0.9481537164086711 + - 0.9749029391305142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9864338289940277 + - -0.014583688500450363 + - 0.16351029645225226 + - 0.05408050948494511 + - - -0.00018451957387387568 + - -0.9961439081277091 + - -0.08773414530603652 + - -0.09357962562692544 + - - 0.16415927317306336 + - 0.08651375803752662 + - -0.9826327404994786 + - 0.972510821913111 + - - 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: + - - 0.9976342918879626 + - -0.004887335308139105 + - -0.06857064680159641 + - 0.023661445671342835 + - - -0.008020101622400843 + - -0.9989327784049358 + - -0.04548606597808574 + - -0.03474366869714549 + - - -0.06827516107025916 + - 0.04592840277847927 + - -0.9966087919535171 + - 0.969853999274919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995454805762067 + - -0.010064649832461523 + - -0.02841716177646618 + - 0.09159235398421814 + - - -0.01110209213639904 + - -0.9992687260695768 + - -0.03658902362019753 + - -0.0339342593577656 + - - -0.028028125336433486 + - 0.0368878831465618 + - -0.9989262776937496 + - 0.968241637980551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8832050851339472 + - 0.054553597659583994 + - -0.46580326595670535 + - 0.10008310823915312 + - - 0.0018333487726621377 + - -0.9936055555650025 + - -0.11289215554076626 + - -0.09011246114445828 + - - -0.468983386087199 + - 0.09885294599939354 + - -0.8776574950636644 + - 0.9756767000296049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9441268610109446 + - 0.06128067568324036 + - -0.3238350646632109 + - 0.012626791096132418 + - - 0.01618895350356841 + - -0.9899988500313764 + - -0.14014347905275892 + - -0.09393707635061174 + - - -0.32918442870536835 + - 0.12707067216457657 + - -0.9356765766938716 + - 0.975997889448768 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982717988477984 + - -0.006662592804056624 + - 0.05838686052793258 + - 0.0541603096366707 + - - 0.007941986756803708 + - -0.9691411998763279 + - -0.2463782854649065 + - -0.09370623036534527 + - - 0.058226630260866656 + - 0.24641620190117278 + - -0.9674134147142397 + - 0.9739746818417245 + - - 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: + - - 0.9981679114803704 + - -0.0044213657343694646 + - -0.06034295332479447 + - 0.023684899798658374 + - - -0.00863558501235887 + - -0.9975266462524751 + - -0.06975683972044963 + - -0.03475541407755977 + - - -0.059885283354173945 + - 0.07015013571856521 + - -0.9957372702155212 + - 0.970124530680953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995671825944346 + - -0.013313770086293374 + - -0.026233394868254652 + - 0.09159844093755441 + - - -0.013103208798244528 + - -0.9998806725762577 + - 0.00818208577573486 + - -0.03392652401383842 + - - -0.026339198913673454 + - -0.007834802776151756 + - -0.9996223599270107 + - 0.9682058564895859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8795652653380416 + - 0.023849096187523153 + - -0.47518013912816137 + - 0.09998259906331546 + - - 0.022814343846697133 + - -0.9997081466632848 + - -0.00794526336289366 + - -0.09000404791432776 + - - -0.4752309435691927 + - -0.0038525454052270717 + - -0.879852662761349 + - 0.9745235729632309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9532315786836529 + - 0.03869186138610975 + - -0.29975406129483684 + - 0.012656600507095219 + - - 0.035740436029093214 + - -0.9992435992079477 + - -0.015324838478629874 + - -0.09389058458203586 + - - -0.3001202736116323 + - 0.0038947791238873406 + - -0.9538934175592441 + - 0.975269470977009 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999629753780319 + - -0.0035503697919319153 + - 0.026976846210022776 + - 0.05403196079550801 + - - -0.0007262183344422391 + - -0.9945786577087198 + - -0.10398445190148906 + - -0.09352754033750693 + - - 0.027199778749640642 + - 0.10392636097094379 + - -0.9942129970641647 + - 0.9719905057680844 + - - 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: + - - 0.9976375723448078 + - -0.003084466962182284 + - -0.06862769345911184 + - 0.023696550267603818 + - - -0.007973944338895301 + - -0.9974382415386637 + - -0.0710870630138772 + - -0.0347793112495353 + - - -0.06823262018740607 + - 0.07146635837803654 + - -0.9951064612203779 + - 0.9702229425250116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992452574329628 + - -0.013044917577329982 + - -0.03658887294154653 + - 0.09160154980617431 + - - -0.012768962991900275 + - -0.999888318191927 + - 0.007765611851705437 + - -0.03394823647679934 + - - -0.0366860883966041 + - -0.007292548849375917 + - -0.9993002299856817 + - 0.9681695591875501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8837205982524795 + - 0.054574680623402164 + - -0.4648220180446849 + - 0.10005043672933846 + - - 0.0013369445507441582 + - -0.9934682382240345 + - -0.11410114907090756 + - -0.09012792552685844 + - - -0.46801294512390146 + - 0.10021209445414701 + - -0.8780213091500487 + - 0.9753273256636794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9498045462445978 + - 0.050409417759535675 + - -0.3087559141688435 + - 0.012627412072268198 + - - 0.02380492801276666 + - -0.9957168961474555 + - -0.0893374956487152 + - -0.09385209457813869 + - - -0.31193693166311787 + - 0.07750324720695138 + - -0.9469364272943446 + - 0.9751175222325327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935065794008415 + - -0.015229012179094599 + - 0.11275084866770739 + - 0.05416206347211264 + - - 0.012934200005939868 + - -0.9694588598787032 + - -0.2449126894893206 + - -0.09367449745770441 + - - 0.11303708753079943 + - 0.24478071041390292 + - -0.9629667806585128 + - 0.9737139929325086 + - - 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: + - - 0.998127144308928 + - -0.0043793892404418375 + - -0.06101659400183681 + - 0.02366198741258902 + - - -0.008470485891615434 + - -0.9977202045003545 + - -0.06695255335333729 + - -0.034777714226471725 + - - -0.060584277353651995 + - 0.06734400108140469 + - -0.9958887140920336 + - 0.969919318982915 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992017037390655 + - -0.010924364633721418 + - -0.038426729008573385 + - 0.09155453010832951 + - - -0.01177478794317103 + - -0.999689183346521 + - -0.02197478256683578 + - -0.03393817301968336 + - - -0.03817472480375193 + - 0.022409706765503478 + - -0.9990197672863347 + - 0.9678541010083745 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8678078132482103 + - 0.03104892377773599 + - -0.49592899047908434 + - 0.09997439742042413 + - - 0.015711087380431487 + - -0.9992613869999145 + - -0.035069105838781936 + - -0.0900495566285772 + - - -0.49665154887373886 + - 0.022641660346617333 + - -0.8676546514703098 + - 0.9747451093414288 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9396637757718121 + - 0.05265524474638325 + - -0.33802280056670764 + - 0.012662589085521364 + - - 0.026871966796473024 + - -0.9963914114274958 + - -0.08051119570601195 + - -0.0939021355514497 + - - -0.3410423520660608 + - 0.06657011667573509 + - -0.9376878657970507 + - 0.9755421253469909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994479857233173 + - 0.0014848014396302992 + - 0.03318914277724904 + - 0.05423843646164905 + - - 0.009946833692374486 + - -0.9665474251727714 + - -0.25629501632178275 + - -0.09375208422008413 + - - 0.03169833328583687 + - 0.2564836646973283 + - -0.9660286462679712 + - 0.9740405360146401 + - - 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: + - - 0.9977350420789598 + - -0.004496598872049782 + - -0.06711606667765987 + - 0.023672451777119352 + - - -0.007699115556442529 + - -0.9988399485959923 + - -0.04753399529184383 + - -0.03474842540997653 + - - -0.06682446728066563 + - 0.04794306714573409 + - -0.9966122379768954 + - 0.9696822506909962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994464502105542 + - -0.011857516119913983 + - -0.03108363674006093 + - 0.09157955537442043 + - - -0.012301364127696831 + - -0.9998245364823313 + - -0.014127019802137292 + - -0.033918486812494784 + - - -0.03091067133078638 + - 0.014501570927252867 + - -0.9994169474441199 + - 0.9681800555756581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8783210529223197 + - 0.030602051596675933 + - -0.47709081151443494 + - 0.09998718453426149 + - - 0.019648298843039386 + - -0.9994166694525612 + - -0.02793322704101445 + - -0.09001255039289727 + - - -0.4776673239253469 + - 0.015160318546278233 + - -0.8784099796766732 + - 0.9747634931093506 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9377047040648339 + - 0.06525840112920842 + - -0.3412495114380997 + - 0.012660745934257913 + - - 0.012899901733132779 + - -0.9880638203526158 + - -0.15350400465613082 + - -0.09389385985039964 + - - -0.347193721875782 + - 0.13953934209481297 + - -0.9273539192227469 + - 0.9752954564095798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930196204713091 + - -0.015231381789764764 + - 0.11696169615644182 + - 0.05411854993458919 + - - 0.015086311543962885 + - -0.9670804805920398 + - -0.25402312347868705 + - -0.09358272232053065 + - - 0.11698049650696431 + - 0.2540144662546687 + - -0.960100106431793 + - 0.9725130068678369 + - - 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: + - - 0.9973171668545194 + - -0.005044093625215464 + - -0.07302756888172228 + - 0.023675683125440966 + - - -0.007895390826519888 + - -0.9992154834230313 + - -0.03880825287712136 + - -0.03473333074039993 + - - -0.0727745250824156 + - 0.03928071800741623 + - -0.9965745800951632 + - 0.9696025152779054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991026177330014 + - -0.010715281078495875 + - -0.04097733508261764 + - 0.09159071825759325 + - - -0.01183961113201675 + - -0.9995573236701651 + - -0.027294327351664757 + - -0.03397063573284384 + - - -0.040666728996895274 + - 0.027754989618914257 + - -0.9987872034141945 + - 0.9682707087373662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.844927829250711 + - 0.014066656620129327 + - -0.5346953268256726 + - 0.09988809284385439 + - - 0.03286382248131844 + - -0.9991307321468222 + - 0.025646622617227856 + - -0.08999100300479068 + - - -0.5338697711329962 + - -0.03924167747797597 + - -0.8446556447565575 + - 0.9743407450022721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9340644635932783 + - 0.028939715507417606 + - -0.35592986769664475 + - 0.01263025840980231 + - - 0.055193102673363144 + - -0.9964336526968045 + - 0.06382552146745671 + - -0.09382505872648676 + - - -0.3528134057394771 + - -0.07926202520535869 + - -0.9323305380018706 + - 0.975063594165539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9850501956621861 + - -0.021697393260327533 + - 0.17089568499993107 + - 0.054096682704608046 + - - 0.008912874200024918 + - -0.9842885663833552 + - -0.17634222058399432 + - -0.09361604216420658 + - - 0.17203683529809394 + - 0.17522911063149946 + - -0.9693802587673789 + - 0.9725091637060664 + - - 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: + - - 0.9965408869403918 + - -0.0023539754274700514 + - -0.08307056913097545 + - 0.023685807033140722 + - - -0.008284927120437853 + - -0.9974330526613008 + - -0.07112429571790903 + - -0.034782650253860715 + - - -0.08268990651020437 + - 0.0715665023488392 + - -0.9940023214776151 + - 0.9703593766184343 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995506361205603 + - -0.01116811284058726 + - -0.027817244409955293 + - 0.09161658350781036 + - - -0.012004585476302274 + - -0.9994751914148617 + - -0.030087068214899274 + - -0.033986636155354216 + - - -0.027466629908407616 + - 0.030407482661439757 + - -0.9991601319306476 + - 0.9685163351585155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.85444097978444 + - 0.019372396532585063 + - -0.5191871746466689 + - 0.10000696124628453 + - - 0.027822635436159145 + - -0.999576809395781 + - 0.008491352986263762 + - -0.09000950004058973 + - - -0.5188029616553792 + - -0.021700515448602492 + - -0.8546183795161864 + - 0.9749327108998262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9494480679291544 + - 0.01951797186147843 + - -0.3133167966771179 + - 0.01266643317090171 + - - 0.05573547395394918 + - -0.9926894915489596 + - 0.10705666869185283 + - -0.09379563950860124 + - - -0.3089367625400457 + - -0.11910760740894356 + - -0.9435949632170536 + - 0.9745313568195405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9905969769878757 + - -0.01666954537465126 + - 0.13579306108739272 + - 0.05408036319032339 + - - 0.0009764144662872502 + - -0.9916627865915538 + - -0.12885637083305224 + - -0.09361876129052721 + - - 0.13680890247813535 + - 0.12777732172211737 + - -0.982321882203716 + - 0.9728929045841193 + - - 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: + - - 0.9962756836624119 + - -0.0019454706537039325 + - -0.08620311645717493 + - 0.023664043950099026 + - - -0.008706811132294339 + - -0.9969052629900085 + - -0.07812866351556842 + - -0.0347849331111313 + - - -0.08578434346021566 + - 0.07858824191161128 + - -0.9932094112775725 + - 0.9701706872193299 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995565537147129 + - -0.01240019664460906 + - -0.02707269933237695 + - 0.09163668178472933 + - - -0.013018741242982638 + - -0.9996554567370348 + - -0.022792108114821956 + - -0.03398577947652263 + - - -0.026780744993642726 + - 0.02313445350650186 + - -0.9993735981896561 + - 0.9684015192476076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8810358966954003 + - 0.06574605413679623 + - -0.4684583280288369 + - 0.10010870769634729 + - - -0.005866549191039936 + - -0.9886999801028771 + - -0.14979296694157412 + - -0.0902411540717334 + - - -0.47301303611499024 + - 0.13472121477336768 + - -0.8706944710719525 + - 0.9764311704959474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9262698967521175 + - 0.052847859319392725 + - -0.3731369482323871 + - 0.012660195578568461 + - - 0.030752668214110664 + - -0.9974161496591685 + - -0.0649253247723243 + - -0.0939895636421184 + - - -0.37560398263135375 + - 0.048663417106042134 + - -0.925501766647168 + - 0.9763902892979871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965282690900961 + - -0.009138268861514028 + - 0.08275204496876046 + - 0.05405634809266387 + - - 0.0004704704664359131 + - -0.9933238874796236 + - -0.11535784854056748 + - -0.09355243962479955 + - - 0.08325375404050728 + - 0.11499628952528416 + - -0.9898710349503009 + - 0.9719462133900312 + - - 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: + - - 0.9951659418575824 + - 0.0016752611236211558 + - -0.09819338912003378 + - 0.023678126445766723 + - - -0.010277341423498173 + - -0.992587996221514 + - -0.12109271658619725 + - -0.034859618545709174 + - - -0.09766844126930424 + - 0.12151651433911329 + - -0.9877725509057725 + - 0.9707444335284064 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993766278476041 + - -0.011966451262059332 + - -0.03321384886074291 + - 0.09162308894268006 + - - -0.012461953904271236 + - -0.9998135239499217 + - -0.01475184841728631 + - -0.03395812082410898 + - - -0.03303112799828872 + - 0.015156561979272615 + - -0.999339393405528 + - 0.96835772581082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9322777664675073 + - 0.02965120227889253 + - -0.36052596626841216 + - 0.012628590809694746 + - - 0.05107802402533688 + - -0.9974398376687709 + - 0.0500480338571197 + - -0.09379216823956996 + - - -0.3581189768945834 + - -0.06507362318722149 + - -0.9314055088699361 + - 0.9749798410100413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9815789708437793 + - -0.022344646286788172 + - 0.18974572664380468 + - 0.05413428186167955 + - - -0.002629225618109436 + - -0.9946232203319346 + - -0.10352650264150064 + - -0.09369854945764976 + - - 0.1910387687615166 + - 0.1011205535924813 + - -0.9763599861071908 + - 0.9735722993344325 + - - 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: + - - 0.9954567570830795 + - -0.002326571335642421 + - -0.09518630071317646 + - 0.02366966839710926 + - - -0.00992582425531543 + - -0.9967902094913966 + - -0.07944026859817277 + - -0.034784804159626835 + - - -0.09469594917678201 + - 0.08002415465293844 + - -0.9922846425706641 + - 0.970584040596458 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998731549346532 + - -0.009040304005761038 + - -0.049533475987044474 + - 0.09155001970386432 + - - -0.010928937609056147 + - -0.999218306976821 + - -0.03799122694930826 + - -0.03397204846861717 + - - -0.04915130377327797 + - 0.03848438522128045 + - -0.9980496487808249 + - 0.9681062524333718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8638420418217531 + - 0.040627392304581816 + - -0.5021218395725824 + - 0.10000843167080734 + - - 0.008879981188092606 + - -0.9978158306801261 + - -0.06545772665033009 + - -0.09008121419577018 + - - -0.5036844971957384 + - 0.05208630375309634 + - -0.8623160350161748 + - 0.9749875640168139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.909853686393962 + - 0.0368253467902003 + - -0.4132918619923447 + - 0.012619240912047953 + - - 0.044738232919317694 + - -0.9989537530861115 + - 0.009481018427837579 + - -0.09390211163421336 + - - -0.4125103148656706 + - -0.02711628715280913 + - -0.9105492557245168 + - 0.975610922825717 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9916334776623709 + - -0.01191824188875891 + - 0.12853404797762014 + - 0.05408585382205058 + - - 0.003176891234924123 + - -0.9931737598611022 + - -0.11660098664009395 + - -0.09353511512891885 + - - 0.12904632246334485 + - 0.11603378057118945 + - -0.9848264864558851 + - 0.9724571255296135 + - - 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: + - - 0.9963365558065232 + - -0.0031725448789332628 + - -0.08545994689084498 + - 0.023675094619568193 + - - -0.007752326294421992 + - -0.9985478443936208 + - -0.05331138615603317 + - -0.03475567722944629 + - - -0.08516671298470842 + - 0.053778596261375454 + - -0.9949143146942534 + - 0.9698322437559194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997234191221852 + - -0.012050193122538402 + - -0.020195992284536952 + - 0.09160985840383842 + - - -0.012405061009715336 + - -0.99976922208539 + - -0.017539014570935256 + - -0.03398618771110443 + - - -0.019979982982795262 + - 0.017784696131330643 + - -0.9996421884171974 + - 0.9684136258756845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8772760938492083 + - 0.03445279791754974 + - -0.47874801292154473 + - 0.10004176508378475 + - - 0.014905176924278426 + - -0.9988949743332104 + - -0.044572031058837454 + - -0.09005765503186207 + - - -0.479754615258187 + - 0.031966153467480156 + - -0.8768202062971414 + - 0.975393055133707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.932445060959294 + - 0.04104019110249757 + - -0.35897341267409894 + - 0.012639589487506937 + - - 0.036673701547645 + - -0.9991472650310719 + - -0.018967930718027402 + - -0.0939835778233922 + - - -0.359445750993683 + - 0.00452166951469322 + - -0.9331550281691611 + - 0.976292976305763 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947071884916322 + - -0.018776497945891618 + - 0.10102005883961958 + - 0.05408331699830355 + - - -0.015598637722564264 + - -0.9993611253524572 + - -0.03215623789360649 + - -0.0934220798549595 + - - 0.10155930121989058 + - 0.030410265687066052 + - -0.9943645830763329 + - 0.9709133433602664 + - - 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: + - - 0.9954292773308291 + - -0.0034795243766361983 + - -0.09543818283441742 + - 0.023648128977132747 + - - -0.0066996077314538756 + - -0.9994182601774919 + - -0.03344034210411764 + - -0.034757799981018016 + - - -0.09526630615736047 + - 0.03392689396199089 + - -0.9948735079281308 + - 0.9697665532315192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8656692363650692 + - 0.02482110037145145 + - -0.5000006861869974 + - 0.09997987045830638 + - - 0.020825799618402356 + - -0.9996910182977217 + - -0.013570335482928351 + - -0.08999992803699568 + - - -0.5001830257829349 + - 0.0013345078551303038 + - -0.8659186796734514 + - 0.974488963803625 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9508683377350543 + - 0.0590880578744451 + - -0.303904599684837 + - 0.012644713210505755 + - - 0.019670809216182333 + - -0.9911653584890266 + - -0.13116513025991844 + - -0.09391234090885589 + - - -0.3089700043009926 + - 0.11874271997872983 + - -0.9436300667604329 + - 0.9753673523913069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981716899852215 + - -0.008792091008943875 + - 0.05979946862420399 + - 0.0541074109730322 + - - 0.008057711103248058 + - -0.9611763023722071 + - -0.27581731100470885 + - -0.09368202573497354 + - - 0.05990284303623078 + - 0.2757948782950512 + - -0.9593481299832687 + - 0.9733199070794499 + - - 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: + - - 0.9975820101764431 + - -0.0038929216069512164 + - -0.0693900434766329 + - 0.02367522058953107 + - - -0.007116952539406745 + - -0.9989033405608647 + - -0.046275967876398864 + - -0.034755631143962615 + - - -0.06913379751524361 + - 0.046657918703129055 + - -0.9965157081869879 + - 0.9699692079883225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8699069988896927 + - 0.051647052049655626 + - -0.49050422556519163 + - 0.1000984680289435 + - - 0.005598345151787764 + - -0.9954721739706808 + - -0.0948884048851508 + - -0.09016388386994217 + - - -0.49318401415119867 + - 0.07979807556994728 + - -0.8662573493604793 + - 0.9758250664678068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9334597965678156 + - 0.08490917124462372 + - -0.3484870741220159 + - 0.012645299900197858 + - - -0.003139723210675606 + - -0.9696050664082178 + - -0.24465518047586116 + - -0.09409329587788194 + - - -0.3586683012613919 + - 0.2294699279515009 + - -0.9048207567447824 + - 0.9770611382964153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963615262628305 + - -0.008112780665168667 + - 0.08484038998662032 + - 0.05409954230954354 + - - 0.006625553022434572 + - -0.9850734663004541 + - -0.17200688369351694 + - -0.09359822686962097 + - - 0.0849694711667071 + - 0.1719431556668861 + - -0.9814355507056809 + - 0.9726813576642854 + - - 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: + - - 0.9971569935749989 + - -0.003798345510400593 + - -0.07525624715499168 + - 0.02368773799250232 + - - -0.008053313739445823 + - -0.9983804447507002 + - -0.056317241384927906 + - -0.03473309672679105 + - - -0.07492045316389662 + - 0.05676319327502464 + - -0.9955726319997645 + - 0.9699935764369833 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8621064326755389 + - 0.029600265312181434 + - -0.5058619604525577 + - 0.10000513794555493 + - - 0.02170460906323156 + - -0.9995332748230972 + - -0.021497499083087106 + - -0.09004833464174332 + - - -0.5062621936159849 + - 0.007553596154383223 + - -0.8623465280850081 + - 0.9751815718731893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9305303232148263 + - 0.047271823514938194 + - -0.36315105986253626 + - 0.012611289480051947 + - - 0.028808780701333983 + - -0.9980098238732223 + - -0.056093186814828284 + - -0.09392180811410303 + - - -0.3650799525202847 + - 0.041734472011914985 + - -0.9300402475773156 + - 0.9757343848200579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902519925773967 + - -0.014706877399196284 + - 0.13850884070578467 + - 0.0541017339464527 + - - 0.00728087600680137 + - -0.9875851797186092 + - -0.1569155876410503 + - -0.0935204875633667 + - - 0.13909701665049834 + - 0.1563944390230278 + - -0.9778511131054685 + - 0.9722109603087847 + - - 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: + - - 0.9951570985281392 + - -0.0015239766080186608 + - -0.09828543505705067 + - 0.02367646660657447 + - - -0.008544877094610668 + - -0.9974359764599762 + - -0.07105250128442187 + - -0.034784238334558557 + - - -0.0979251465380242 + - 0.07154823798412499 + - -0.9926185144943018 + - 0.9706143269836194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8849227640941241 + - 0.04801316046197444 + - -0.4632563415760953 + - 0.10008684570938092 + - - 0.003089859871083983 + - -0.9952553178715507 + - -0.09724867615744623 + - -0.09011938602640626 + - - -0.46572755378439035 + - 0.08462617012988052 + - -0.8808724408080641 + - 0.9756196176019883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9429066191438744 + - 0.03513612045732009 + - -0.331198672421671 + - 0.012637536951994564 + - - 0.04078987179768326 + - -0.9991163660421328 + - 0.010132791594214478 + - -0.0938593028927953 + - - -0.3305499870418954 + - -0.023063827652233096 + - -0.9435066326850231 + - 0.9753679010460627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966373970194891 + - -0.008977069832076785 + - 0.08144514153371829 + - 0.05404994364403998 + - - -0.0016143350315695453 + - -0.995938635741418 + - -0.0900201519656986 + - -0.09354238268007053 + - - 0.08192248033734839 + - 0.08958597018926368 + - -0.9926041815147787 + - 0.9721465180054483 + - - 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: + - - 0.9979248717491037 + - -0.004359972187913233 + - -0.0642412716799373 + - 0.023683070513986274 + - - -0.0076067200774011445 + - -0.9987010345051928 + - -0.050382352941494776 + - -0.03475651547161783 + - - -0.06393815882709598 + - 0.05076646846864481 + - -0.9966617668622705 + - 0.9699233013827503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8817563834423918 + - 0.028824372549290524 + - -0.4708235718459021 + - 0.10003908449982025 + - - 0.016348124387017805 + - -0.9993989971714147 + - -0.030567683618447694 + - -0.09007913108011822 + - - -0.471421699848045 + - 0.019256167840736867 + - -0.8816976697896334 + - 0.975240695479848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9289005990348058 + - 0.03583117558450786 + - -0.3685916493479079 + - 0.012638997087517399 + - - 0.041154725368148425 + - -0.9991310600478767 + - 0.0065888866646101 + - -0.0938170208027718 + - - -0.36803527778278433 + - -0.021289708871634783 + - -0.9295680623835515 + - 0.9746870987550086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952083339163225 + - -0.011652577926299621 + - 0.09708032514968798 + - 0.05401613428577096 + - - 0.006938785293469253 + - -0.9819532803449812 + - -0.18899631869002875 + - -0.09349277796742674 + - - 0.09753063806901274 + - 0.1887643309722557 + - -0.9771672333794502 + - 0.9714686870295302 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8744381134080996 + - 0.03515299635810271 + - -0.4838618115395456 + - 0.10004313651019181 + - - 0.011463676443273584 + - -0.9985900594350179 + - -0.05183123884272489 + - -0.09011091781659392 + - - -0.4850016184938845 + - 0.0397763754584914 + - -0.8736081902166999 + - 0.9752762750824615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9376094233505186 + - 0.06672359568400585 + - -0.34122797514756226 + - 0.012664453113585347 + - - 0.00967505003070503 + - -0.9860403277292649 + - -0.1662253455357133 + - -0.09388341125533663 + - - -0.3475556971928548 + - 0.152553052642552 + - -0.9251662572090638 + - 0.9754442885408523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9880060152882184 + - -0.013666122166373751 + - 0.15380946284032884 + - 0.05405808176714493 + - - 0.012355257569457701 + - -0.9858859472537013 + - -0.16696181185548173 + - -0.09347280693608015 + - - 0.15392030848685664 + - 0.1668596299666479 + - -0.9738923978154389 + - 0.9713111609947113 + - - 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: + - - 0.9960318393312165 + - -0.0008886480227252849 + - -0.08899317582357345 + - 0.023674722091768224 + - - -0.009144742682608214 + - -0.9956792695242763 + - -0.09240760748375573 + - -0.03480272694734102 + - - -0.0885265424589859 + - 0.092854738943657 + - -0.9917363806657302 + - 0.97003328981603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9982052107335353 + - -0.011010938988741134 + - -0.058865240057308546 + - 0.09157857315662002 + - - -0.012948609575074497 + - -0.9993833701299109 + - -0.0326376012883011 + - -0.033982603384456224 + - - -0.058469571355454886 + - 0.03334124668287083 + - -0.9977322639341386 + - 0.9680840296818037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8839632409276893 + - 0.053102766687662534 + - -0.46453103756232644 + - 0.10004654704138465 + - - 0.0002961032698150477 + - -0.9935927953376822 + - -0.11301888946501296 + - -0.09015446970089834 + - - -0.467556307851225 + - 0.09976699465838837 + - -0.8783152314319523 + - 0.9754658308313925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9629873462610432 + - 0.03209129028043169 + - -0.2676294453703677 + - 0.012636359028330603 + - - 0.04094722745869823 + - -0.9987807682299734 + - 0.02757356664251242 + - -0.09391002910330111 + - - -0.266418271716786 + - -0.03751167954225076 + - -0.9631272908569042 + - 0.9758791502883334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992242497374839 + - 0.0035234094358011134 + - -0.039223517467331874 + - 0.05408209530944321 + - - -0.0024858867470673378 + - -0.9883601829041392 + - -0.15211169980240752 + - -0.09366004679188049 + - - -0.03930291469653537 + - 0.15209120433359946 + - -0.9875847034359698 + - 0.9731917933251971 + - - 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: + - - 0.9975681274233941 + - -0.0038767681343337204 + - -0.06959024226007302 + - 0.023685089111686493 + - - -0.007670617767224953 + - -0.9984934165040337 + - -0.05433285213544538 + - -0.034767921519698194 + - - -0.0692747628797975 + - 0.054734521711034004 + - -0.9960949449530466 + - 0.9700626218029388 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994851400837047 + - -0.012366851266576143 + - -0.029606008538938782 + - 0.09158194459004526 + - - -0.012675368168674853 + - -0.9998670674427272 + - -0.010255851269829155 + - -0.03396532020165249 + - - -0.029475240349246968 + - 0.010625838001338813 + - -0.9995090303609683 + - 0.9681051601494756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8737533455891692 + - 0.024891602097581005 + - -0.48573192114246466 + - 0.09990542391456461 + - - 0.02402617038982801 + - -0.9996792407603313 + - -0.008009914434405198 + - -0.09006030249353078 + - - -0.4857754977436931 + - -0.00467158836620284 + - -0.8740711310036524 + - 0.974648342881181 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.917071367285219 + - 0.03531953500857698 + - -0.39715568452736133 + - 0.012649118122631281 + - - 0.049544565155849506 + - -0.9984435087476112 + - 0.025610464721997694 + - -0.09385435746392189 + - - -0.3956329654732235 + - -0.04316352958849415 + - -0.9173938447277301 + - 0.9752139750546585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974375333585638 + - -0.007051918329604772 + - 0.07119436421133768 + - 0.05400721059947817 + - - 0.0035331415555865725 + - -0.9890605756471489 + - -0.1474676052944447 + - -0.09341503115186016 + - - 0.07145546835849725 + - 0.14734126424190386 + - -0.9865012254899964 + - 0.9708739968847105 + - - 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: + - - 0.9960582854745984 + - -0.001784722404636228 + - -0.08868318162617829 + - 0.023660845900411395 + - - -0.009561858534778724 + - -0.9961319176968337 + - -0.087348574155451 + - -0.03479321745604786 + - - -0.0881842548234333 + - 0.08785224704905295 + - -0.992222515310789 + - 0.969933780872409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8803257744540129 + - 0.04687049742034379 + - -0.472048395086258 + - 0.10011397024016475 + - - 0.008794487246816286 + - -0.9965482766290404 + - -0.08254810319901537 + - -0.09012250132749297 + - - -0.47428808526675853 + - 0.06851779928791679 + - -0.877699335396087 + - 0.9758541749668919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9370067276187248 + - 0.04895155113941398 + - -0.34586433473009914 + - 0.012621651910815086 + - - 0.03306256176136411 + - -0.9981154711271533 + - -0.05169500272170553 + - -0.09384330301214318 + - - -0.347743093974596 + - 0.03700340440643937 + - -0.9368593750693371 + - 0.9750231997318852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.989758446718568 + - -0.01732593912180771 + - 0.14169696179803828 + - 0.054066750793953296 + - - 0.009557624191478977 + - -0.9823371611244669 + - -0.18687523563526792 + - -0.09352004287697344 + - - 0.14243198014863714 + - 0.1863156292624692 + - -0.9721109079335895 + - 0.971958014145465 + - - 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: + - - 0.99841731707308 + - -0.003752728020035664 + - -0.05611397331325254 + - 0.023677403758465446 + - - -0.007843847247132928 + - -0.9973109001564038 + - -0.07286592131845954 + - -0.03479160724204823 + - - -0.055689631251754794 + - 0.07319074710393336 + - -0.9957619090472442 + - 0.9699796713960349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9982832092829637 + - -0.008578227769689998 + - -0.05794003859196161 + - 0.09153766979271417 + - - -0.010870392786199662 + - -0.9991658706687647 + - -0.03936238625137713 + - -0.03395726966258048 + - - -0.05755404959149634 + - 0.039924640249602544 + - -0.9975437606824871 + - 0.9679926743068512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8927465748038647 + - 0.0487168558709927 + - -0.4479176499425009 + - 0.10000804014794257 + - - 0.006606889656143703 + - -0.9954458534030607 + - -0.0950994319211422 + - -0.09007110784402776 + - - -0.45051071261962167 + - 0.0819403496251837 + - -0.8890027429194263 + - 0.9752465430624729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9664327974266561 + - 0.053090101602641986 + - -0.25137440038697073 + - 0.01267585384667757 + - - 0.02356529838463827 + - -0.9926098313781451 + - -0.11903948657270756 + - -0.09398098324937668 + - - -0.2558365196177647 + - 0.10911995126131614 + - -0.9605417801775192 + - 0.9767009359956932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996431338625809 + - 0.020167390875893275 + - -0.0819625752989571 + - 0.05415310920285063 + - - -0.002411266531123295 + - -0.963839451136056 + - -0.26647269696436654 + - -0.09374732455911483 + - - -0.08437282262727828 + - 0.2657193797580563 + - -0.9603512055612262 + - 0.9738166577773493 + - - 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: + - - 0.9974995155290579 + - -0.0047091559347060465 + - -0.0705162418856629 + - 0.023672820316654214 + - - -0.007571551639716449 + - -0.9991557110857517 + - -0.04037990354736177 + - -0.03471722916460823 + - - -0.07026655054193141 + - 0.040812851592479486 + - -0.9966929933634678 + - 0.9697349510155073 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996476103506339 + - -0.011901737562694074 + - -0.023727700336445088 + - 0.09162057961619682 + - - -0.012500487849096839 + - -0.9996030674021174 + - -0.025247681949297128 + - -0.0339565623508933 + - - -0.023417790754081857 + - 0.025535392757250447 + - -0.9993995951534758 + - 0.9683848901895342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8712680310126755 + - 0.03491929802508809 + - -0.48956374534960273 + - 0.10000963449943048 + - - 0.016165332698923132 + - -0.9989663408611602 + - -0.04248448946613543 + - -0.09006109351256986 + - - -0.49054123185928894 + - 0.029101416664831358 + - -0.8709319189202288 + - 0.9753023401909279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9455917184707676 + - 0.04727863440743296 + - -0.32190220982166107 + - 0.012628826800136134 + - - 0.031666268392389105 + - -0.9980619823093936 + - -0.05356796537806041 + - -0.09379335197675531 + - - -0.32381097789544067 + - 0.04045998266450686 + - -0.9452562829186518 + - 0.9742683186795634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964077778966227 + - -0.007929248382161788 + - 0.0843129122211333 + - 0.05404027118177767 + - - 0.006140303084806195 + - -0.9862215982558372 + - -0.16531562482635923 + - -0.0934627257047571 + - - 0.08446204369503063 + - 0.16523948121982476 + - -0.9826301832434533 + - 0.9714511862643438 + - - 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: + - - 0.9970186996763731 + - -0.005495994006748156 + - -0.07696431995094805 + - 0.023685878437338548 + - - -0.008064013473984858 + - -0.9994196634966501 + - -0.03309543628560201 + - -0.034715487962955205 + - - -0.07673776242714861 + - 0.03361741016379371 + - -0.9964844131001519 + - 0.9699255584250654 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993577596117937 + - -0.012172475591298184 + - -0.033703102849376235 + - 0.09157313329276479 + - - -0.012409019381643271 + - -0.9998997591895151 + - -0.006818197029692525 + - -0.033928392148575896 + - - -0.03361673008611016 + - 0.007232040564664735 + - -0.9994086316655408 + - 0.9681781838360846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8892522545317928 + - 0.060913952269952734 + - -0.4533430469622066 + - 0.10010398497680659 + - - -0.0009245210475077037 + - -0.9908519197115713 + - -0.1349504296574339 + - -0.09020657045694158 + - - -0.4574161924013581 + - 0.12042409901156505 + - -0.8810609872797092 + - 0.9758894096460167 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9164661600543719 + - 0.08312706223816016 + - -0.39138174331315917 + - 0.012626477332761244 + - - 0.00038051643790573686 + - -0.9783606007646303 + - -0.20690671830250745 + - -0.09399413946463547 + - - -0.4001120251659966 + - 0.18947407842532377 + - -0.8966660141448655 + - 0.9764000902865302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939049248258494 + - -0.015436692006459168 + - 0.10915451867339425 + - 0.05409151156216137 + - - 0.011001617695142817 + - -0.9713156818743813 + - -0.2375390716345329 + - -0.09362705109820167 + - - 0.10969031322324034 + - 0.23729212942026448 + - -0.9652256111915929 + - 0.9726234773206923 + - - 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: + - - 0.9974016833685665 + - -0.0032527898098883364 + - -0.07196736324197668 + - 0.02367453089548299 + - - -0.009041007829905823 + - -0.996733798269417 + - -0.08024958295742855 + - -0.03481402501033491 + - - -0.07147126828991852 + - 0.08069172662593306 + - -0.9941733767624019 + - 0.9702297237956727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8733955399313553 + - 0.016969833660080966 + - -0.4867157852110052 + - 0.09999138383182583 + - - 0.02511583729675957 + - -0.9996323427242805 + - 0.010216364150194154 + - -0.09000562563282996 + - - -0.4863634706111253 + - -0.021147201354218353 + - -0.8735006412876783 + - 0.9745730319991774 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9247346075625142 + - 0.04031468960021648 + - -0.37847144063805005 + - 0.012632999503859774 + - - 0.04363545279962535 + - -0.9990475004070196 + - 0.00019796327449890343 + - -0.09393942772828015 + - - -0.37810296591692394 + - -0.016697836174923375 + - -0.9256129479603779 + - 0.976196609067109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998769661296391 + - -0.0036180987689784123 + - 0.049457790439832276 + - 0.05403308110179538 + - - 0.007003406317716433 + - -0.9770476560727567 + - -0.2129056834907896 + - -0.09355706569853973 + - - 0.04909293201512228 + - 0.21299011039019916 + - -0.975820217510443 + - 0.9719484085318446 + - - 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: null + base_right_marker_pose: + - - 0.9995298372612252 + - -0.013163013738491505 + - -0.02769186692638849 + - 0.0915862918537329 + - - -0.013210736315600283 + - -0.9999115468300303 + - -0.0015410911639279564 + - -0.03395932287252134 + - - -0.02766913208881342 + - 0.0019061965523368331 + - -0.9996153187822581 + - 0.9681943346149706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8870231523996956 + - 0.04672887959885565 + - -0.4593542629804821 + - 0.10011710613799388 + - - 0.0032065818806656828 + - -0.9954650419061353 + - -0.09507401419662323 + - -0.09020038352644032 + - - -0.46171381281000123 + - 0.08285989472750241 + - -0.8831503795539009 + - 0.9759717468147627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9236007840176716 + - 0.029996189767560723 + - -0.38218035056942795 + - 0.012644245157436368 + - - 0.04924992948450429 + - -0.997957143885597 + - 0.040693776102423335 + - -0.09383391802931502 + - - -0.38017895287313547 + - -0.056407158828745224 + - -0.9231913107396299 + - 0.9750094335837483 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9851720382794712 + - -0.018865392333442442 + - 0.1705290355463763 + - 0.05402254068875719 + - - -0.00015673162639669343 + - -0.9940348009077472 + - -0.1090632386255533 + - -0.09351083945238686 + - - 0.17156931668415906 + - 0.10741932580500767 + - -0.9792982477346368 + - 0.9716408547446049 + - - 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: + - - 0.9966366165724541 + - -0.0030021882097680964 + - -0.08189286521403713 + - 0.023669664922458603 + - - -0.009199095290417458 + - -0.9971110104613478 + - -0.07539900173469394 + - -0.03477617581372542 + - - -0.08142991558910731 + - 0.07589874625251519 + - -0.9937849612287598 + - 0.9699467067208093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8763907122406662 + - 0.05871780897116152 + - -0.4780078852988976 + - 0.10001965072062373 + - - 0.000868346132137366 + - -0.992730709232633 + - -0.12035358291911596 + - -0.09006502487303969 + - - -0.48160000568240513 + - 0.10506168595686965 + - -0.8700709607098767 + - 0.975174179385856 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9436650229455174 + - 0.07280774552787622 + - -0.3227930554711242 + - 0.012648326992342786 + - - 0.007368808698254535 + - -0.979875406025294 + - -0.19947403170621952 + - -0.09403909823139345 + - - -0.33082023083179896 + - 0.18585806643219271 + - -0.9252106538591534 + - 0.9767955915245397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969224427911282 + - -0.010352307451972645 + - 0.07770761088715561 + - 0.05400185576530187 + - - 0.0011914717128208097 + - -0.9891271016230518 + - -0.14705834634572645 + - -0.0935178276172613 + - - 0.07838509714561373 + - 0.1466983522920483 + - -0.98607067189947 + - 0.9717214485744741 + - - 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: + - - 0.9954756120831942 + - -0.0039655589261706325 + - -0.09493460954779717 + - 0.023670173650419055 + - - -0.008243894809917239 + - -0.9989657036949754 + - -0.0447164515538306 + - -0.03474160054958549 + - - -0.09465909330831696 + - 0.045296767915670624 + - -0.9944786869865244 + - 0.9699115930267641 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995831874132454 + - -0.013622880525044541 + - -0.025453262403413 + - 0.09160282790670472 + - - -0.013557255082936577 + - -0.9999043171467158 + - 0.002749070020211159 + - -0.03394889434916875 + - - -0.025488277215081172 + - -0.0024028478021288755 + - -0.9996722333080212 + - 0.9680416324520292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.863133355409869 + - 0.040087942210917084 + - -0.5033823275286836 + - 0.10003202938282808 + - - 0.013599917472697176 + - -0.9983277651030256 + - -0.056184656883660825 + - -0.09008757446967663 + - - -0.5047928813123622 + - 0.04164889330694205 + - -0.8622351863979287 + - 0.9753592214699239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9342862595300995 + - 0.05681778592961135 + - -0.3519672207114072 + - 0.012627318049426392 + - - 0.023061898831283616 + - -0.9947832730378483 + - -0.09936995776592078 + - -0.0938811424676815 + - - -0.3557770848095071 + - 0.08472295371481153 + - -0.9307226692405671 + - 0.9754038664737904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9822445762217523 + - -0.025109834150546708 + - 0.18591688656999997 + - 0.054079323835232423 + - - 0.0130969616951816 + - -0.9794065883136334 + - -0.20147258960514708 + - -0.0935440330451552 + - - 0.18714716689628283 + - 0.2003303047389014 + - -0.9616879467508749 + - 0.9720950812702214 + - - 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: + - - 0.9963670324698783 + - -0.004160645484147482 + - -0.08506130516470882 + - 0.02367167427063744 + - - -0.0073814344316592735 + - -0.9992661734078083 + - -0.03758495854257383 + - -0.03473588950282824 + - - -0.08484250722898039 + - 0.038076288055312345 + - -0.9956665833777034 + - 0.9700023279592934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996878459886746 + - -0.01239768585032087 + - -0.021691195635113642 + - 0.09160950784877052 + - - -0.012768946632227737 + - -0.9997728990273274 + - -0.017061781044084626 + - -0.03395625642295727 + - - -0.021474742942054963 + - 0.01733342886014534 + - -0.9996191212954674 + - 0.9682158478337051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8699811340849184 + - 0.05152109663148102 + - -0.49038597343134627 + - 0.10015528091926548 + - - 0.004676598039883725 + - -0.9953436419054686 + - -0.09627649738712248 + - -0.09017225231230677 + - - -0.49306283145973684 + - 0.08146539830043699 + - -0.866171133848652 + - 0.9760337166694253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.927602282894843 + - 0.06536810599547697 + - -0.3678056762569602 + - 0.0125991595183857 + - - 0.016398781995075277 + - -0.9907476429299455 + - -0.1347226335024493 + - -0.09397377012085831 + - - -0.3732091701946158 + - 0.11893745729298812 + - -0.920091732674153 + - 0.9765621805676581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9843433156209973 + - -0.024724449727011884 + - 0.17451916392751268 + - 0.05409388528178487 + - - 0.014281054651094041 + - -0.9756708772863307 + - -0.21877474875628236 + - -0.09362126232125477 + - - 0.1756823510495976 + - 0.2178417792826217 + - -0.9600420150851043 + - 0.9728345226056847 + - - 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: + - - 0.9967195562156698 + - -0.0032912310741158423 + - -0.08086590168454916 + - 0.02368155810280695 + - - -0.00834577052761962 + - -0.998025881658482 + - -0.06224698911682769 + - -0.034808409869284504 + - - -0.08050139359997882 + - 0.06271767962725441 + - -0.9947793817176926 + - 0.9704761559135031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996749919447099 + - -0.011433772223405757 + - -0.022785507084276027 + - 0.09160342475025879 + - - -0.011918004836037787 + - -0.9997035688498163 + - -0.0212305343707835 + - -0.03399900793519324 + - - -0.022536007656026785 + - 0.021495192059716856 + - -0.9995149248896905 + - 0.9681640169030424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.16671304404735565 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8752078833342609 + - 0.03430108478252366 + - -0.48252937375076455 + - 0.1000530527640141 + - - 0.017618027031336955 + - -0.9990813331622153 + - -0.03906526398649493 + - -0.09016199897098089 + - - -0.4834260709488949 + - 0.025689011455359304 + - -0.8750081763145767 + - 0.9757738095466786 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9219130637996934 + - 0.034375113085827504 + - -0.3858687009797491 + - 0.012640526662495233 + - - 0.04580083699118489 + - -0.9987411667542359 + - 0.02045397666212799 + - -0.0939085076908397 + - - -0.38467984886964035 + - -0.0365298977650436 + - -0.9223269379362756 + - 0.9753421142633305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981563619840704 + - -0.008187116949870833 + - 0.06014023733553499 + - 0.053989330903205304 + - - -0.0023800547552201494 + - -0.9953782502330416 + - -0.09600247029306001 + - -0.09346848347923659 + - - 0.06064826765941046 + - 0.09568233943135408 + - -0.9935626188373106 + - 0.9710665581247004 + - - 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: + - - 0.9970106407004714 + - -0.003072615116012467 + - -0.07720324712331912 + - 0.02367410844723113 + - - -0.008410335275426901 + - -0.9975875043844739 + - -0.06890890622054376 + - -0.03478219328249077 + - - -0.07680526408124862 + - 0.06935221793357178 + - -0.9946311986244467 + - 0.9701238961078429 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.872835904465104 + - 0.041520143361564094 + - -0.48624434348567896 + - 0.10000154144474772 + - - 0.01228582093573136 + - -0.997927866307007 + - -0.06315878602284614 + - -0.09015549759992579 + - - -0.4878591420487259 + - 0.04915334518809158 + - -0.871537380825574 + - 0.9756219331806809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9464693121858508 + - 0.05817423286336566 + - -0.31750842464602613 + - 0.012644322584217488 + - - 0.023386800222579888 + - -0.9933993958463342 + - -0.11229736376018572 + - -0.09384268172194182 + - - -0.3219454902088108 + - 0.09886050254220459 + - -0.9415825520745971 + - 0.9749436027846894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9848343636201322 + - -0.02293118152413203 + - 0.1719751061835301 + - 0.054090320138213195 + - - 0.013480309934577807 + - -0.9781169422484635 + - -0.20761870949069966 + - -0.09357082447716587 + - - 0.1729727073182266 + - 0.2067883173692922 + - -0.9629740569312237 + - 0.9723742920369793 + - - 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: + - - 0.9972224539058355 + - -0.0038299305367187533 + - -0.07438218239677931 + - 0.023669673964740737 + - - -0.008344403856743945 + - -0.9981346883250458 + - -0.06047739153219498 + - -0.03475408850679985 + - - -0.07401181223493582 + - 0.060930087759224184 + - -0.9953942817071801 + - 0.9696019162838887 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995641890951407 + - -0.012118062304369915 + - -0.026918106258824636 + - 0.09156104285940453 + - - -0.011886360957129092 + - -0.9998910609278777 + - 0.008751039922225227 + - -0.03390796624484717 + - - -0.02702121947231106 + - -0.008427267796323515 + - -0.9995993371625046 + - 0.9681448602397469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.881025497756131 + - 0.04800550531297726 + - -0.47062675631885537 + - 0.09997999987232933 + - - 0.004049556647466205 + - -0.9955667680006512 + - -0.09397026946697942 + - -0.08998620928707635 + - - -0.4730514489931518 + - 0.08088437372189683 + - -0.8773141083403916 + - 0.9749450576768235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9388706990486294 + - 0.07143653618475612 + - -0.33677682783389656 + - 0.012644979752160177 + - - 0.012369493747228785 + - -0.9846027806605486 + - -0.1743684602786675 + - -0.0939439776473889 + - - -0.34404767996947055 + - 0.15954367932776278 + - -0.9252983347516547 + - 0.9762168790200205 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999191818190227 + - -0.003989000576477662 + - 0.0399974791219311 + - 0.05404015782002465 + - - 0.005656575489404354 + - -0.9712073102090364 + - -0.23816877156810798 + - -0.09348952933444502 + - - 0.03979589948023695 + - 0.2382025366593097 + - -0.9703998340445187 + - 0.9722738373371728 + - - 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: + - - 0.9980800396690301 + - -0.004269765681936627 + - -0.06178999526855966 + - 0.023673049967028726 + - - -0.0077213569962133865 + - -0.9984160434935245 + - -0.05572956792291521 + - -0.034725869474254045 + - - -0.061454170406932476 + - 0.056099671975504 + - -0.9965320926813335 + - 0.9694149521016597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8657607642218266 + - 0.031321367741309614 + - -0.499476997525264 + - 0.10005442991867323 + - - 0.018897258633500707 + - -0.9993738333343769 + - -0.0299137905102736 + - -0.0901250652124994 + - - -0.5001011825122768 + - 0.01645944012922679 + - -0.865810541677829 + - 0.9753997799741425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9362905241289279 + - 0.07084892371426756 + - -0.3440065180122427 + - 0.01263891727813649 + - - 0.010874493746957956 + - -0.9848215586243549 + - -0.17322887477104779 + - -0.09392730348838052 + - - -0.3510581145795165 + - 0.15845165722461182 + - -0.9228495394757745 + - 0.9761221980916103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991463499870383 + - -0.01649457874925887 + - 0.129336991215412 + - 0.05411709369005349 + - - 0.02050324760387848 + - -0.9599004383159816 + - -0.27959035276361377 + - -0.0936411217774028 + - - 0.12876235964933666 + - 0.2798554580362378 + - -0.95136805566766 + - 0.9728213407515555 + - - 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: + - - 0.9971810582775102 + - -0.003977311408341689 + - -0.0749274182559751 + - 0.023651017083438357 + - - -0.007185609764876279 + - -0.9990664544400829 + - -0.042597965031552255 + - -0.034790107778976745 + - - -0.07468804472505403 + - 0.04301628303890876 + - -0.9962787237358155 + - 0.9696359349384622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9982146517226141 + - -0.007431538460019147 + - -0.059264503055517205 + - 0.09163259351220601 + - - -0.011723329026415149 + - -0.9973066203671955 + - -0.0724021306889644 + - -0.03405418978851019 + - - -0.0585668220312368 + - 0.07296764493856661 + - -0.9956132030810367 + - 0.968486816545999 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.875552318368024 + - 0.047744572169935995 + - -0.4807583526353837 + - 0.10008889357450668 + - - 0.0042101054193205215 + - -0.995821082314674 + - -0.09122854284701379 + - -0.09014193392785275 + - - -0.4831049708011048 + - 0.0778513188452257 + - -0.8720944669824037 + - 0.975425654289215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9196950276847585 + - 0.07515750259225515 + - -0.3853730736001499 + - 0.012611348993374282 + - - 0.0137262508342667 + - -0.9870629615927703 + - -0.1597444831277254 + - -0.09390312811313183 + - - -0.39239348375064304 + - 0.14162647935963288 + - -0.9088285285213209 + - 0.975421386845286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972545106403891 + - -0.011188280895089251 + - 0.07320015968569121 + - 0.05408495693473726 + - - 0.012458812343507476 + - -0.9490774269661496 + - -0.31479646697239616 + - -0.093675322926698 + - - 0.07299465050527593 + - 0.3148441836749192 + - -0.9463323522968488 + - 0.9728935473202586 + - - 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: + - - 0.9973255039088449 + - -0.0032642846275106603 + - -0.07301495530943816 + - 0.023657087942886016 + - - -0.007974534595242246 + - -0.9978979368461673 + - -0.06431263045585882 + - -0.03479126359966649 + - - -0.07265153853125161 + - 0.06472288686417789 + - -0.9952550938653912 + - 0.9695964006299465 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989735558672121 + - -0.013136626600265126 + - -0.04335047542511005 + - 0.09159290436527616 + - - -0.013324393865480002 + - -0.9999030434755826 + - -0.004045265922616681 + - -0.033990438677440185 + - - -0.0432931311657568 + - 0.004618732491964823 + - -0.999051736450136 + - 0.9681751213074835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8825429007339948 + - 0.061333992395722306 + - -0.4662147249292195 + - 0.10014947391550014 + - - -0.002446825762149246 + - -0.9908446523580442 + - -0.13498476927845324 + - -0.09019966713778509 + - - -0.4702255218591564 + - 0.1202705960335653 + - -0.8743128400761457 + - 0.9759372294704529 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9342103324676158 + - 0.05311025904710415 + - -0.352746871133815 + - 0.012640654808852724 + - - 0.030736840628628373 + - -0.9971615826768062 + - -0.06873154051567247 + - -0.093912471906764 + - - -0.3553959782255802 + - 0.0533673909558704 + - -0.933191095244509 + - 0.97553261424086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995122438100468 + - -0.0033289662529458353 + - 0.031051448557069615 + - 0.05414310361035644 + - - 0.002653387985462747 + - -0.9816543071807228 + - -0.19065093948295728 + - -0.09374246924571181 + - - 0.031116458763879203 + - 0.1906403398476366 + - -0.9811666661769415 + - 0.973754497290418 + - - 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: + - - 0.9952159201730095 + - -0.004205453799651966 + - -0.09760935607066032 + - 0.02363814673983856 + - - -0.009043321764981413 + - -0.9987492750991745 + - -0.04917421906171011 + - -0.03475535612357642 + - - -0.09728047371207119 + - 0.0498216784865086 + - -0.9940092101118293 + - 0.9697074129523154 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994420078239191 + - -0.012278702828135465 + - -0.031062943417384123 + - 0.09158407933105282 + - - -0.01236110216047585 + - -0.9999205676767003 + - -0.0024620094403884677 + - -0.03394287144138677 + - - -0.031030245733341344 + - 0.002844607875370659 + - -0.999514398123291 + - 0.968164179254203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8578341566888694 + - 0.0014255210715926198 + - -0.5139246321276795 + - 0.09991208176825278 + - - 0.04192009151416332 + - -0.996858011913595 + - 0.06720721695710198 + - -0.08996378969910776 + - - -0.5122140817522888 + - -0.0791964138919765 + - -0.8551986099622182 + - 0.9744353884909396 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9345948845637226 + - 0.041530776798205556 + - -0.35328118592115765 + - 0.012615360250738276 + - - 0.04468140182615143 + - -0.9990009957117573 + - 0.0007634774183174747 + - -0.0937491984100567 + - - -0.3528965486912162 + - -0.016498640715401983 + - -0.9355168735925466 + - 0.9740860835460337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993538978418228 + - -0.012721837687756045 + - 0.1127761198548266 + - 0.0540453928456857 + - - 0.011033081771175618 + - -0.9781637810551859 + - -0.20754249815026496 + - -0.09350192967807441 + - - 0.1129538377847091 + - 0.20744582974277545 + - -0.971703482679792 + - 0.9715065960158389 + - - 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: + - - 0.9953303748267629 + - -0.004289441514944701 + - -0.09643155935017013 + - 0.023670377704889074 + - - -0.008331214950722934 + - -0.9991016942682147 + - -0.04154991417353507 + - -0.03475855337941059 + - - -0.0961667084008825 + - 0.04215928369734416 + - -0.9944720001053157 + - 0.9702077724163691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8635192091958015 + - 0.021126736564597945 + - -0.5038732344072147 + - 0.10002532056572316 + - - 0.026072222432242415 + - -0.9996562314213255 + - 0.0027673449293458855 + - -0.09002871335070632 + - - -0.5036415536542845 + - -0.015526750550079089 + - -0.8637731793995778 + - 0.9750633349737498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9208636265313417 + - 0.07541881707797601 + - -0.3825208273572884 + - 0.012654064426722548 + - - 0.007415117636503446 + - -0.9843227264075339 + - -0.17622084527114054 + - -0.09394312429583168 + - - -0.38981431138682227 + - 0.159438929713534 + - -0.9069862349174985 + - 0.975833703659943 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956801565351459 + - -0.007681660265830577 + - 0.09253117300514441 + - 0.054046604547825935 + - - 0.011413076862099239 + - -0.9788888011371231 + - -0.20407463508448495 + - -0.09346939498320334 + - - 0.09214536102640991 + - 0.20424912999542064 + - -0.9745724833676694 + - 0.9714437764162243 + - - 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: + - - 0.9978468205428377 + - -0.004744106618880908 + - -0.06541571817949121 + - 0.023657356656287435 + - - -0.007797757078833208 + - -0.9988876357410617 + - -0.04650468952881425 + - -0.03476017895119642 + - - -0.06512232886721292 + - 0.04691465246616019 + - -0.9967738447947407 + - 0.9696423084490818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8889798966312789 + - 0.05423141473427496 + - -0.45472375904647855 + - 0.10006566231207648 + - - 0.0033793407830693123 + - -0.9937130552453214 + - -0.11190596003288329 + - -0.09012949428956732 + - - -0.4579337544244939 + - 0.09794548223848028 + - -0.8835741955646732 + - 0.9755043746362757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9123848306668337 + - 0.0747584870109059 + - -0.40244886555796555 + - 0.012625123096344946 + - - 0.011483502326431368 + - -0.9874686223465152 + - -0.15739710624847622 + - -0.09390060968360672 + - - -0.4091723963604731 + - 0.13898520964806102 + - -0.901809881047947 + - 0.975691206857455 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934776879115006 + - -0.018677216516931362 + - 0.112486644563693 + - 0.05413674832770221 + - - 0.01761923318721969 + - -0.9495016072461318 + - -0.3132670752870578 + - -0.09367689923180042 + - - 0.11265720679971306 + - 0.3132057780759998 + - -0.9429795832020407 + - 0.9732453056274668 + - - 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: + - - 0.9970527674241798 + - -0.0037907398469117816 + - -0.07662512161946237 + - 0.02368108805267365 + - - -0.00719817337744366 + - -0.9989949222110875 + - -0.044241741562601376 + - -0.034783462203900176 + - - -0.07638039847901178 + - 0.04466291177114166 + - -0.996077938235915 + - 0.9699226580478639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988799760834869 + - -0.013515333578115303 + - -0.04534456017787383 + - 0.09159634230087302 + - - -0.013226124292787814 + - -0.9998902708690812 + - 0.006672020499566147 + - -0.03397247043051193 + - - -0.04542975914138529 + - -0.006064814888120812 + - -0.9989491253335818 + - 0.9682188294957543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8713809757022817 + - 0.047738577258430004 + - -0.48827883778173364 + - 0.10004484591508427 + - - 0.0019308406412064903 + - -0.995580588336465 + - -0.09389123485201442 + - -0.09014005978498123 + - - -0.49060316655985614 + - 0.08087224721101036 + - -0.8676221600400044 + - 0.9754192436562332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.924482130405402 + - 0.0783531941247582 + - -0.37308654161137633 + - 0.012648932904948992 + - - 0.007232184982808171 + - -0.9820793600617056 + - -0.18832903663844777 + - -0.09404864249219769 + - - -0.38115677360039624 + - 0.17140859812517958 + - -0.9084814838109236 + - 0.9766102915195909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993778238595548 + - -0.01655827350038342 + - 0.1101391668418477 + - 0.05404573091713088 + - - 0.011265798400425684 + - -0.9688708737499361 + - -0.24731015301729264 + - -0.09359226022334947 + - - 0.11080565996523296 + - 0.24701225390195164 + - -0.9626562481706268 + - 0.972075389100374 + - - 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: + - - 0.9975923388792909 + - -0.006374700934021846 + - -0.06905714008955192 + - 0.023644127445184532 + - - -0.007836844604116667 + - -0.9997503796865561 + - -0.020922767102779467 + - -0.034710395548073696 + - - -0.06890652564160483 + - 0.021413582245574984 + - -0.9973932771075882 + - 0.9691086105450273 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999357054168907 + - -0.011678659743935404 + - -0.03389818858626096 + - 0.09160993762059359 + - - -0.012553538625393476 + - -0.99959056777977 + - -0.025711971408258278 + - -0.03402785254842245 + - - -0.033584028210223445 + - 0.026120982223180652 + - -0.9990944936976044 + - 0.9684352131565168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.881426851279259 + - 0.07676127463383653 + - -0.4660412133712208 + - 0.10017953747245528 + - - -0.010387611937642836 + - -0.983316252755382 + - -0.18160739132906217 + - -0.09025571301382122 + - - -0.47220631440310495 + - 0.16491468637966394 + - -0.8659239821451613 + - 0.9766620678868065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9016649487323147 + - 0.07244842446160249 + - -0.42632328815182446 + - 0.012634763243358625 + - - 0.013951091874007115 + - -0.9902262858656323 + - -0.13877056538141605 + - -0.09397906821416255 + - - -0.4322102350281343 + - 0.11917687935915393 + - -0.8938630679042169 + - 0.9760663310051867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911002829770963 + - -0.0259400796357505 + - 0.13056546768273206 + - 0.054174369501523614 + - - 0.018362031040553936 + - -0.9448134747375032 + - -0.32709376907931403 + - -0.09376973624827714 + - - 0.13184485162032442 + - 0.32658017426496794 + - -0.935928589625447 + - 0.9737791662602977 + - - 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: + - - 0.9970951047942338 + - -0.0017897124369722819 + - -0.07614557718455282 + - 0.023669653627383852 + - - -0.008486490971274897 + - -0.9961094843720962 + - -0.08771473430930699 + - -0.03481098674405705 + - - -0.07569234747562144 + - 0.08810614095141606 + - -0.9932310790849631 + - 0.9701339504104622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999743571158249 + - -0.013111788373295718 + - -0.018462744471096984 + - 0.09163978134376355 + - - -0.01347253524156899 + - -0.9997180597049283 + - -0.01955228615733874 + - -0.03397959523183165 + - - -0.018201173641163824 + - 0.019796012362788766 + - -0.9996383521917399 + - 0.9684437329463417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8756819805876672 + - 0.05717547804888865 + - -0.4794914322320489 + - 0.10011084744881947 + - - 0.0008832133871703104 + - -0.9931535873209959 + - -0.11681255037687835 + - -0.09020472546867651 + - - -0.4828874494208492 + - 0.10186715221954068 + - -0.8697371985206271 + - 0.9759469414708322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9190996831603525 + - 0.036894084326675514 + - -0.392294021055937 + - 0.012641868698421935 + - - 0.042176262293919756 + - -0.9990984045806122 + - 0.004851892763652641 + - -0.09389226057195786 + - - -0.3917613244227336 + - -0.021004868630192828 + - -0.9198270816737101 + - 0.9754954908162039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9893178082187898 + - -0.012874610929650596 + - 0.14520509197194106 + - 0.05406823830174428 + - - 0.006202603414967452 + - -0.9914724501048715 + - -0.13016876888839413 + - -0.09370024706881455 + - - 0.14564272055975327 + - 0.12967893073454012 + - -0.9808014951413463 + - 0.9723898902117458 + - - 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: + - - 0.9961636753969456 + - -0.0022739912042330896 + - -0.08748005934869954 + - 0.02368229116959598 + - - -0.008731960250565055 + - -0.9972562096687722 + - -0.07351057847178862 + - -0.03477594377416298 + - - -0.08707286999882038 + - 0.07399244043196244 + - -0.9934502675368765 + - 0.9705755657086845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990365244592319 + - -0.011027839555331678 + - -0.04247834214232548 + - 0.0915674313921298 + - - -0.011832710736535225 + - -0.999754309511515 + - -0.018743200627923673 + - -0.03391493234665098 + - - -0.042261208608416374 + - 0.01922777594770067 + - -0.9989215599230302 + - 0.9680602473366003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.16671304404735565 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8648787450149737 + - 0.03788897853317685 + - -0.5005488804572801 + - 0.10002255491565865 + - - 0.015625501911849714 + - -0.9986962143139559 + - -0.04859748146741263 + - -0.09006671225572811 + - - -0.5017375809238599 + - 0.03420960129386481 + - -0.8643431627935676 + - 0.9753526174230234 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.91607174476464 + - 0.07015941931204492 + - -0.39482934835909156 + - 0.012640078103176489 + - - 0.019672546804510995 + - -0.9912534263775542 + - -0.13049764594421953 + - -0.0938984181465948 + - - -0.40053158345640183 + - 0.11177790737241061 + - -0.9094394702658072 + - 0.9756599638517376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9840133127814323 + - -0.013795711225587282 + - 0.17755978886192447 + - 0.05399354512003992 + - - -0.0030074345734240806 + - -0.9981402665322443 + - -0.060884839362744594 + - -0.09336925334341217 + - - 0.178069524641915 + - 0.05937749303162643 + - -0.9822247999898404 + - 0.9706304510842104 + - - 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: + - - 0.9964594395153603 + - -0.0028619745125801612 + - -0.08402615368219082 + - 0.023662280657086577 + - - -0.007057064861135339 + - -0.998740674974173 + - -0.04967154102380251 + - -0.03480933663685149 + - - -0.08377817875962415 + - 0.05008865394500942 + - -0.9952247703457233 + - 0.9699620548509154 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997827052117869 + - -0.013495867157570536 + - -0.015887225341960912 + - 0.09158387680230755 + - - -0.013707522327932492 + - -0.9998177271839591 + - -0.013289704298135802 + - -0.03398556230030963 + - - -0.01570497344888772 + - 0.01350459101075875 + - -0.9997854669030762 + - 0.9681386757913345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8898383398479321 + - 0.05391850344190552 + - -0.45307893784997466 + - 0.100087906004503 + - - 0.0019377671727012873 + - -0.9934309020813317 + - -0.11441716588106932 + - -0.09017944856646488 + - - -0.45627182029472346 + - 0.10093481944530813 + - -0.8840973861676568 + - 0.9757910498166903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9262453682352716 + - 0.07301106881656128 + - -0.3697822354480667 + - 0.01263169727109641 + - - 0.012403592576547516 + - -0.9864329063096959 + - -0.16369566958414494 + - -0.09394076453542574 + - - -0.37671696101171376 + - 0.14703572756194289 + - -0.9145845100953924 + - 0.9756904915425941 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997982656645449 + - -0.00519658335751163 + - 0.06327410652312845 + - 0.054051106150695756 + - - 0.005900610190914973 + - -0.9847383411607211 + - -0.17394131840194305 + - -0.09356179941041438 + - - 0.06321233925640343 + - 0.17396377487695447 + - -0.9827211227994916 + - 0.9715435586238649 + - - 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: null + base_right_marker_pose: + - - 0.9988788644270671 + - -0.012090638726071511 + - -0.04576932003087305 + - 0.09158054647529419 + - - -0.01313177273615773 + - -0.9996602465762424 + - -0.022515504878453906 + - -0.03402384239887886 + - - -0.045481542912469024 + - 0.023091294253926024 + - -0.9986982634329447 + - 0.9680978124223343 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8724081798128681 + - 0.04883343763422772 + - -0.4863324615573408 + - 0.10007626138854364 + - - 0.004814973247712243 + - -0.9958069085698602 + - -0.09135325323797416 + - -0.09013871615411387 + - - -0.4887543184752664 + - 0.0773556475854324 + - -0.8689852242463135 + - 0.9757492638126848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9422298494490918 + - 0.04493819038569136 + - -0.3319389550082985 + - 0.012637133157300726 + - - 0.038269487769869465 + - -0.9989132625385663 + - -0.026603387573571897 + - -0.09390056466184529 + - - -0.3327737326066672 + - 0.012363372089249161 + - -0.9429256545017797 + - 0.9756509234638723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953757904567148 + - -0.009730145787995859 + - 0.09556338229476091 + - 0.054155588479178826 + - - 0.011140989401406693 + - -0.9764482598439962 + - -0.21546385822868522 + - -0.09369982967139032 + - - 0.09540919309913495 + - 0.21553217882853956 + - -0.971824555031203 + - 0.9729447955559928 + - - 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: null + base_right_marker_pose: + - - 0.9995781219971657 + - -0.01312024387265197 + - -0.02591210576818187 + - 0.09156968718549877 + - - -0.012928503609816322 + - -0.9998878939337179 + - 0.0075533674082678545 + - -0.03391169149166714 + - - -0.02600830288639134 + - -0.007215176055749099 + - -0.9996356883462362 + - 0.9681590315870923 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8774747825822968 + - 0.03618044836373253 + - -0.47825618771569534 + - 0.10004437609859643 + - - 0.01010891444148456 + - -0.9983243234694398 + - -0.056976793680416186 + - -0.0900991090848867 + - - -0.4795162309880301 + - 0.04516104876423103 + - -0.8763701637399287 + - 0.9752096894435882 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9172156155093807 + - 0.06261512232151925 + - -0.3934397808082059 + - 0.012655222985602989 + - - 0.02431384705425008 + - -0.9945286838018487 + - -0.10159495035082043 + - -0.0938922261204855 + - - -0.397648527605938 + - 0.08361844026304434 + - -0.9137196533624555 + - 0.9758405484866743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901512096219078 + - -0.019237051811899886 + - 0.1386741429461853 + - 0.054041007292902066 + - - 0.011833731500173876 + - -0.9754702875490558 + - -0.219812831535705 + - -0.09350732993269485 + - - 0.13950105692450704 + - 0.21928897360913682 + - -0.9656354390609309 + - 0.9719632699834222 + - - 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: + - - 0.9973355339197407 + - -0.004619235436501731 + - -0.07280450154357156 + - 0.023688380142096444 + - - -0.007985882543297842 + - -0.9989086305184346 + - -0.046019273742530745 + - -0.03474888266884987 + - - -0.07251247107243276 + - 0.04647806514655592 + - -0.9962839610267756 + - 0.9702486688875789 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8705039203878103 + - 0.03664373465745923 + - -0.4907954373257829 + - 0.10005497252141504 + - - 0.015588457791494065 + - -0.998776915064911 + - -0.04692199822153689 + - -0.09007048759806278 + - - -0.4919145500726072 + - 0.03319503944526689 + - -0.8700104394678785 + - 0.9752917013768339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9235113865843441 + - 0.06905857468988771 + - -0.3773031037652134 + - 0.01262835573650444 + - - 0.01593920410505021 + - -0.9897187316576395 + - -0.14213646252278375 + - -0.09393385713365977 + - - -0.3832396908222839 + - 0.125250730408227 + - -0.9151172569188308 + - 0.976177684293311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960374082865004 + - -0.014545788138793198 + - 0.08773768484142073 + - 0.05413440423714943 + - - 0.014399923753375796 + - -0.9471397181634655 + - -0.32049804441389196 + - -0.09368997538457458 + - - 0.08776174274596014 + - 0.3204914574909189 + - -0.9431771319246134 + - 0.9732415779734068 + - - 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: + - - 0.9976554850425482 + - -0.004347839281318704 + - -0.06829809263882626 + - 0.023682638026245033 + - - -0.007166578623068676 + - -0.9991301383575604 + - -0.04108049143377894 + - -0.03478342985950771 + - - -0.06806007137343632 + - 0.04147364125785476 + - -0.9968188219357902 + - 0.9700344232141841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995420748591489 + - -0.011418528590367065 + - -0.028022451554037094 + - 0.09162064056407822 + - - -0.012024280427598885 + - -0.9996955855126286 + - -0.021544210051949685 + - -0.03397618478098617 + - - -0.027767917935377303 + - 0.02187129423228167 + - -0.9993750993606657 + - 0.9682752522400094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8706952937611856 + - 0.04776750026747507 + - -0.4894976724564883 + - 0.10006076632017794 + - - 0.002986422169881403 + - -0.9957674905639764 + - -0.09185959949044471 + - -0.09015947486685688 + - - -0.4918137723821345 + - 0.07851987426198821 + - -0.8671527216362387 + - 0.9755901985173289 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9397563491439906 + - 0.046622105200296346 + - -0.3386508283619732 + - 0.012638176164484049 + - - 0.029398897353020675 + - -0.9980082694779828 + - -0.055813966782421134 + - -0.09383595573565767 + - - -0.34057849180179406 + - 0.042495568713162984 + - -0.9392552462253063 + - 0.9748066163127375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9839888859521155 + - -0.01880985376155509 + - 0.1772344823226664 + - 0.05406964478653913 + - - 0.001655620859186602 + - -0.9934078013125376 + - -0.1146219839776001 + - -0.09357481904166204 + - - 0.17822214015740376 + - 0.11308019142564049 + - -0.9774710937234186 + - 0.9723856509998229 + - - 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: + - - 0.9951447923541762 + - 0.0004782974270852811 + - -0.09842059480583704 + - 0.02366643931953302 + - - -0.010320170993106144 + - -0.9939685140943041 + - -0.10917915121411162 + - -0.03485591693494874 + - - -0.0978791924825525 + - 0.10966478113201178 + - -0.9891376544537323 + - 0.9706166982963786 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994381773461187 + - -0.01314968660578067 + - -0.030828808041145486 + - 0.0915896314945169 + - - -0.013348654452697 + - -0.999891325487408 + - -0.006257047173901181 + - -0.033982790464670815 + - - -0.030743179526043444 + - 0.006665054928782257 + - -0.9995050945119917 + - 0.9679546869207372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8852565374971244 + - 0.05175988795066693 + - -0.4622139946149801 + - 0.1000606097370628 + - - 0.003920423098380012 + - -0.9945834314285895 + - -0.10386735873440825 + - -0.090138402212573 + - - -0.4650865436683071 + - 0.0901371839313109 + - -0.8806644054187731 + - 0.9756238161340364 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9373936390446558 + - 0.035864015519941186 + - -0.3464201753209577 + - 0.012629342453340676 + - - 0.05079944336090478 + - -0.9981256254912533 + - 0.03412700238690993 + - -0.09394547685131999 + - - -0.34454692283176735 + - -0.049588387032442845 + - -0.937458484328069 + - 0.9760390310159816 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963806926541242 + - -0.005931242569206543 + - 0.08479584699543288 + - 0.054138463001166655 + - - 0.011380072489693575 + - -0.9792745274389125 + - -0.2022174420257147 + - -0.09385810156826893 + - - 0.08423781369561387 + - 0.20245053783795983 + - -0.9756627339777323 + - 0.973938413494606 + - - 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: + - - 0.9969551719396691 + - -0.001704477536202237 + - -0.07795819327738107 + - 0.023687727249303347 + - - -0.008878258564374252 + - -0.9957409056748021 + - -0.09176723429846181 + - -0.03481593267721616 + - - -0.07746974678936958 + - 0.09217995184557895 + - -0.9927241786166677 + - 0.9701228116939008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993362752471048 + - -0.01237272580963242 + - -0.034262583546523125 + - 0.09158760491953218 + - - -0.01270831881067983 + - -0.9998732156083123 + - -0.009594339065354555 + - -0.03396921395645461 + - - -0.03413953145913023 + - 0.010023390900015978 + - -0.9993668115495021 + - 0.9680589677607995 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8661408663161709 + - 0.05507931854548849 + - -0.4967557431632145 + - 0.10003879681254753 + - - 0.004064219663034729 + - -0.9946524476382648 + - -0.10319879129980011 + - -0.09014466874323941 + - - -0.4997834349151676 + - 0.08736576604010121 + - -0.8617329871303656 + - 0.975562018270868 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9105868857446876 + - 0.0315554207371031 + - -0.4121113671471533 + - 0.012592323148403022 + - - 0.05687601140241272 + - -0.9971623815318267 + - 0.049318396007253164 + - -0.09380457627438996 + - - -0.4093856895847045 + - -0.06834793544709328 + - -0.9097977340504734 + - 0.9745465999867149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9841065385118217 + - -0.023228653544659375 + - 0.1760532604434878 + - 0.054074190220319736 + - - 0.014690709478036005 + - -0.977360032487128 + - -0.21107238083603408 + - -0.09368694438927948 + - - 0.1769703475537987 + - 0.21030405738183477 + - -0.9614851530499186 + - 0.9726687337479648 + - - 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: + - - 0.9968236009637509 + - -0.004869581006394159 + - -0.07949211119653835 + - 0.02365879729192305 + - - -0.008483075012166032 + - -0.9989427052553184 + - -0.04518306159972855 + - -0.03472199565795022 + - - -0.0791880420265498 + - 0.04571387970856406 + - -0.9958109736300323 + - 0.9695389437764289 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996585820144088 + - -0.010559813596341195 + - -0.02389999459731949 + - 0.0916002331649264 + - - -0.010731924016984093 + - -0.999917314420399 + - -0.0070844992195182414 + - -0.033948548804596544 + - - -0.023823207421232204 + - 0.007338573370090555 + - -0.9996892517823013 + - 0.9683753947033934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8811457327402942 + - 0.029391009697235397 + - -0.4719304675718098 + - 0.09998736422548371 + - - 0.020721458884669634 + - -0.9995076908587425 + - -0.023558375493989113 + - -0.09005368075597556 + - - -0.4723905363311811 + - 0.010979274256609856 + - -0.8813209612403063 + - 0.9749466917670667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9320609457398473 + - 0.07584376404306642 + - -0.3542740702934961 + - 0.01267473750855624 + - - 0.004442660228261515 + - -0.9801622354965135 + - -0.19814705366614174 + - -0.09402360891315481 + - - -0.36227428310140586 + - 0.1831112109136311 + - -0.9139078882694391 + - 0.9764343154124896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989491656737337 + - -0.005486030415472397 + - 0.0455023941131867 + - 0.05408786418294673 + - - 0.008483457726465589 + - -0.9535213824472616 + - -0.3012059165435922 + - -0.09362588813915805 + - - 0.04503993055894433 + - 0.30127541666412594 + - -0.9524728489406414 + - 0.9729135044064827 + - - 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: + - - 0.997530948991882 + - -0.0031974436796561446 + - -0.07015541431187505 + - 0.023680208236071504 + - - -0.008064526527850977 + - -0.9975700256935875 + - -0.06920265348653541 + - -0.03477873729856912 + - - -0.06976366687063548 + - 0.06959755880497052 + - -0.9951327602853564 + - 0.9699086636475804 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994807205847402 + - -0.013506131735165194 + - -0.029255317208341625 + - 0.09158697328456666 + - - -0.01343403004839631 + - -0.9999062219503773 + - 0.0026597258471268608 + - -0.03395250510922155 + - - -0.02928849630942345 + - -0.0022653278957919867 + - -0.9995684330116962 + - 0.9680824201533297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8659375842662184 + - 0.032406420832678695 + - -0.49910111605164864 + - 0.0999691941208001 + - - 0.021079455857213412 + - -0.9993767257552127 + - -0.028316365578120013 + - -0.09002403664298683 + - - -0.4997076712398457 + - 0.013999425259819667 + - -0.8660809773897846 + - 0.9746597033660809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9298367695178428 + - 0.060274020029755675 + - -0.3630022376819113 + - 0.012627545907434076 + - - 0.015167113614696352 + - -0.9919329772036867 + - -0.12585280052676476 + - -0.09392989139024732 + - - -0.3676595445751696 + - 0.11151686529526984 + - -0.9232499380110978 + - 0.9756673313644497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965123094081052 + - -0.005647444098423313 + - 0.08325457088520678 + - 0.05406088826060415 + - - 0.008409579785115286 + - -0.9858310344457243 + - -0.16753044646126833 + - -0.09353980988070594 + - - 0.08302105856927215 + - 0.16764628805562412 + - -0.9823452681899624 + - 0.972124013071274 + - - 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: + - - 0.9970443120267918 + - -0.004416449416121605 + - -0.07670159600410027 + - 0.023672224995468782 + - - -0.008000467729212922 + - -0.9988870626785953 + - -0.0464825615628226 + - -0.034790098137992345 + - - -0.07641094405342204 + - 0.046958822258257385 + - -0.9959699978618743 + - 0.9696096026586906 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994171219832195 + - -0.013591290769589374 + - -0.031316019893897415 + - 0.09159412031072096 + - - -0.013776340642715566 + - -0.9998888497068211 + - -0.00570093592903834 + - -0.033988559832264495 + - - -0.031235056031234637 + - 0.006129033136442618 + - -0.9994932747285191 + - 0.9680718879703933 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8870961384853894 + - 0.055792954762329296 + - -0.4582003789644871 + - 0.10002869212792537 + - - 0.0009150965844286346 + - -0.9928786506276884 + - -0.11912660377087092 + - -0.09008690277569478 + - - -0.4615837991985335 + - 0.10525745259424432 + - -0.8808298728987447 + - 0.9751363805988873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9219936336457055 + - 0.04228454949122616 + - -0.38488927809321033 + - 0.012607854693018077 + - - 0.042896625648612685 + - -0.9990549941517531 + - -0.006999869170452787 + - -0.09388634802496364 + - - -0.3848215417888548 + - -0.010056616467018907 + - -0.9229362087601093 + - 0.9755269451516891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9945795512424582 + - -0.015058318004783761 + - 0.10288227888814185 + - 0.05413813700424914 + - - 0.013896830423146052 + - -0.9613301837020868 + - -0.2750475522659706 + - -0.09375450243872575 + - - 0.10304559357168512 + - 0.27498640868628094 + - -0.955910079810481 + - 0.97358555882505 + - - 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: + - - 0.9978738244773493 + - -0.0036267620195129316 + - -0.06507439604177849 + - 0.023673144725445714 + - - -0.008686289119131375 + - -0.9969438984893979 + - -0.0776364067052359 + - -0.03482970342702221 + - - -0.06459395331056365 + - 0.07803659309590442 + - -0.9948557238784415 + - 0.9702691477378838 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8673395603599393 + - 0.027942515217459364 + - -0.49693188957637774 + - 0.10001956390957964 + - - 0.020983360612976447 + - -0.9995880219125658 + - -0.01958277371340488 + - -0.09008300992968826 + - - -0.4972743564794117 + - 0.0065576133041438415 + - -0.8675685633399477 + - 0.9751687891334142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9666076209211255 + - 0.034708371945614984 + - -0.2538996575304632 + - 0.012644832773664664 + - - 0.04120346994622339 + - -0.998944399644932 + - 0.02030666103568944 + - -0.0938677801434108 + - - -0.25292682981762193 + - -0.030090120220972336 + - -0.9670173749336133 + - 0.9752626513585017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970773189660272 + - -0.009525442612336274 + - 0.07580294154291353 + - 0.054185548845114166 + - - -0.0013616590025777421 + - -0.9942550700959016 + - -0.10702804059383064 + - -0.0938035860365479 + - - 0.07638694841581234 + - 0.10661201401171 + - -0.9913621500642876 + - 0.9745268485333594 + - - 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: + - - 0.9970158341004068 + - -0.0058759577873195 + - -0.07697336989603348 + - 0.023673689039006136 + - - -0.008376746103638451 + - -0.9994461313570575 + - -0.03220653101664868 + - -0.03476901757364724 + - - -0.07674149254337664 + - 0.03275520776140513 + - -0.9965128396998816 + - 0.9696944536708348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988195905543442 + - -0.011403696332264316 + - -0.047216323817232245 + - 0.09159829311099842 + - - -0.012899226648007795 + - -0.9994207824065132 + - -0.03149142178176695 + - -0.03401200195342883 + - - -0.046829856680706994 + - 0.03206330307244283 + - -0.9983881555383908 + - 0.9682135307117015 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8614790412335309 + - 0.020736350456697666 + - -0.5073695549450059 + - 0.09995872037491485 + - - 0.027938569259288323 + - -0.9995879566209049 + - 0.006584324277212515 + - -0.09003995971701466 + - - -0.5070239618234036 + - -0.019847436816389036 + - -0.8617034184617809 + - 0.9748070436085144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9107169095558459 + - 0.09116622525963516 + - -0.4028441758558248 + - 0.012672002626647654 + - - -0.005886946665924063 + - -0.9723719327499828 + - -0.23336273965441987 + - -0.09414065008662198 + - - -0.41298916996454255 + - 0.2148989152415001 + - -0.8850188708270721 + - 0.9773795767138218 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940466070801944 + - -0.013096852286406786 + - 0.10816568500472623 + - 0.05404644366917657 + - - 0.005013949063987566 + - -0.9861989371121402 + - -0.16548872092583422 + - -0.09360763597400074 + - - 0.10884026491669962 + - 0.16504583878145168 + - -0.9802620403921544 + - 0.9722509186632169 + - - 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: + - - 0.9983203363043898 + - -0.0041578653447180165 + - -0.05778596955027524 + - 0.02369471210796274 + - - -0.008495659078633873 + - -0.9971454619889495 + - -0.07502500524267605 + - -0.034759933720457714 + - - -0.05730907343440277 + - 0.07538991836193443 + - -0.9955059167636677 + - 0.9704203589721583 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8828555869636296 + - 0.03283515513107446 + - -0.46849532031240515 + - 0.10007709822548713 + - - 0.01476802769019977 + - -0.999000591550093 + - -0.04218676855016747 + - -0.09011235059357241 + - - -0.46941231122036664 + - 0.030326072447354278 + - -0.8824581641101583 + - 0.9755016340775774 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9326654402094264 + - 0.0386310817689833 + - -0.3586681142230446 + - 0.012652817930175347 + - - 0.04157047035161241 + - -0.9991354570682869 + - 0.00048417320363196206 + - -0.09386870055409502 + - - -0.35833932610544234 + - -0.015361573822480823 + - -0.9334650231347684 + - 0.9754286013780333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980207064621184 + - -0.004932448577727424 + - 0.06269242716534636 + - 0.05402980560869794 + - - 0.0036909187403189225 + - -0.9906063353447501 + - -0.1366947895630897 + - -0.09347163078246182 + - - 0.06277775554849462 + - 0.13665562310374604 + - -0.9886274293597265 + - 0.971494575696782 + - - 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: + - - 0.9968148432965961 + - -0.0014601542558009125 + - -0.07973729449342824 + - 0.023685560107654432 + - - -0.007487602890217858 + - -0.9971294279713891 + - -0.07534480523838254 + - -0.03480769372885932 + - - -0.07939838780819695 + - 0.075701861423618 + - -0.9939643475449508 + - 0.9701418630990002 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995221809315548 + - -0.011352631757525527 + - -0.028749392654564568 + - 0.0915664493992172 + - - -0.01192757168702447 + - -0.9997306971162453 + - -0.019906438082137448 + - -0.033990088225298726 + - - -0.028515659899065994 + - 0.020239836848282712 + - -0.9993884160549773 + - 0.9679801302086575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8745734746559848 + - 0.037124638936016044 + - -0.4834697494280566 + - 0.09999837927035973 + - - 0.014775974712738713 + - -0.9986421806729258 + - -0.04995463494123557 + - -0.09010626376731506 + - - -0.4846678326436013 + - 0.03654526186380458 + - -0.8739345146152886 + - 0.9748372217425099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9506305214420524 + - 0.0447387915126246 + - -0.3070831357088848 + - 0.012645369251572476 + - - 0.03541789616017698 + - -0.9987289396474794 + - -0.0358619260805766 + - -0.09391637117095605 + - - -0.3082972337443175 + - 0.02321520287681606 + - -0.9510067665484775 + - 0.9758154541833692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975281351962093 + - -0.006300183542361856 + - 0.06998519257175564 + - 0.054074595570186 + - - 0.010058296205577575 + - -0.9729140013842471 + - -0.23094842841624688 + - -0.09358243393832355 + - - 0.06954459123047624 + - 0.23108148692144512 + - -0.9704457203948916 + - 0.9723332440917831 + - - 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: + - - 0.9970209073076348 + - -0.003684466701593527 + - -0.07704372198035116 + - 0.0236671051063341 + - - -0.008014485209925261 + - -0.998400357271456 + - -0.055968693276231676 + - -0.03483038150976837 + - - -0.07671426476399736 + - 0.05641942312142034 + - -0.9954555591669402 + - 0.9699936382923586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996931950057212 + - -0.012415888132302955 + - -0.021432722205525435 + - 0.09160012764688513 + - - -0.01281094441400779 + - -0.9997487282895365 + - -0.018394564052319665 + - -0.03400632067828283 + - - -0.02119895191924089 + - 0.01866349392101669 + - -0.9996010596393868 + - 0.968171124760448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8750338935780828 + - 0.05103743703231689 + - -0.48136354775860696 + - 0.10005690341613184 + - - 0.004261200077282912 + - -0.995199743667038 + - -0.09777173609466097 + - -0.09014619403493204 + - - -0.48404289816449303 + - 0.08350239652988983 + - -0.8710509873195048 + - 0.9755822354557957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9314795372708558 + - 0.038174720700561666 + - -0.3617852434042972 + - 0.012628072686326815 + - - 0.046112192690518174 + - -0.9988473518013194 + - 0.013327921246939739 + - -0.09386404319658191 + - - -0.3608594426240569 + - -0.029097396772326804 + - -0.9321661891369637 + - 0.9751903791495136 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912014265299105 + - -0.018998072776164943 + - 0.13099162292246783 + - 0.05413861073482231 + - - 0.022303139371020235 + - -0.9515230460713107 + - -0.3067677668357155 + - -0.09368406991663208 + - - 0.1304695444127376 + - 0.3069901725234321 + - -0.9427272839770613 + - 0.9725692855724394 + - - 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: + - - 0.9962838970318998 + - -0.0029613337783718895 + - -0.08607919038411109 + - 0.023648835238475274 + - - -0.007872258832434136 + - -0.9983563635132413 + - -0.05676793966220863 + - -0.03480241755209922 + - - -0.08576959866879484 + - 0.05723462181992706 + - -0.9946696808535606 + - 0.969912945948625 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999300356531987 + - -0.01230776246554209 + - -0.03531736708951353 + - 0.09163073415116524 + - - -0.013001196767150357 + - -0.9997258606533775 + - -0.019472350230169584 + - -0.0340022599258931 + - - -0.0350680241482964 + - 0.01991789456635263 + - -0.9991864246267457 + - 0.9683187971910214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8779804495739576 + - 0.0619255322245323 + - -0.47467416047707894 + - 0.10004548099311356 + - - -0.00428074442064048 + - -0.9905420059719575 + - -0.1371430261889259 + - -0.0901874160600854 + - - -0.47867734998965267 + - 0.12244085455337068 + - -0.8694114283485838 + - 0.975746475850017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9188056277387237 + - 0.0818814335006287 + - -0.3861238781576867 + - 0.012613953405970253 + - - -0.0009312016959270447 + - -0.9777938819593264 + - -0.20956683245760283 + - -0.09392502211665729 + - - -0.39470919839680885 + - 0.19291074425960208 + - -0.8983262733829817 + - 0.9753659637211177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948467857216532 + - -0.015475551223772869 + - 0.10020169785794796 + - 0.05411535428653914 + - - 0.01372603542816082 + - -0.9586274936754429 + - -0.28433241869502696 + - -0.09367899162302021 + - - 0.10045630338968274 + - 0.28424256486997096 + - -0.9534750628230508 + - 0.9721154019061168 + - - 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: + - - 0.9974058680605195 + - -0.004765308907628935 + - -0.07182496912255924 + - 0.02366879208614533 + - - -0.008234671470995292 + - -0.9988093220063704 + - -0.04808459689900135 + - -0.034751544712530724 + - - -0.07151031075450932 + - 0.04855131413452726 + - -0.9962575195960148 + - 0.9699810212111762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998839187632955 + - -0.011632078455711903 + - -0.04674368406040286 + - 0.09153362178265656 + - - -0.011111799046720959 + - -0.9998735611490961 + - 0.011374956570043802 + - -0.03391776822160734 + - - -0.04687008822995631 + - -0.010842345955800085 + - -0.9988421488721284 + - 0.9677645045909425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8792597288220785 + - 0.059097819169562395 + - -0.4726624345567636 + - 0.10012906318555602 + - - -0.004908883685258041 + - -0.991097134192678 + - -0.13305026665146807 + - -0.09020002437886149 + - - -0.47631736492877286 + - 0.1193059862893051 + - -0.8711416931262373 + - 0.9759771053026876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9219992896564588 + - 0.08731546547398474 + - -0.37721786723596057 + - 0.012628935846658145 + - - -0.0006323220255111534 + - -0.9739000631160448 + - -0.22697635830945015 + - -0.09389733049727673 + - - -0.38719105108698143 + - 0.20951056429599255 + - -0.8978799548973867 + - 0.9754267468284643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9867837089584293 + - -0.02078002767876241 + - 0.1607050160508865 + - 0.05411918670295461 + - - 0.01359186936845391 + - -0.9776343637227707 + - -0.20987213239361618 + - -0.09362939945651838 + - - 0.16147189483410634 + - 0.20928268279540602 + - -0.9644312240178872 + - 0.9727284914912271 + - - 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: + - - 0.9963662193618281 + - -0.002793432439060241 + - -0.08512669175896474 + - 0.023689574226295473 + - - -0.008282383046471309 + - -0.9979030002618383 + - -0.06419504809167761 + - -0.03475389818439071 + - - -0.0847688565788693 + - 0.06466682923748221 + - -0.9942999759381879 + - 0.9701018424150192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995079711353936 + - -0.012283091947706389 + - -0.028860722253842515 + - 0.09159771723316937 + - - -0.012675955877340314 + - -0.9998289370091106 + - -0.013469107684925982 + - -0.03396322239861691 + - - -0.028690342964227032 + - 0.013828317737042389 + - -0.9994926922439998 + - 0.9681827175299418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8703386491224963 + - 0.05714750558269585 + - -0.48912656690196665 + - 0.1000599505960892 + - - 0.0013078649225620985 + - -0.9935085202742132 + - -0.11375020717294305 + - -0.09015288459736374 + - - -0.4924519523090275 + - 0.09836149016875904 + - -0.8647636046451125 + - 0.9758381945790653 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9116732581215164 + - 0.07980449463698723 + - -0.4030919412017982 + - 0.01264290682783419 + - - 0.005661291538677102 + - -0.9833059846049061 + - -0.18187163170294382 + - -0.09414381526370429 + - - -0.41087689178659464 + - 0.1635254820384646 + - -0.8969055672253773 + - 0.9774393774066195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860655527072141 + - -0.023218504770666774 + - 0.1647289494910685 + - 0.05411630601432069 + - - 0.018994271896231818 + - -0.9680228123460142 + - -0.2501420644610695 + - -0.09358409143200302 + - - 0.1652693056781824 + - 0.24978537950394206 + - -0.9540929308965261 + - 0.9727563957658502 + - - 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: + - - 0.9966251257111834 + - -0.004311331574992731 + - -0.0819742107081137 + - 0.023647319479715323 + - - -0.007538288964118731 + - -0.9992069898154059 + - -0.03909687587940679 + - -0.03477692754860377 + - - -0.08174064472868561 + - 0.03958287412615165 + - -0.9958672918995045 + - 0.9698433378104725 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996432613427653 + - -0.013893856991875017 + - -0.02281032200319292 + - 0.09159141268498515 + - - -0.013938222821869068 + - -0.99990126115103 + - -0.0017871466497387677 + - -0.03397813566437354 + - - -0.02278323937827871 + - 0.002104444456161744 + - -0.9997382133923675 + - 0.9681223021683624 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8878935732626878 + - 0.03860250342585446 + - -0.45842649278600056 + - 0.10000045413212028 + - - 0.016570266631286436 + - -0.99851026300031 + - -0.05198731524920215 + - -0.09005622186179052 + - - -0.4597503983930674 + - 0.038562953884638373 + - -0.8872104991292129 + - 0.9749708370785859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9547887636864478 + - 0.058954313421944876 + - -0.29138086015909065 + - 0.012648467912063395 + - - 0.02024814355408154 + - -0.990759674675484 + - -0.13410920818326863 + - -0.09397641752410636 + - - -0.29659472250988844 + - 0.12214604359485849 + - -0.9471599202950926 + - 0.9763547528395176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999045186020455 + - 0.0033187514195392575 + - 0.013414155516726088 + - 0.05408993912600952 + - - 0.007779644393794888 + - -0.9374753168977245 + - -0.34796480761797866 + - -0.09374478859166213 + - - 0.01142063099472628 + - 0.3480359408114715 + - -0.9374116241497947 + - 0.9735459521070425 + - - 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: + - - 0.9942815069412329 + - 0.0014419051995364727 + - -0.10678111192559622 + - 0.0236810358641344 + - - -0.010733804708135878 + - -0.993495736862444 + - -0.1133622788789847 + - -0.034883632985020153 + - - -0.10625003713485826 + - 0.11386018507601614 + - -0.9877989612584618 + - 0.9710337862831391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8664714571090181 + - 0.056524203697247914 + - -0.4960163590162799 + - 0.10004827072785408 + - - 0.005734296534150876 + - -0.9946308625437773 + - -0.10332746546141795 + - -0.0901795653950018 + - - -0.49919368170944783 + - 0.08668599466934736 + - -0.862143379299263 + - 0.9756750245634794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9309168051544212 + - 0.0143363784356314 + - -0.364949818652422 + - 0.012572806584884537 + - - 0.06966638530339744 + - -0.9878529763123356 + - 0.13889957505197628 + - -0.09372021210807259 + - - -0.35852544768794853 + - -0.15472868332733716 + - -0.9206077003349176 + - 0.9735863001461925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9908970480382528 + - -0.01337023334551836 + - 0.1339562505050168 + - 0.05417963839300511 + - - 0.011128617365403066 + - -0.9835147211414956 + - -0.18048531013216057 + - -0.09390668043372533 + - - 0.13416107507250707 + - 0.18033310887980086 + - -0.974413041670285 + - 0.9743517074323368 + - - 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: + - - 0.9971160008724862 + - -0.0035722079911576932 + - -0.07580844368622795 + - 0.023657160240160055 + - - -0.008870351802481774 + - -0.9975308321872685 + - -0.06966746510872633 + - -0.03481607045416621 + - - -0.07537239324155957 + - 0.07013899176523213 + - -0.9946856408791656 + - 0.970085841530017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996941346338458 + - -0.013118970235320595 + - -0.02096496598258224 + - 0.0916003503920517 + - - -0.013166305189783756 + - -0.9999110701385576 + - -0.0021213726722781284 + - -0.033992092123071506 + - - -0.02093527134611662 + - 0.0023967549582690852 + - -0.999777960338862 + - 0.968093968957289 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8406492326042747 + - 0.02216714777280488 + - -0.5411261269625249 + - 0.09996059386035526 + - - 0.027240559409403405 + - -0.9996279695441761 + - 0.001369097531235596 + - -0.09005393787770938 + - - -0.5408944625755627 + - -0.01589150919849664 + - -0.8409403309929231 + - 0.9747337983586819 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9251289768451939 + - 0.047624018161634626 + - -0.37665412395924336 + - 0.012626522950650797 + - - 0.03218214158017002 + - -0.998367458159014 + - -0.047188221543336274 + - -0.09389639968894187 + - - -0.37828651306209515 + - 0.03153365477151974 + - -0.9251513079772797 + - 0.9753264153530384 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944602065302998 + - -0.014296077016434455 + - 0.10413702420202768 + - 0.054129285535488895 + - - 0.022074434045173466 + - -0.9402118135862105 + - -0.339874189891663 + - -0.09388206211396352 + - - 0.10276972798104904 + - 0.3402901229463898 + - -0.9346876565119667 + - 0.9739903125053673 + - - 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: + - - 0.9968974015668197 + - -0.003268313558704632 + - -0.07864406446646097 + - 0.023677930206879715 + - - -0.008527264953749614 + - -0.9977414644834114 + - -0.06662774049078403 + - -0.03474644433699824 + - - -0.07824868370606264 + - 0.06709164014227627 + - -0.9946737431546532 + - 0.9702690650717225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8618322341061666 + - 0.010830804987697482 + - -0.5070777986846715 + - 0.09999274485981025 + - - 0.031026623952042396 + - -0.9990253894847945 + - 0.03139458187163088 + - -0.08999714535451807 + - - -0.5062435667361238 + - -0.04278977480747535 + - -0.861328326661915 + - 0.9748098482909551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9519715232827938 + - 0.041261081216783374 + - -0.3033937079694619 + - 0.012630555084917386 + - - 0.03501886978067849 + - -0.999048676007752 + - -0.02598887697537587 + - -0.09396226674941004 + - - -0.3041774114195875 + - 0.014116166050997912 + - -0.9525108063628986 + - 0.9766235480779808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883390850479212 + - -0.008874281733121655 + - 0.1520101973235981 + - 0.05405675086030646 + - - -0.007000900906661341 + - -0.9998928644798551 + - -0.01285484145232464 + - -0.09348793037120405 + - - 0.15210798911672313 + - 0.011640733911162078 + - -0.9882953267929965 + - 0.9718098535630662 + - - 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: + - - 0.9975949322593931 + - -0.003626847450901794 + - -0.06921847374758378 + - 0.02369357936483963 + - - -0.00847100138593395 + - -0.9975237116057373 + - -0.06981895816920315 + - -0.034778037125779655 + - - -0.06879384613391348 + - 0.07023738863227562 + - -0.995155322536247 + - 0.9702156452435801 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991906234810672 + - -0.010748369824414567 + - -0.03876300418741677 + - 0.09158603084624001 + - - -0.011507081505936238 + - -0.9997455155221363 + - -0.01940338291623255 + - -0.0339229180472881 + - - -0.038544584869107314 + - 0.019833727322311843 + - -0.9990600273445899 + - 0.9681070275692404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8721645120218521 + - 0.04710676430024052 + - -0.48693943845908216 + - 0.10009447994988936 + - - 0.00756747537580689 + - -0.9965332213300984 + - -0.08285090284295889 + - -0.0901178369413342 + - - -0.4891541651525838 + - 0.06857471503855077 + - -0.8694973899738055 + - 0.9759559617510283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9806576064133234 + - 0.022632066673518206 + - -0.19441823099127445 + - 0.012633441099794676 + - - 0.04381167449495467 + - -0.9934707277950194 + - 0.1053396895399975 + - -0.09381868464394622 + - - -0.19076476656248467 + - -0.11181995605669118 + - -0.9752461746994145 + - 0.975138185641507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999164566533063 + - 0.008625530161128134 + - -0.009627042294284913 + - 0.054214943843848985 + - - 0.005825534843114638 + - -0.9655762711281262 + - -0.2600548553249794 + - -0.09383186117640305 + - - -0.011538754598661804 + - 0.2599770468017202 + - -0.9655458519814422 + - 0.9751138120269767 + - - 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: + - - 0.9953326865058773 + - -0.0018358035398771595 + - -0.09648561031758096 + - 0.023659964983569058 + - - -0.009072746503955221 + - -0.9971707407547374 + - -0.07462036621140786 + - -0.03483311183523555 + - - -0.09607563918011724 + - 0.07514747905294378 + - -0.9925332880806169 + - 0.9702557538883606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.16671304404735565 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8759583109216262 + - 0.04683588667815204 + - -0.48010773504121235 + - 0.1000790840016841 + - - 0.008195631163435305 + - -0.9965767124478718 + - -0.0822659579438853 + - -0.09020756142925788 + - - -0.4823171872918946 + - 0.0681267636517652 + - -0.8733435033920917 + - 0.9758119238900138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9372629753568803 + - 0.045723229444934524 + - -0.3456117783211301 + - 0.0126079932139514 + - - 0.03393178572677458 + - -0.9986195826860563 + - -0.04009442596321159 + - -0.093927785362094 + - - -0.3469679364762115 + - 0.02585179616686375 + - -0.9375206321422409 + - 0.9753188549582983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944363941057267 + - -0.01027635815895154 + - 0.10483632262240433 + - 0.05409656548050419 + - - 0.01275027514087001 + - -0.9761702599924152 + - -0.2166311473222935 + - -0.09376073046118491 + - - 0.10456427956922962 + - 0.21676258895236067 + - -0.9706082069861344 + - 0.972696927688431 + - - 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: + - - 0.9958459949795614 + - -0.0005960865124297852 + - -0.09105162801420415 + - 0.023678349545520894 + - - -0.008725470661642875 + - -0.9960013253861827 + - -0.08891133780739117 + - -0.034882329523124415 + - - -0.09063454333144795 + - 0.08933646797269813 + - -0.991869132015541 + - 0.9704473204627605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990141044549244 + - -0.012574685445918679 + - -0.0425757722896651 + - 0.09157604327834826 + - - -0.013427003843196155 + - -0.9997139468163264 + - -0.01979242553903859 + - -0.03400660032075475 + - - -0.0423147098290891 + - 0.020344577333033794 + - -0.9988971736396197 + - 0.9678913384846355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8630213501935808 + - 0.05006151054250084 + - -0.5026808075431684 + - 0.10009987275506729 + - - 0.004149776766958945 + - -0.9957465733195927 + - -0.09204097497894179 + - -0.09017362679404242 + - - -0.5051504018238857 + - 0.07734731336312115 + - -0.8595582962502746 + - 0.9756818705954133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9061477979739225 + - 0.048208958511113495 + - -0.42020478881883905 + - 0.012610929651702334 + - - 0.032951983872359855 + - -0.9985099673622775 + - -0.04349726240880661 + - -0.09398247083737947 + - - -0.42167562768778455 + - 0.025568367125387223 + - -0.9063861890037025 + - 0.9760721600384166 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9859029880193436 + - -0.01909798773801439 + - 0.1662244418817181 + - 0.054076797031252066 + - - 0.013790453298704724 + - -0.9808092967684239 + - -0.19448122472477114 + - -0.09371517852188452 + - - 0.1667486779927993 + - 0.1940319309726864 + - -0.96671944645314 + - 0.9724932664929862 + - - 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: + - - 0.9971948407664607 + - -0.002908824346057838 + - -0.07479296952038174 + - 0.023679162329346026 + - - -0.00961650507103562 + - -0.99594215301768 + - -0.08948044855010572 + - -0.034811153403416485 + - - -0.07422918818747594 + - 0.0899486886143047 + - -0.9931763494151461 + - 0.9703112786118654 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990028996235714 + - -0.01280353710707836 + - -0.04277003602107676 + - 0.09160068464021727 + - - -0.013533612218675276 + - -0.9997668690012512 + - -0.016824059787977033 + - -0.03397947213020368 + - - -0.042544657526075585 + - 0.017386117593717408 + - -0.9989432791860638 + - 0.9683430074034112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8731358564580888 + - 0.04521681306424309 + - -0.48537533516188597 + - 0.10004083205977801 + - - 0.008931562837862669 + - -0.9970055418149725 + - -0.07681260818059633 + - -0.09014378011501221 + - - -0.48739512036177907 + - 0.06273268212459752 + - -0.870925144453288 + - 0.9753172963868455 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9457493600444958 + - 0.04776495230468816 + - -0.32136685782257857 + - 0.012650705421964939 + - - 0.031498018183185136 + - -0.9979544315417195 + - -0.05563117306668673 + - -0.09390885779860003 + - - -0.32336670024286407 + - 0.042490727195174924 + - -0.9453192663203619 + - 0.9752721209506405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992518063007866 + - -0.003057018494385986 + - 0.03855492501017391 + - 0.05413266191074138 + - - 0.006577263814851616 + - -0.9689185455512402 + - -0.2472925225063999 + - -0.0936852600174966 + - - 0.03811255967952028 + - 0.2473610857123518 + - -0.9681734999832834 + - 0.9735069811901735 + - - 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: null + base_right_marker_pose: + - - 0.9996036330150577 + - -0.011633323603140478 + - -0.02563674404136091 + - 0.09160571453271057 + - - -0.01201929091068227 + - -0.9998159564126108 + - -0.01495292442102227 + - -0.03392145822196281 + - - -0.025458073554415504 + - 0.015255133060089259 + - -0.9995594866771147 + - 0.9682271433723137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8708979906723477 + - 0.03813997026970155 + - -0.48998166548422356 + - 0.10011637394690259 + - - 0.008791432953407199 + - -0.9980336660074491 + - -0.06206055286860822 + - -0.09016371536394358 + - - -0.49138518552098515 + - 0.049740769832782555 + - -0.8695208193407156 + - 0.9758879101023772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.925621668672432 + - 0.04923777294442219 + - -0.3752334849124424 + - 0.01260941959603943 + - - 0.031310196077133326 + - -0.998064537283771 + - -0.05372942432359236 + - -0.09379478104459366 + - - -0.377152751687793 + - 0.0379844854118981 + - -0.925371806768674 + - 0.9744617714843075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9851832492870862 + - -0.012865921483659067 + - 0.1710217336729908 + - 0.05407003061922558 + - - 0.0011704534477380872 + - -0.9966545946443816 + - -0.08172055440934729 + - -0.09350851766785694 + - - 0.1715010068858657 + - 0.08070989430435858 + - -0.9818723530064967 + - 0.9721639822072758 + - - 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: + - - 0.9976169624732137 + - -0.0041027926663498495 + - -0.06887353104099919 + - 0.02367871347765988 + - - -0.008365399852440928 + - -0.9980586590803866 + - -0.06171655466704164 + - -0.034755413630509595 + - - -0.0684866138090307 + - 0.06214563642765358 + - -0.9957145693430297 + - 0.9700537131380982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988469161452116 + - -0.010200269962217042 + - -0.04691260598068055 + - 0.09157424991337046 + - - -0.011679643556078327 + - -0.9994396151424026 + - -0.03136943752140653 + - -0.03398372019686302 + - - -0.04656634013537729 + - 0.0318811884456079 + - -0.9984063129756805 + - 0.9681002672678358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8788004430374218 + - 0.05458603555348693 + - -0.4740571126349491 + - 0.10006078118821754 + - - 0.0032158828265030984 + - -0.9940907507204733 + - -0.1085045502716517 + - -0.09012787347958653 + - - -0.4771786242224997 + - 0.09382933472299934 + - -0.8737829344468585 + - 0.9756757639354495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9530436862748634 + - 0.05169079363222976 + - -0.2983886624945559 + - 0.0126574887379118 + - - 0.023470127054681593 + - -0.9949686673945688 + - -0.09739868602354952 + - -0.09404763587497239 + - - -0.3019219852671496 + - 0.08582198294578793 + - -0.9494617959958142 + - 0.9768030891708308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983714128682606 + - -0.004856849353369545 + - 0.05684129644714102 + - 0.05413403564300966 + - - 0.010480097424181474 + - -0.9637981422620406 + - -0.26642692906352505 + - -0.09363550217397526 + - - 0.05607753137766282 + - 0.26658873191978616 + - -0.9621776127555605 + - 0.9732855552258595 + - - 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: + - - 0.9952228749245976 + - -0.004395474391702599 + - -0.09753004168814197 + - 0.02365371637296076 + - - -0.007671654361373572 + - -0.9994178893360315 + - -0.03324196435940035 + - -0.03480391010333825 + - - -0.09732715420774637 + - 0.033831380107585206 + - -0.9946772656363659 + - 0.9703193672009066 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993774558593929 + - -0.014780700590932522 + - -0.03203484993017023 + - 0.0916023310369232 + - - -0.014569657856383495 + - -0.9998706567914865 + - 0.0068113697087794816 + - -0.03401661790207521 + - - -0.03213138325617563 + - -0.006340392527514601 + - -0.9994635429232234 + - 0.9681192250921236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8794481643763494 + - 0.04900797106489513 + - -0.4734650408923259 + - 0.1000725853531124 + - - 0.006995384212445114 + - -0.9959088825994942 + - -0.09009196500880928 + - -0.0901636308711393 + - - -0.4759432642393311 + - 0.07591914337985278 + - -0.8761930682752979 + - 0.9757900003155754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9560725479706212 + - 0.05472752876467264 + - -0.2879760070080077 + - 0.012649545317828394 + - - 0.026845738865020816 + - -0.9946357190404608 + - -0.0998954088717653 + - -0.09392153572244552 + - - -0.29189825165929867 + - 0.08777632940706727 + - -0.9524131071515487 + - 0.9750052488428077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964381145921305 + - -0.0044454215534560585 + - 0.0842099876219695 + - 0.054129338025123465 + - - 0.009661859149465681 + - -0.9860146978462923 + - -0.16637807580586128 + - -0.09386691416589042 + - - 0.08377190618492618 + - 0.16659908120484068 + - -0.9824596754451792 + - 0.9738633996819647 + - - 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: + - - 0.995022761981459 + - -0.00045490836990347023 + - -0.09964685743747088 + - 0.02368120688162454 + - - -0.009845278424984477 + - -0.9955456710083507 + - -0.09376506507899364 + - -0.03483889925951849 + - - -0.09916034303855141 + - 0.09427942508791813 + - -0.9905950819449736 + - 0.9704815131306118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992145753701736 + - -0.011180448804987711 + - -0.03801617987545194 + - 0.0916035783667889 + - - -0.011874928362941743 + - -0.9997658138188975 + - -0.01809153380487656 + - -0.03401387092872791 + - - -0.037805005543957666 + - 0.01852876368128857 + - -0.9991133401532905 + - 0.9680534996941185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8723186290327857 + - 0.06070886511508565 + - -0.4851542467492165 + - 0.10005617548442035 + - - -0.003246228621254621 + - -0.9915206244908649 + - -0.1299088650130692 + - -0.0901464248181277 + - - -0.4889270614745106 + - 0.11489684462892626 + - -0.8647248369581022 + - 0.9755609075720968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9351846060066449 + - 0.020864324562062903 + - -0.353545517081981 + - 0.0126198752428206 + - - 0.059385785155299714 + - -0.9933673031492943 + - 0.09846181775382039 + - -0.09381047026853254 + - - -0.34914621752166386 + - -0.11307555436285445 + - -0.9302208543114093 + - 0.9745210479424427 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9917142394924059 + - -0.01397787011117449 + - 0.12770076873360653 + - 0.054078551144064534 + - - 0.01448379879229236 + - -0.9755583433101511 + - -0.21926271541349338 + - -0.0937199212634655 + - - 0.12764437614146312 + - 0.21929554930529102 + - -0.9672726478580629 + - 0.9725002661946409 + - - 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: + - - 0.9974034880379377 + - -0.0030184701859509748 + - -0.07195255997872516 + - 0.02367189313067495 + - - -0.007687462877833842 + - -0.9978750448034593 + - -0.06470160641742863 + - -0.03478336559147075 + - - -0.07160436414253982 + - 0.06508674055620269 + - -0.9953072546904861 + - 0.9698647031098446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995513237149416 + - -0.011946919411199446 + - -0.02746675037732573 + - 0.09164072195366602 + - - -0.012421065238126926 + - -0.9997756482892616 + - -0.01715722081622561 + - -0.034000997782650554 + - - -0.02725561223047856 + - 0.017490689076443966 + - -0.9994754661308966 + - 0.9683885161015172 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.867255101790233 + - 0.05605479008469469 + - -0.49469834134285645 + - 0.10010287238780793 + - - 0.0016378494229814904 + - -0.9939573174769122 + - -0.10975503853294594 + - -0.09019762058792177 + - - -0.4978613319671253 + - 0.0943753757219627 + - -0.862106363849182 + - 0.9758522431950553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9342682434082866 + - 0.06671857043120603 + - -0.35027343849971077 + - 0.012645934060426009 + - - 0.015337134019600518 + - -0.9889487052427489 + - -0.1474626417732824 + - -0.09396774308816883 + - - -0.35624096013633705 + - 0.1323974726280936 + - -0.924966641324342 + - 0.9758921811661977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989891979676528 + - -0.002290097332868447 + - 0.044892513831948734 + - 0.05408201358247399 + - - 0.012061140518383449 + - -0.9484232454563547 + - -0.31677732931419056 + - -0.09360634946576672 + - - 0.04330255458216673 + - 0.3169985850634689 + - -0.9474369561265897 + - 0.972381111116566 + - - 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: + - - 0.9967918699367682 + - -0.0033823604017201732 + - -0.07996579059869333 + - 0.02367613308184698 + - - -0.00877224897712473 + - -0.997704489565477 + - -0.06714759227831729 + - -0.034762627998605265 + - - -0.07955511093477607 + - 0.06763365389363993 + - -0.9945333947058548 + - 0.9699036782096443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8729053638020878 + - 0.05315554545482919 + - -0.48498527176909656 + - 0.10012194339856952 + - - 0.0029925405612309178 + - -0.9946118649507059 + - -0.1036256860062617 + - -0.09017561944186991 + - - -0.4878803854906797 + - 0.08900407904516815 + - -0.8683611019424967 + - 0.976017596976454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9301828146612017 + - 0.03443943563523771 + - -0.3654775732956687 + - 0.012649292448054846 + - - 0.043538671771844874 + - -0.9989124539806041 + - 0.016682126446949316 + - -0.09394243915215203 + - - -0.3645055765956237 + - -0.03142983543664788 + - -0.9306706453279366 + - 0.976118587810483 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930262614748754 + - -0.006722161495678858 + - 0.11770155719470513 + - 0.053996747045406406 + - - -0.008374725798636311 + - -0.9998731044848034 + - 0.013551342948894544 + - -0.09342292899372168 + - - 0.1175955270791797 + - -0.014442557694082828 + - -0.9929565471551223 + - 0.9712734448485382 + - - 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: + - - 0.9963681374639007 + - -0.0016258626496236965 + - -0.0851345477310005 + - 0.023665344963922953 + - - -0.009661048919101124 + - -0.9955200676166485 + - -0.09405561709077927 + - -0.034796058494710534 + - - -0.08460022919886316 + - 0.09453650904909232 + - -0.9919201831177303 + - 0.9706933544860671 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996018161512967 + - -0.010847775242206072 + - -0.026048702833803325 + - 0.09163079869708154 + - - -0.011573682374728913 + - -0.9995442690647778 + - -0.027880173171040395 + - -0.033938224731745646 + - - -0.025734393781826327 + - 0.02817055114925678 + - -0.9992718153858979 + - 0.9685006825884938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8806463828594149 + - 0.05196801731765257 + - -0.47091535707885024 + - 0.10016090760993501 + - - 0.0001315436227579611 + - -0.9939926912920073 + - -0.1094463903212297 + - -0.09018778737971868 + - - -0.4737741350611113 + - 0.0963216218413281 + - -0.8753629042362666 + - 0.9761294211392003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9636184238625614 + - 0.05803761994990808 + - -0.260904518671454 + - 0.01264491458781743 + - - 0.020725616495687525 + - -0.9894262870600042 + - -0.14354814974609562 + - -0.09408792638164734 + - - -0.2664769821457507 + - 0.13291823481074308 + - -0.9546322647183517 + - 0.9774522598343487 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996654585678166 + - 0.00376721306093968 + - -0.02558865084662358 + - 0.054054945599945586 + - - -0.0008350660504729056 + - -0.9841191240242971 + - -0.17750733053691264 + - -0.09360303200784836 + - - -0.025850988590153993 + - 0.17746931519393122 + - -0.9837867495313749 + - 0.9725934882013936 + - - 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: + - - 0.9974485216758697 + - -0.0033874810561119618 + - -0.0713089866616874 + - 0.02366333173891974 + - - -0.00926454940196332 + - -0.9965687942084465 + - -0.08224844396280105 + - -0.03481827874260556 + - - -0.07078569580784531 + - 0.08269923447056766 + - -0.9940574540171114 + - 0.9703214135238563 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995685274947987 + - -0.012215162031850631 + - -0.026712331579542187 + - 0.09160390594150591 + - - -0.012562405640983477 + - -0.9998382560081639 + - -0.012870422955921577 + - -0.03401040288956354 + - - -0.026550796718576238 + - 0.013200440867204448 + - -0.9995603051114624 + - 0.9681153587785101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8733634060914028 + - 0.03504752049902534 + - -0.48580657900783275 + - 0.10000865041344444 + - - 0.015980255349499234 + - -0.998932685525519 + - -0.04333729603631736 + - -0.09009276851998152 + - - -0.4868069353854647 + - 0.03008589529405774 + - -0.8729913210135407 + - 0.9752369894013871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9291110074103276 + - 0.07161856864097794 + - -0.36279955420973675 + - 0.012634332543813537 + - - 0.018989139055517273 + - -0.9890126609852122 + - -0.14660616975039195 + - -0.0940085446434432 + - - -0.3693130765446797 + - 0.1293241548851878 + - -0.92026252474842 + - 0.9762433296814115 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991555781430568 + - -0.0032292123627040057 + - 0.04095977115573791 + - 0.05415359345678393 + - - 0.00953666276925395 + - -0.9514535243504184 + - -0.3076446701381223 + - -0.09382961399698643 + - - 0.03996476859484344 + - 0.30777550777910373 + - -0.9506193002892779 + - 0.974402113428658 + - - 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: + - - 0.9963482064879338 + - -0.0020765572623282834 + - -0.08535771399360519 + - 0.02367317633277821 + - - -0.0077590138753939174 + - -0.9977699270584457 + - -0.06629457263958224 + - -0.03480729371700962 + - - -0.08502969558900746 + - 0.0667147702365801 + - -0.9941423893488902 + - 0.9703313972605051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988245764079873 + - -0.012565374298147806 + - -0.04681428128415732 + - 0.0915990073523785 + - - -0.012936526457539482 + - -0.9998871804644143 + - -0.007633650904911142 + - -0.03401532633110905 + - - -0.046713080037802446 + - 0.008230292319967516 + - -0.9988744417802022 + - 0.9681755418315201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8550191737831081 + - 0.030891405892545076 + - -0.5176755098565443 + - 0.10002748971904266 + - - 0.02064100647735035 + - -0.9994604437710388 + - -0.025549367675174926 + - -0.09013009719261225 + - - -0.518185450697772 + - 0.011159855688194345 + - -0.8551954725711348 + - 0.9755406881083327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9416010133051308 + - 0.06053690811318809 + - -0.3312443425914566 + - 0.012664416924386796 + - - 0.016373159336385827 + - -0.9907745922920651 + - -0.13452742070610746 + - -0.09406677775489208 + - - -0.33633235258609323 + - 0.12124763925367014 + - -0.9339055405014558 + - 0.9768775545698938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9915219038890308 + - -0.015617553354752158 + - 0.12899769817901052 + - 0.054189557169216494 + - - -0.0004427842813055803 + - -0.9931511362055971 + - -0.11683588744736005 + - -0.09384597831496208 + - - 0.1299389012203499 + - 0.11578822341129268 + - -0.9847380206272658 + - 0.9742497555029468 + - - 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: + - - 0.9970483123532112 + - -0.004432420294462676 + - -0.07664865611311587 + - 0.023671495882568297 + - - -0.007957565218254126 + - -0.9989213678892034 + - -0.04574688984137784 + - -0.03477234237956401 + - - -0.07636321096844141 + - 0.04622179599166569 + - -0.9960081353010594 + - 0.9700703499645797 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996508929992052 + - -0.01162347255217937 + - -0.02372734733846893 + - 0.0915859822079867 + - - -0.01201479448972312 + - -0.9997930411605173 + - -0.01641705090365863 + - -0.033930685826557304 + - - -0.02353161361363336 + - 0.016696398798313743 + - -0.9995836600444735 + - 0.9682485043916456 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8707842336440411 + - 0.03350677854110348 + - -0.49052228718862245 + - 0.09995344288866118 + - - 0.01432167241357903 + - -0.9989803789784769 + - -0.042814625016425065 + - -0.09005004166069754 + - - -0.491456720511825 + - 0.030257200925009706 + - -0.8703762368401069 + - 0.9748216874786185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9342135386019871 + - 0.06043398092597675 + - -0.35155767413355143 + - 0.012652037184539389 + - - 0.01975978814609501 + - -0.9927983406471889 + - -0.1181566992625072 + - -0.09397429902016141 + - - -0.35616655523108165 + - 0.10343688296554478 + - -0.9286798135941137 + - 0.9760945903948358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961382419810177 + - -0.012617858176763823 + - 0.08688724024848792 + - 0.05418291992806161 + - - 0.018155514096738913 + - -0.9386267644863008 + - -0.34445634599737185 + - -0.09376659441738959 + - - 0.08590099051146326 + - 0.34470362145618527 + - -0.9347729313497155 + - 0.9739371928859231 + - - 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: + - - 0.9959964683038014 + - -0.0032711314909625506 + - -0.08933271979025195 + - 0.023659780730431807 + - - -0.007546742438494685 + - -0.998839591601949 + - -0.047565921908643054 + - -0.03474521761563704 + - - -0.08907346296693455 + - 0.048049661260210146 + - -0.9948653920243973 + - 0.9696623336251199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986267859081159 + - -0.011546924222788281 + - -0.05110000986124381 + - 0.09161772735849308 + - - -0.012294461145893675 + - -0.9998216063066409 + - -0.014338820995463028 + - -0.03396217912523807 + - - -0.05092532466227525 + - 0.0149473778102049 + - -0.9985906003987021 + - 0.9684108444455872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.880304602475589 + - 0.04355615736080687 + - -0.4724051947388556 + - 0.10012167171114411 + - - 0.008235406731474191 + - -0.9970293779276963 + - -0.07658066090782414 + - -0.09013181684677987 + - - -0.47433741675758895 + - 0.06352385933704427 + - -0.8780482528646508 + - 0.9761976248882402 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9451628253034258 + - 0.07195268770263523 + - -0.3185750216147102 + - 0.012661418644614888 + - - 0.010639068787561337 + - -0.9816956106670683 + - -0.19015924435153236 + - -0.09389057778253229 + - - -0.3264261691099223 + - 0.17634210707990106 + - -0.9286277065599764 + - 0.9755825041885597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974257190734004 + - -0.009226959067102206 + - 0.07111116759893686 + - 0.05413031036149274 + - - 0.008595507008741083 + - -0.96915186389871 + - -0.24631439657665105 + - -0.0936426225725311 + - - 0.07119025347737391 + - 0.24629155066309333 + - -0.9665776843491665 + - 0.9730426326169527 + - - 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: + - - 0.9959620093610453 + - -0.0032762611113137507 + - -0.08971589615357754 + - 0.023663758621285228 + - - -0.007854594195634725 + - -0.9986817163565642 + - -0.05072607579074388 + - -0.034787563019448735 + - - -0.08943143328567936 + - 0.05122592632873402 + - -0.9946747826361295 + - 0.970010479631916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8692090474939653 + - 0.038375483367868876 + - -0.4929532980221513 + - 0.10001356033131503 + - - 0.013188330936033015 + - -0.9984282438013189 + - -0.0544711841888458 + - -0.0900963377701248 + - - -0.494268853643192 + - 0.04084561489432995 + - -0.8683489713601026 + - 0.9751031473185454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9288346182267851 + - 0.05439036495894365 + - -0.3664804772196403 + - 0.012646630150251128 + - - 0.029832232548912284 + - -0.9969331565333484 + - -0.07234859574036252 + - -0.09384662591819411 + - - -0.3692916054890092 + - 0.056266949482690974 + - -0.9276086138621519 + - 0.9750985919208057 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941083903670278 + - -0.013352613323798938 + - 0.10756493815041288 + - 0.054055506404166793 + - - 0.012300793790076304 + - -0.9720740015956407 + - -0.23435192743814384 + - -0.09368164644673763 + - - 0.10769029052802792 + - 0.2342943514881742 + - -0.9661826733008233 + - 0.9721486577954068 + - - 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: + - - 0.9971676756919869 + - -0.004208020427779149 + - -0.07509273679337966 + - 0.02364542084084874 + - - -0.007227566676903559 + - -0.999174157314863 + - -0.039984567448759306 + - -0.03479653286137534 + - - -0.07486246612937164 + - 0.040414055948554115 + - -0.9963745858093812 + - 0.9694155725488934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995659517033951 + - -0.013181186235377559 + - -0.026347002195966272 + - 0.09158052157517588 + - - -0.013505204872702965 + - -0.9998348796736198 + - -0.012158241212634768 + - -0.0340292453900718 + - - -0.02618239172864615 + - 0.012508785611184792 + - -0.9995789176677853 + - 0.968209118983109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8806605593456965 + - 0.04961862103920157 + - -0.47114219897934534 + - 0.1000027656800271 + - - 0.0066177243107361505 + - -0.9956914392932051 + - -0.09249196420864139 + - -0.09019446284346068 + - - -0.47370157793475004 + - 0.07833613575096496 + - -0.877194542218392 + - 0.9756356252974854 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9241263588073273 + - 0.059147564350493405 + - -0.3774811764696555 + - 0.012625934527051508 + - - 0.024094546738695537 + - -0.9950004922743738 + - -0.0969199318572338 + - -0.09399630489500516 + - - -0.38132653431798813 + - 0.08047102587365387 + - -0.9209313156907383 + - 0.9759106594749246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998034472087761 + - 0.0017888527378393088 + - 0.019745048881437553 + - 0.05406680770605409 + - - 0.006141144107400274 + - -0.9748816206778289 + - -0.22263897236023686 + - -0.09378590230913764 + - - 0.01885081691864245 + - 0.2227164692393728 + - -0.9747009905766217 + - 0.9725816698789869 + - - 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: + - - 0.99547686847324 + - -0.0030539407053981394 + - -0.09495513562140537 + - 0.02366066842169152 + - - -0.00800057757992236 + - -0.9986276343361213 + - -0.0517574989603396 + - -0.03480190625695094 + - - -0.09466675812078504 + - 0.052283088914196946 + - -0.9941351434893 + - 0.9698295938062074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990098723080856 + - -0.01226327221590258 + - -0.042765490591612526 + - 0.0915693467636879 + - - -0.013315125343982846 + - -0.99961363928683 + - -0.024398352174163033 + - -0.03401087073787671 + - - -0.042449764051837244 + - 0.02494362255766255 + - -0.9987871811480389 + - 0.9680131387686352 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8585597081870348 + - 0.025084071021517104 + - -0.5120996161478558 + - 0.09996740329812263 + - - 0.023728180300138044 + - -0.9996762476273802 + - -0.009185498858790267 + - -0.0900755760694666 + - - -0.5121642323878522 + - -0.004264892803832495 + - -0.8588769468043335 + - 0.9747952835991343 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9052370891849407 + - 0.06180263374393065 + - -0.4203882096661241 + - 0.012605640341436557 + - - 0.024241098493328426 + - -0.9952658766265785 + - -0.09411803210100056 + - -0.09395514478555597 + - - -0.42421478228347054 + - 0.07500846142297404 + - -0.9024497488542761 + - 0.9760721993386177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950817194291599 + - -0.011823654445099025 + - 0.09834923921144283 + - 0.05402548294146572 + - - 0.018743086491578617 + - -0.9524419368751225 + - -0.3041431465450677 + - -0.09365615253302091 + - - 0.09726802335133534 + - 0.30449065351358195 + - -0.9475359484242252 + - 0.9723094062574503 + - - 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: + - - 0.9965541994061327 + - -0.0019757718800719995 + - -0.08292058834499416 + - 0.02365367226958436 + - - -0.007789548915997813 + - -0.9975272460096523 + - -0.06984780881375909 + - -0.034811305507746575 + - - -0.08257754279274324 + - 0.07025304117172494 + - -0.99410535640466 + - 0.9700528711140116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988564790150588 + - -0.011814597125591958 + - -0.04632655420381666 + - 0.0915892335980278 + - - -0.01294878949777164 + - -0.9996218343965867 + - -0.024259370316342028 + - -0.03398566565229666 + - - -0.046022420407683985 + - 0.024831502015846166 + - -0.9986317305831292 + - 0.9680057765637724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8721700397166722 + - 0.03351173853195483 + - -0.488053670410524 + - 0.10007618469289886 + - - 0.016998403710384656 + - -0.9991244864342831 + - -0.03822714845143973 + - -0.09011203584878542 + - - -0.4889074310050086 + - 0.025044440261174212 + - -0.8719760890758914 + - 0.9754818083786503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9428102767661692 + - 0.04217513915340051 + - -0.3306509332536214 + - 0.012630632724193253 + - - 0.036251817595447954 + - -0.9990529289992967 + - -0.024063473958543777 + - -0.0939401091603898 + - - -0.33135266370609706 + - 0.010700593222735252 + - -0.9434462939455306 + - 0.9758306064114477 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968968860782699 + - -0.009332305013253194 + - 0.07816333290353356 + - 0.05402436353185823 + - - 0.0018836542967451682 + - -0.9898353660730399 + - -0.14220548483634915 + - -0.09349182086672228 + - - 0.07869593619710841 + - 0.14191143771447878 + - -0.9867462153319211 + - 0.9716175401693183 + - - 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: + - - 0.9965772702533623 + - -0.003337969128685791 + - -0.08259904585679581 + - 0.02368411312361517 + - - -0.008200917991426696 + - -0.9982475555139334 + - -0.058605143584450584 + - -0.034775078475679455 + - - -0.08225867345426263 + - 0.059081942017439784 + - -0.9948581983222496 + - 0.9702380688432453 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996054735248714 + - -0.012082613517869597 + - -0.025355625602526674 + - 0.09159996090574644 + - - -0.012910698062802827 + - -0.9993800743650607 + - -0.03275333322909985 + - -0.0339708675457215 + - - -0.024944161133396543 + - 0.033067769998339956 + - -0.9991417874419464 + - 0.9682610328167109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.16671304404735565 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8771353214430351 + - 0.039212934097580664 + - -0.4786397117629107 + - 0.10008984930065225 + - - 0.0124615078393304 + - -0.998183712287824 + - -0.05894054076498995 + - -0.09016345987222225 + - - -0.48008159587656946 + - 0.04573425764957743 + - -0.8760308436224428 + - 0.9757446363317026 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9196614637388032 + - 0.048914485649387454 + - -0.38965390439139436 + - 0.012621723816123776 + - - 0.03644003047917857 + - -0.9985609444468718 + - -0.03934672037218258 + - -0.09384896363194542 + - - -0.39101779536547765 + - 0.021986662298449467 + - -0.9201204651503488 + - 0.9753243169634183 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9851177920163561 + - -0.019906320147925427 + - 0.1707239709911522 + - 0.054140374614786824 + - - 0.018004463923982778 + - -0.97585540506769 + - -0.21767422373580378 + - -0.09359532168040445 + - - 0.17093500265197145 + - 0.21750854424215857 + - -0.9609741193445469 + - 0.9724178991234442 + - - 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: + - - 0.9973480609569234 + - -0.0025481875268986193 + - -0.07273480628827395 + - 0.02369135860412631 + - - -0.007665394282648416 + - -0.9975061446490255 + - -0.07016219151315777 + - -0.03481649433518109 + - - -0.07237462978113612 + - 0.07053366662640788 + - -0.9948803520204218 + - 0.9704416036761255 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991166566968201 + - -0.013920902859026512 + - -0.039649902579424565 + - 0.09156844613693824 + - - -0.013710351402376517 + - -0.999890454272011 + - 0.005577250230680744 + - -0.033970854473936204 + - - -0.03972319946066358 + - -0.005028709506605408 + - -0.999198068205352 + - 0.9679219934235873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8607276241506743 + - 0.04665706968677622 + - -0.5069231449363689 + - 0.10006561365115807 + - - 0.0066964867080222465 + - -0.9967426324149249 + - -0.08036965716198531 + - -0.0901677335810704 + - - -0.509021722610838 + - 0.06578177996078462 + - -0.8582363563351798 + - 0.9756096525157547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9158365657742472 + - 0.0665012364564498 + - -0.39600627563284463 + - 0.012621938452221334 + - - 0.01831701085531545 + - -0.9920832568781505 + - -0.12423887690803152 + - -0.0940220084801327 + - - -0.40113323460436356 + - 0.10652885511356115 + - -0.9098042268114803 + - 0.9763002704820745 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.981619753339595 + - -0.02127252332512154 + - 0.18965795423576334 + - 0.05402200731804042 + - - 0.0030278260512244734 + - -0.9919075508832474 + - -0.12692613115588972 + - -0.0935419731357178 + - - 0.1908231959771041 + - 0.12516744885225053 + - -0.9736116359333961 + - 0.9715487969000212 + - - 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: + - - 0.9947624196713969 + - -0.003551493085962227 + - -0.10215241214170122 + - 0.023629706479475685 + - - -0.00774944119108325 + - -0.999140238516364 + - -0.040727508378113585 + - -0.034787723050332876 + - - -0.10191994196786792 + - 0.04130581889181877 + - -0.993934683344405 + - 0.9696393370241329 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999002766424703 + - -0.01149781066705513 + - -0.04314247356903567 + - 0.09161053699769585 + - - -0.01329080299108389 + - -0.9990498602392628 + - -0.04150579853179283 + - -0.03404328311997168 + - - -0.04262425637641768 + - 0.042037805672681505 + - -0.9982063893116411 + - 0.9682194165390495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8745683786123103 + - 0.04503080717122741 + - -0.4828067703926099 + - 0.10008445783196507 + - - 0.005245287912007117 + - -0.9964989303051162 + - -0.08344081049150485 + - -0.09020765915717693 + - - -0.48487383728775746 + - 0.0704422338250769 + - -0.8717426533143703 + - 0.975701261792709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9395804152737832 + - 0.05662717991359158 + - -0.3376122120554569 + - 0.012626088369177597 + - - 0.016185467958894608 + - -0.9924691404696848 + - -0.1214209036464359 + - -0.0938665655747643 + - - -0.3419454252668058 + - 0.10862029143028112 + - -0.9334211045550151 + - 0.974937158296967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957431654957382 + - -0.012186998925571377 + - 0.0913620568163573 + - 0.0540438916249378 + - - 0.0073369428224401385 + - -0.9775947309649966 + - -0.2103680376376047 + - -0.09363378031388257 + - - 0.09187882040245958 + - 0.2101428539033972 + - -0.9733438566687461 + - 0.972159568930558 + - - 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: + - - 0.9953601926543697 + - -0.0019544884823997737 + - -0.09619910006766333 + - 0.023688200243680717 + - - -0.0076891069310515425 + - -0.9982119322543389 + - -0.0592774488288921 + - -0.034833480663588816 + - - -0.09591123246866862 + - 0.059742098053476765 + - -0.9935954494695061 + - 0.97060596896101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992769447897148 + - -0.010902058202140364 + - -0.036424342666549724 + - 0.09159272068766174 + - - -0.011881154647831375 + - -0.9995709343206235 + - -0.02677284866483967 + - -0.034008126793930955 + - - -0.036116835076836475 + - 0.027186253665285265 + - -0.9989777183879927 + - 0.9680954664257634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8578459644842258 + - 0.03289205418287846 + - -0.5128532090079567 + - 0.09999083468382149 + - - 0.016349239957101122 + - -0.9991912467133002 + - -0.03673628784113932 + - -0.09012520552227163 + - - -0.5136467692597253 + - 0.023129316097811884 + - -0.857689938827485 + - 0.9749738696366803 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9104986785591067 + - 0.0742766807924709 + - -0.4067863456810884 + - 0.012653651569278987 + - - 0.011114598831466545 + - -0.9877758367551888 + - -0.15548428221335112 + - -0.09390732944188077 + - - -0.4133625793839304 + - 0.13704696644960382 + - -0.9001941495877563 + - 0.9751455017945068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9690941232031128 + - -0.025075960167686682 + - 0.24541348087433698 + - 0.0540590633135746 + - - 0.0008168382870814908 + - -0.9944886798098348 + - -0.10484082461191001 + - -0.09361096104861821 + - - 0.2466899129441711 + - 0.10180109013051437 + - -0.9637326521913827 + - 0.9719861550247628 + - - 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: + - - 0.9974705708973218 + - -0.003506574444518018 + - -0.07099411334354402 + - 0.023672794766959847 + - - -0.0077467624577367885 + - -0.9981959195892128 + - -0.0595390106305954 + - -0.034794246196942914 + - - -0.07065725628125055 + - 0.059938385456331775 + - -0.9956982183792913 + - 0.9700572920637466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8686382126368333 + - 0.026927455220877135 + - -0.4947146325937968 + - 0.10003751374020312 + - - 0.02070022349386835 + - -0.9996225338208845 + - -0.018063516402358534 + - -0.0900616240577318 + - - -0.49501429908073524 + - 0.005449957141302276 + - -0.8688677354308688 + - 0.9750770710040261 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9438581267922908 + - 0.05391799216398096 + - -0.32592128897811024 + - 0.012648904834946425 + - - 0.025841612114413277 + - -0.9956180953990506 + - -0.08987112549253522 + - -0.09402914414870575 + - - -0.32933880362246437 + - 0.07640326063049725 + - -0.9411155583633457 + - 0.9767125372567397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998119692029007 + - -1.1934204035873603e-05 + - 0.01939139232217801 + - 0.054065381947199564 + - - 0.00443301671116211 + - -0.9733778459564815 + - -0.22916351665123136 + - -0.0936171972832446 + - - 0.018877886572823976 + - 0.22920638921874625 + - -0.9731947680397016 + - 0.9725516522752958 + - - 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: + - - 0.9962946828793504 + - -0.003269125332788176 + - -0.08594310726226458 + - 0.02368625926304615 + - - -0.007802549556523558 + - -0.9985922136641416 + - -0.052466284695671266 + - -0.034759451996533755 + - - -0.08565059886978367 + - 0.05294245582618696 + - -0.9949176203507202 + - 0.9703606476359468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8797285467089393 + - 0.054531349709116675 + - -0.4723388783535394 + - 0.10003427440174467 + - - 0.0030724287782533458 + - -0.9940327966441899 + - -0.10903833902409929 + - -0.09012136772283313 + - - -0.47546634401057264 + - 0.09447291196228616 + - -0.8746465712609791 + - 0.9756325913511193 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9227345687035157 + - 0.029346545305896206 + - -0.3843171815026568 + - 0.012632248185567584 + - - 0.052718061110911686 + - -0.9973358785348412 + - 0.05041776888996621 + - -0.09385465458644562 + - - -0.38181372651103473 + - -0.0667826748921069 + - -0.9218233847012188 + - 0.9753307733994567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998143673347394 + - -0.006355642955631442 + - 0.06057072856744787 + - 0.05406372831054841 + - - 0.00429481499789473 + - -0.9847186162162259 + - -0.17409997542026015 + - -0.09356714665212677 + - - 0.06075164130050127 + - 0.17403692906915433 + - -0.9828633604929393 + - 0.9719717904427231 + - - 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: + - - 0.9958195712471174 + - -0.0002958118960052049 + - -0.09134163353328824 + - 0.023677307648313585 + - - -0.008619939156634338 + - -0.9958363288133836 + - -0.09075077335438458 + - -0.034868783504965015 + - - -0.0909344718472773 + - 0.0911587555356321 + - -0.9916758558717924 + - 0.9703023667187132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9984190809347642 + - -0.00820727775814426 + - -0.055605570019391044 + - 0.09157947968183228 + - - -0.011436202943461307 + - -0.9982509968421946 + - -0.058001384171425606 + - -0.03404046174621596 + - - -0.055032282231583816 + - 0.05854560526090754 + - -0.9967667029034517 + - 0.9682173623581655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8834857476258736 + - 0.05954319872552617 + - -0.4646585210963894 + - 0.10002685912646608 + - - 0.0012819343227980957 + - -0.9921928929070373 + - -0.12470613420820825 + - -0.09017225977896401 + - - -0.46845628439198383 + - 0.10958043050789731 + - -0.8766646102491875 + - 0.9755240741290754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9134535772084543 + - 0.021424939135784728 + - -0.4063785602958236 + - 0.012571536590406888 + - - 0.0598220055712731 + - -0.994833840284862 + - 0.08201803383101339 + - -0.09378163725228243 + - - -0.4025219123656611 + - -0.09923004689660589 + - -0.9100162129645765 + - 0.9739380868840117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9951974471072567 + - -0.009952591854646503 + - 0.09738063044863594 + - 0.05405799305611237 + - - 0.013412351873259586 + - -0.9715712222646555 + - -0.23636723310220414 + - -0.09371134279825388 + - - 0.09696468474876226 + - 0.23653817024433638 + - -0.9667717124166568 + - 0.9722588366007532 + - - 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: + - - 0.9977440094454694 + - -0.0038873109645248226 + - -0.06702074625923034 + - 0.023704348612178225 + - - -0.008463513556101237 + - -0.9976403914493452 + - -0.06813235859034879 + - -0.03481704471195164 + - - -0.06659775186869855 + - 0.06854588362741608 + - -0.9954226244584624 + - 0.9704275654533298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993457049554314 + - -0.011256817737603567 + - -0.03437216957880561 + - 0.09161074317058107 + - - -0.012017403904492283 + - -0.9996856945052367 + - -0.022002140918105876 + - -0.034023813983223024 + - - -0.03411369212688785 + - 0.02240080927123547 + - -0.9991668828346278 + - 0.967994639406014 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8684303935705716 + - 0.04640099741113134 + - -0.49363508684261326 + - 0.09996467838406113 + - - 0.007551654280165462 + - -0.9967335690421896 + - -0.08040624889927289 + - -0.09011375839967942 + - - -0.49575359206010294 + - 0.06609946886073403 + - -0.8659441299390129 + - 0.9748796620830734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9353324070425335 + - 0.05044231823844937 + - -0.350155480989162 + - 0.012632499779723201 + - - 0.02950726594805622 + - -0.9974573008857534 + - -0.06487105799953866 + - -0.09401327943272547 + - - -0.3525373875098797 + - 0.05034387192538754 + - -0.9344425530589188 + - 0.9766174008075423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999156051176348 + - 0.006994031879693108 + - -0.010948340527230038 + - 0.054140131362889574 + - - 0.003965922196167428 + - -0.9668226444129839 + - -0.2554177865995629 + - -0.09381776741643674 + - - -0.012371503682588377 + - 0.2553528103788007 + - -0.966768787315913 + - 0.9740107276407807 + - - 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: + - - 0.9972359463690563 + - -0.002190834922940498 + - -0.07426754009493719 + - 0.023680002846934833 + - - -0.008226098275601869 + - -0.9966756248299335 + - -0.08105572266670646 + - -0.03481639578468166 + - - -0.07384306722078127 + - 0.08144261238566894 + - -0.993938781973631 + - 0.9701478678481726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986731687791536 + - -0.010781606242211484 + - -0.05035532670375883 + - 0.09156866732281589 + - - -0.01226178681584464 + - -0.999498994772778 + - -0.029178897036885823 + - -0.03399499337273092 + - - -0.050015503043428035 + - 0.02975762784639112 + - -0.9983050300585832 + - 0.9679942244983913 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.860895527939779 + - 0.04122895638714299 + - -0.5071085319027047 + - 0.09999743118796282 + - - 0.013526125390387013 + - -0.9982136496268359 + - -0.05819410305689903 + - -0.09009544315608253 + - - -0.5086019405244271 + - 0.04323982948509995 + - -0.8599153349259958 + - 0.9750367622421348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9491690310854346 + - 0.06392250258676126 + - -0.3082078261358441 + - 0.012645630943799599 + - - 0.017012338103468926 + - -0.9881491793029575 + - -0.15255090886371186 + - -0.09392172123394799 + - - -0.31430674631733635 + - 0.1395532626130137 + - -0.9390080703132815 + - 0.9754302966057891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9805350808198272 + - -0.024447512093160897 + - 0.19481600148373288 + - 0.05410409767786842 + - - 0.012962730983053974 + - -0.9819926863388484 + - -0.18847368936398678 + - -0.09369829410476853 + - - 0.1959156014387727 + - 0.18733041165135567 + - -0.9625613715412732 + - 0.9726191150434493 + - - 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: + - - 0.9961587470760307 + - -0.002944888205552152 + - -0.08751615997842621 + - 0.023661670865155752 + - - -0.00776369549003361 + - -0.9984686668220183 + - -0.054772679384879557 + - -0.03482084111289307 + - - -0.0872208441615347 + - 0.05524173248656832 + - -0.9946561593513766 + - 0.9697550864346869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990512286506177 + - -0.010819158517811359 + - -0.042185167306264926 + - 0.09162968558543838 + - - -0.012661210719006579 + - -0.9989668224436157 + - -0.043646092609016744 + - -0.034053802512629065 + - - -0.04166936854357174 + - 0.044138797739317996 + - -0.9981560149892941 + - 0.9683922066122317 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8844317890997098 + - 0.04443857111146313 + - -0.46454883901206573 + - 0.09999514941935359 + - - 0.007071419005325038 + - -0.9966176709727332 + - -0.08187315150974123 + - -0.09016819099452184 + - - -0.4666159078547771 + - 0.06912619837990044 + - -0.8817545935431274 + - 0.9751247058761976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.916791768639725 + - 0.07787877116417753 + - -0.39169854474634264 + - 0.012672809535780469 + - - 0.00653291842269714 + - -0.9835952963700246 + - -0.18027094589990378 + - -0.0940652365385265 + - - -0.39931212595077464 + - 0.16271198468681192 + - -0.9022608470436648 + - 0.9766039804693292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967081519149771 + - -0.008237485502596278 + - 0.08065360338401147 + - 0.05401126273303708 + - - 0.010944490041630518 + - -0.9720472765083478 + - -0.23452997755176458 + - -0.09370118696725399 + - - 0.08033105280001974 + - 0.23464065305333826 + - -0.9687572894645708 + - 0.9722229904567834 + - - 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: + - - 0.9963033806764515 + - -0.0032631650844943765 + - -0.08584244524886862 + - 0.023652631429138576 + - - -0.0077750894137178835 + - -0.9986022583612449 + - -0.05227884448254714 + - -0.03483520170788565 + - - -0.08555186518879855 + - 0.05275302218312231 + - -0.9949361773567513 + - 0.9697460071095249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988247006793622 + - -0.012594957723312284 + - -0.046803678837570126 + - 0.09156005450199835 + - - -0.013321744037821352 + - -0.9997949778254854 + - -0.015249047535108563 + - -0.034021602480600835 + - - -0.046602021936534094 + - 0.015854631969402684 + - -0.9987877062702272 + - 0.9678518336432617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.876665239044226 + - 0.0408122598841643 + - -0.47936668438125474 + - 0.1000324808536079 + - - 0.012205834281373529 + - -0.9979614022742498 + - -0.06264229545848979 + - -0.09013899349530846 + - - -0.4809460221906672 + - 0.0490652526128269 + - -0.8753762189624607 + - 0.9755486938242013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9061277522082747 + - 0.08040816797988456 + - -0.415291491846508 + - 0.01257653707780615 + - - 0.0076116244801052516 + - -0.9847074274886808 + - -0.17404983602807314 + - -0.09402416107447285 + - - -0.4229356450463278 + - 0.1545503438066184 + - -0.8928827646329071 + - 0.9764899934700374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958230432146798 + - -0.01204000786185801 + - 0.09050693240487306 + - 0.05404589945715836 + - - 0.010609113871392854 + - -0.969294687182495 + - -0.2456730675158621 + - -0.09363368606769693 + - - 0.09068579439756638 + - 0.24560710008156506 + - -0.9651182513474744 + - 0.9717385810694695 + - - 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: null + base_right_marker_pose: + - - 0.9992619588852032 + - -0.012532307872206272 + - -0.03631086317209842 + - 0.09159927070234773 + - - -0.013308953860855594 + - -0.9996861016697305 + - -0.02122663128021798 + - -0.03400821622559898 + - - -0.03603344657448457 + - 0.021694224756209846 + - -0.9991150841320484 + - 0.9679779010161367 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8919830048729956 + - 0.058035654333484746 + - -0.44832820772713583 + - 0.10005753993904062 + - - -0.00022497481855690213 + - -0.991668214063501 + - -0.12881809889312268 + - -0.09013327065833758 + - - -0.4520688757303168 + - 0.11500441748990163 + - -0.8845381368565952 + - 0.975510942127914 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9291471675746624 + - 0.03443156384446083 + - -0.36810325779488434 + - 0.012608475746094226 + - - 0.04741786027985441 + - -0.9985291225649415 + - 0.026289502014464578 + - -0.09380669888770904 + - - -0.36665663435217216 + - -0.0418814851803652 + - -0.9294131770556219 + - 0.9748729777126689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975479070242964 + - -0.006331302809904858 + - 0.06969998419063676 + - 0.053982952675878 + - - -0.00037050458211671574 + - -0.9963635006557207 + - -0.08520350513583823 + - -0.09343989668968453 + - - 0.0699859694353115 + - 0.08496875405587322 + - -0.9939226704912172 + - 0.970684820448696 + - - 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: + - - 0.9957755722855455 + - -0.002181250220766399 + - -0.09179461741773821 + - 0.023672103204163557 + - - -0.008633596321847093 + - -0.9975129341698529 + - -0.06995289256637285 + - -0.034783477300604757 + - - -0.09141373339901347 + - 0.07044989929961235 + - -0.9933178449191019 + - 0.97005308029615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992769233212156 + - -0.013968660656373165 + - -0.03536250892049992 + - 0.09159362515393726 + - - -0.013864376845204855 + - -0.9998987883576506 + - 0.003192506162340069 + - -0.03394671092532137 + - - -0.03540352485811959 + - -0.0026999185857214765 + - -0.9993694516380072 + - 0.9680953905703372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.876192383520581 + - 0.04895525785519367 + - -0.47946875788611554 + - 0.10003851730675659 + - - 0.004376046589375262 + - -0.9955949561521609 + - -0.093656465343428 + - -0.09014724490037372 + - - -0.48194165339465167 + - 0.07996290397871136 + - -0.8725469481411995 + - 0.9756684476925934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.942720473841964 + - 0.04339715616967337 + - -0.33074883980985925 + - 0.012602061126223644 + - - 0.038371149015175764 + - -0.9990276183081875 + - -0.02171342397517931 + - -0.09389782194672935 + - - -0.3313695265446691 + - 0.007778476319671893 + - -0.9434689884589247 + - 0.9757365693641453 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984297662941946 + - -0.002747932607327569 + - 0.05595043024057482 + - 0.054056652426219994 + - - 0.005071895367904614 + - -0.9902593440156772 + - -0.1391427593050287 + - -0.09352042189082785 + - - 0.05578779127279436 + - 0.13920804738241863 + - -0.9886904681895526 + - 0.9717463943522004 + - - 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: null + base_right_marker_pose: + - - 0.9988809882349391 + - -0.010717476454755135 + - -0.046064162222200764 + - 0.09155207041586683 + - - -0.011694543409075069 + - -0.999711200919912 + - -0.020994104165712547 + - -0.03395310267332047 + - - -0.045825855117441264 + - 0.021509310860864404 + - -0.9987178483180552 + - 0.9680788489799421 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8681184792477581 + - 0.03638579456944531 + - -0.4950215954300479 + - 0.10002341707056911 + - - 0.018100236192795223 + - -0.9989668308950224 + - -0.0416851558869767 + - -0.09009195266062817 + - - -0.49602690193005156 + - 0.027227646337989755 + - -0.8678801575313086 + - 0.975524560762716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9248639290245168 + - 0.03612518207417924 + - -0.37857850442073576 + - 0.012628783983348829 + - - 0.04198572763767569 + - -0.9990920204661221 + - 0.007234176916426452 + - -0.09390866578925017 + - - -0.3779734269284926 + - -0.022585523262272242 + - -0.9255409135607686 + - 0.9760722826544399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992598173469831 + - -0.012216967846647372 + - 0.036476884904112494 + - 0.05419965858938281 + - - -0.0025581043769978273 + - -0.9672344314827024 + - -0.25387203598728914 + - -0.09370938190298123 + - - 0.03838324553330881 + - 0.25359081263123284 + - -0.9665497536140404 + - 0.9734493123355541 + - - 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: + - - 0.9963812187892803 + - -0.0022949509296006807 + - -0.08496587576326875 + - 0.023670038689697873 + - - -0.008130730150951747 + - -0.9976247310622648 + - -0.06840166079969431 + - -0.0348399790546249 + - - -0.0846070805027623 + - 0.06884496476268079 + - -0.9940332050568655 + - 0.9702823152512537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990945392549312 + - -0.008523230631601302 + - -0.0416828042552003 + - 0.09160800271500968 + - - -0.011498593998330739 + - -0.9973620675681472 + - -0.07167069493351128 + - -0.03405346992409363 + - - -0.04096198197155947 + - 0.07208509357551962 + - -0.9965570005359304 + - 0.9682566199065276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8554246906888702 + - 0.02525219057583526 + - -0.5173112461864449 + - 0.09994423250547212 + - - 0.027921080715036285 + - -0.9996066842963949 + - -0.0026248736488575404 + - -0.09005966067525449 + - - -0.5171740633592865 + - -0.012198507330396402 + - -0.85579330717607 + - 0.9748606546970726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9382760138805357 + - 0.0389025825544483 + - -0.34369275646578173 + - 0.012633153696998483 + - - 0.04709316033548584 + - -0.9987700366980877 + - 0.015512834805963438 + - -0.09393159373033243 + - - -0.3426665376515032 + - -0.030740898892114753 + - -0.9389540143740992 + - 0.9752288479368104 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9897578923973288 + - -0.008085605425375762 + - 0.14252697085851085 + - 0.05416102164906569 + - - -0.0015742774067863236 + - -0.9989522034826641 + - -0.045738570241926006 + - -0.09366886643096992 + - - 0.14274745562651597 + - 0.045045733893835614 + - -0.9887335565106105 + - 0.9726701020162453 + - - 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: + - - 0.99501622565153 + - 0.00289987745357025 + - -0.09967096568679262 + - 0.023697438748934416 + - - -0.009694152972581317 + - -0.9920286100292017 + - -0.12563940576775315 + - -0.03486891383488046 + - - -0.09924078843060302 + - 0.12597947290842346 + - -0.9870564514339533 + - 0.9713244795527645 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999287473339349 + - -0.012385144636085721 + - -0.035653244163793806 + - 0.09161229920041729 + - - -0.013207112644613708 + - -0.9996502436103377 + - -0.022912062879298953 + - -0.034061992031364924 + - - -0.035357005001164114 + - 0.023366613835464085 + - -0.9991015381607677 + - 0.9682197399889841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8727527354948902 + - 0.046573617037444164 + - -0.4859357579785993 + - 0.10009267807422279 + - - 0.00556366204160455 + - -0.996322786905862 + - -0.08549824534353972 + - -0.09022806192421615 + - - -0.48813083118245376 + - 0.07191524517226369 + - -0.869802557573235 + - 0.9758088016651256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9068947862100464 + - 0.05008980502742914 + - -0.418369284457342 + - 0.012613452926942888 + - - 0.042281955572787105 + - -0.9987155758901329 + - -0.027918357891923255 + - -0.09385553772733762 + - - -0.4192303459650495 + - 0.00762954171328724 + - -0.9078478435923448 + - 0.9749337075692075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9707744811710551 + - -0.026285591583249668 + - 0.23854973146534314 + - 0.05405772546132578 + - - 0.0020049013523508203 + - -0.9930609803483335 + - -0.11758345836117785 + - -0.09358370672231547 + - - 0.2399851809542332 + - 0.11462528946408858 + - -0.9639855579507602 + - 0.9720645609258929 + - - 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: + - - 0.9967925859966412 + - -0.002028884866468998 + - -0.08000265075812907 + - 0.023657123532967818 + - - -0.007291965361099758 + - -0.9978226945711087 + - -0.06554919862228521 + - -0.03481334496034675 + - - -0.0796954687752138 + - 0.06592233176283958 + - -0.9946370586458402 + - 0.9698828314923753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996487106911379 + - -0.012879465654135317 + - -0.02316407947684486 + - 0.09158080077780631 + - - -0.012911798443078675 + - -0.9999158619523896 + - -0.0012467866601563484 + - -0.034000449865244434 + - - -0.023146072550455456 + - 0.0015454386026566797 + - -0.9997308992649049 + - 0.9678750226710688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8710363270562208 + - 0.04254988320676775 + - -0.48937227586725707 + - 0.1000583174432482 + - - 0.008282949823590593 + - -0.9973719339208983 + - -0.07197651123184051 + - -0.09015454376738113 + - - -0.49114876533554297 + - 0.05864070997163836 + - -0.8690996245790203 + - 0.9754947463638699 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9265930634212218 + - 0.05425138136190214 + - -0.3721318078853257 + - 0.012614892663141569 + - - 0.03244270852196523 + - -0.9973822598568266 + - -0.06462273892870113 + - -0.09380413202470274 + - - -0.3746635363675444 + - 0.04780601785563944 + - -0.9259275453151562 + - 0.9743398521845817 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9916484075773019 + - -0.017276436792483432 + - 0.12780829582291087 + - 0.05416475287759931 + - - 0.014775817700411293 + - -0.9692432390052643 + - -0.24566078004815572 + - -0.0937432437506537 + - - 0.12812146955403525 + - 0.24549759341863103 + - -0.9608932410340781 + - 0.9728116838879386 + - - 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: + - - 0.9959039420220841 + - -0.003800386839561567 + - -0.09033767389490986 + - 0.023656602619204898 + - - -0.007207700290645965 + - -0.9992735847716065 + - -0.03742127515496051 + - -0.03476419933442833 + - - -0.09012983591127642 + - 0.03791912232070686 + - -0.9952078942819103 + - 0.9701351956169433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998626179753176 + - -0.012794191936424991 + - -0.010538208018358034 + - 0.09165827164508356 + - - -0.01307081768514943 + - -0.999560350066693 + - -0.026613160270664828 + - -0.033976177085413624 + - - -0.01019308101536786 + - 0.026747247096559783 + - -0.9995902589922383 + - 0.9683340069582695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8829101381250202 + - 0.056802951304497334 + - -0.4660934592108718 + - 0.10010818639314453 + - - -0.0008626629681768028 + - -0.9924576144080575 + - -0.12258523327086 + - -0.09014197404166768 + - - -0.46954120565575613 + - 0.10863382680623347 + - -0.8762018876176725 + - 0.9758031709152726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9398160576863194 + - 0.06801927392730682 + - -0.33484198674799853 + - 0.01265092900110809 + - - 0.017493269528707635 + - -0.9882781981014784 + - -0.15165813093431887 + - -0.09401702171787044 + - - -0.3412327112633559 + - 0.13667326560705653 + - -0.9299895995290282 + - 0.9767147462902865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9887765709299117 + - -0.02513012107100019 + - 0.14727311294001405 + - 0.05413904352045425 + - - 0.013513049985023206 + - -0.9666686442292431 + - -0.25567387380039336 + - -0.09369725990018209 + - - 0.14878941582043909 + - 0.2547944451493283 + - -0.9554797226842957 + - 0.973627545542983 + - - 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: + - - 0.9963043501342096 + - -0.0025509388756201723 + - -0.08585531209251535 + - 0.023663588348917165 + - - -0.009086778336600697 + - -0.9970799771595292 + - -0.075821828037934 + - -0.03477169575394041 + - - -0.08541119577146691 + - 0.076321765299326 + - -0.9934182984918702 + - 0.9698100535276086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8833991911276871 + - 0.04546558785570862 + - -0.4664104945601922 + - 0.10010865069764371 + - - 0.008288930183670024 + - -0.9966427192351394 + - -0.08145295471619529 + - -0.09012842593490983 + - - -0.46854793004703205 + - 0.0680894302849066 + - -0.8808102330991162 + - 0.976075533785203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9284849190579589 + - 0.08199082331931162 + - -0.3622061015131536 + - 0.012644150026113077 + - - -0.0005531909951842079 + - -0.9750173635028553 + - -0.22212796953032296 + - -0.0940658196883582 + - - -0.37136969324604063 + - 0.20644283896362856 + - -0.9052435612469051 + - 0.9773138878904918 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9796012683675007 + - -0.024662989102282925 + - 0.19943192317511366 + - 0.053995133513342945 + - - -2.4286959554104676e-05 + - -0.9924544625499734 + - -0.12261378052563184 + - -0.09344920476875979 + - - 0.20095112446295832 + - 0.12010777132719135 + - -0.972210249299959 + - 0.9713957477178706 + - - 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: + - - 0.994916372182197 + - -0.002111496514504889 + - -0.10068244110213807 + - 0.023653549944773172 + - - -0.008992855317000531 + - -0.997648714797665 + - -0.0679424051371032 + - -0.03484240925124344 + - - -0.10030224781660561 + - 0.06850243386213373 + - -0.9925960284213814 + - 0.9699758631901618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992903176690242 + - -0.012064618094195862 + - -0.035683413558428224 + - 0.09157474045937031 + - - -0.01270973451927299 + - -0.9997588604227426 + - -0.01790764235372559 + - -0.0340256537850287 + - - -0.0354587600092025 + - 0.018348460329426764 + - -0.9992026873173178 + - 0.9679523633393426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.877339014499199 + - 0.03672505470490291 + - -0.47846371230689594 + - 0.10003733405481705 + - - 0.01311658869844073 + - -0.9985299368966659 + - -0.052592016714094525 + - -0.09017089495567972 + - - -0.47969178514801575 + - 0.039865216393010466 + - -0.8765309782223601 + - 0.9753270235378306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9137186686908374 + - 0.062401240792914335 + - -0.40152743322635953 + - 0.012632058371618666 + - - 0.02151911216192328 + - -0.9941825633000209 + - -0.10553652752466065 + - -0.09397731786062176 + - - -0.40577718306677424 + - 0.08779018155639966 + - -0.9097459874738051 + - 0.9759987485265653 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959374760804941 + - -0.005393127313191393 + - 0.08988580486483369 + - 0.05402091003371297 + - - 0.0065567883468962826 + - -0.9912117907551977 + - -0.13212189218463935 + - -0.09367947391012574 + - - 0.08980841978895551 + - 0.13217450603523803 + - -0.9871496075516379 + - 0.9712811843931677 + - - 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: + - - 0.9942257928746582 + - -0.001086232905931738 + - -0.10730280928676289 + - 0.023656693176114775 + - - -0.009541444745925828 + - -0.9968829415392297 + - -0.07831578193603345 + - -0.0348704383730103 + - - -0.10688327097781852 + - 0.07888739421584395 + - -0.9911370971863153 + - 0.9704436629061524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997424066685148 + - -0.014923816859009089 + - -0.017099707570744888 + - 0.09160738811015892 + - - -0.01505072413161149 + - -0.9998599580710792 + - -0.007317099781632218 + - -0.0340372467898497 + - - -0.016988113837632518 + - 0.007572577926901166 + - -0.9998270150639965 + - 0.9681953022605334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.866205885782035 + - 0.03587887079725191 + - -0.49839750206724975 + - 0.0999809305226664 + - - 0.016381163946706166 + - -0.998921701410995 + - -0.04344067124152124 + - -0.09008494166410817 + - - -0.4994186829748275 + - 0.029464233919735638 + - -0.865859594862361 + - 0.974966990361833 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9272106379494652 + - 0.05683433455128184 + - -0.3702030406269765 + - 0.012606634684269613 + - - 0.026622491150861266 + - -0.9959206076609265 + - -0.0862170876405198 + - -0.09386808194350107 + - - -0.3735929279821396 + - 0.07008567366019769 + - -0.9249412535449633 + - 0.9752566994947028 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968899506334398 + - -0.008588368742677722 + - 0.07833687668268252 + - 0.05404126437180686 + - - 0.015097948324852855 + - -0.9548166318739723 + - -0.2968118115123176 + - -0.09365172572173666 + - - 0.07734648203013558 + - 0.29707143824202165 + - -0.9517174382653597 + - 0.9722934146665346 + - - 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: + - - 0.9963803798040579 + - -0.0038881648357079867 + - -0.08491773027896768 + - 0.02365759828280153 + - - -0.007773827999089633 + - -0.9989352124222183 + - -0.04547536675188603 + - -0.03479237099475565 + - - -0.0846504952127376 + - 0.04597089902523481 + - -0.9953496722775621 + - 0.9704143991051756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988514466939901 + - -0.010006161126541391 + - -0.046857914772563396 + - 0.09159176541816046 + - - -0.012131127852431419 + - -0.9989003743725889 + - -0.045286618501827774 + - -0.034004257450464793 + - - -0.046353243407026935 + - 0.04580304376143379 + - -0.9978744700651669 + - 0.9682059412590801 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8917637572885355 + - 0.04589384660019401 + - -0.4501679198153416 + - 0.10009123377435747 + - - 0.00469622909183446 + - -0.9957285280985058 + - -0.09220978127671797 + - -0.09014748269170875 + - - -0.45247690175184746 + - 0.08011524932883266 + - -0.8881701414740466 + - 0.975521901419221 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9350654905297406 + - 0.05378758095345015 + - -0.35037041050230194 + - 0.012585053418009449 + - - 0.027537657707114395 + - -0.9964560224056338 + - -0.07948001522111975 + - -0.09386826533607012 + - - -0.35340374337064023 + - 0.06467063898493405 + - -0.9332328233752281 + - 0.9749592088184984 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964301241271311 + - -0.009067131939561953 + - 0.08393327618043368 + - 0.05405196688654945 + - - 0.00492304494662443 + - -0.9862828028905346 + - -0.16499089778180423 + - -0.09352074067261573 + - - 0.08427794112603783 + - 0.16481510804772367 + - -0.9827172578105946 + - 0.9716642969326954 + - - 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: + - - 0.9978160866081345 + - -0.004616710578224804 + - -0.0658919060998 + - 0.02366785158483536 + - - -0.008625659105172958 + - -0.9981195656529225 + - -0.06068715404286422 + - -0.034739567516407874 + - - -0.0654878256703435 + - 0.06112297967424274 + - -0.9959795811384451 + - 0.9696087700367501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8734571360363543 + - 0.018306184840126163 + - -0.48655679535257623 + - 0.10000568843948456 + - - 0.028396728124647493 + - -0.9995072884802633 + - 0.013371840062104151 + - -0.09001001808362717 + - - -0.4860722758386704 + - -0.025496350159008536 + - -0.8735466093973375 + - 0.9750369538020408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9192066117562525 + - 0.024106511116599328 + - -0.3930369970185701 + - 0.012626900936101536 + - - 0.06120349888503315 + - -0.9947408183159097 + - 0.08212695112095565 + - -0.09374385300003334 + - - -0.38899014978251045 + - -0.09954687588256785 + - -0.915847740006056 + - 0.9743829775823873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902262723059003 + - -0.02428544826890095 + - 0.13733953049846745 + - 0.05407534164205422 + - - -0.004410482689087145 + - -0.9896834074760642 + - -0.1432037031958878 + - -0.09346736345479646 + - - 0.13940042065076488 + - 0.14119833557427366 + - -0.9801176218972111 + - 0.971423036193622 + - - 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: + - - 0.9970360991402951 + - -0.0034032077531589103 + - -0.07685984119221428 + - 0.023682342886369712 + - - -0.009314995431974728 + - -0.9970115035450637 + - -0.07668958637855805 + - -0.034805411959703894 + - - -0.0763691552343343 + - 0.07717823511716801 + - -0.9940881611572456 + - 0.9701947841695352 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991867940187182 + - -0.011829583273955073 + - -0.03854622702885638 + - 0.09156608302426075 + - - -0.011962490788124796 + - -0.9999232648991353 + - -0.003219181199825592 + - -0.03394282861759845 + - - -0.03850518760816009 + - 0.0036776722281687256 + - -0.9992516326002386 + - 0.9680171521172499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8756080674787412 + - 0.05556455042130397 + - -0.4798156863865776 + - 0.10011584220016553 + - - 0.0015284797651375567 + - -0.9936751828945016 + - -0.1122822098517257 + - -0.09020532104152468 + - - -0.4830198504365549 + - 0.09758182021287455 + - -0.8701549358868172 + - 0.9760665683120308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9477227972786951 + - 0.07533946099919238 + - -0.3100733221910529 + - 0.012690647305660744 + - - 0.003392700691805417 + - -0.9740520269440414 + - -0.22629878123449998 + - -0.09408426365913572 + - - -0.3190767761844493 + - 0.2134165279976118 + - -0.9233869159118421 + - 0.9769335115875188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9914056419032095 + - -0.015151194858836474 + - 0.1299434280632717 + - 0.05408702432565375 + - - 0.011235893030166123 + - -0.9797395341242902 + - -0.19996049605293303 + - -0.09360255126725513 + - - 0.1303403541129905 + - 0.19970199440233427 + - -0.9711490645217302 + - 0.9720379884791567 + - - 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: + - - 0.9977627948629847 + - -0.002204856728556658 + - -0.06681724174202418 + - 0.023679561894777757 + - - -0.00789131434072091 + - -0.9963530474526456 + - -0.08496076735648524 + - -0.03486411807940338 + - - -0.06638623611247661 + - 0.0852979685492768 + - -0.994141400514125 + - 0.9702725835016408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990687207332152 + - -0.011918456062302544 + - -0.041468562280212985 + - 0.09160108630159908 + - - -0.012946064668448531 + - -0.9996135261925919 + - -0.024600765484300603 + - -0.03405762842792486 + - - -0.041159332624537144 + - 0.02511470999044526 + - -0.9988369039437818 + - 0.9681348045010933 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.18632633984088898 + shoulder_marker_pose: + - - 0.8606460055102385 + - 0.011105181923286746 + - -0.5090826338952462 + - 0.09989007841885997 + - - 0.03526177813259099 + - -0.9986619288813646 + - 0.037828016150473 + - -0.09001638226748576 + - - -0.507981358124684 + - -0.0505076898838506 + - -0.8598859884079973 + - 0.9740530560554932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9424206595688764 + - 0.060742934878324786 + - -0.3288671407728836 + - 0.012649732419231995 + - - 0.024085924384269024 + - -0.9931410517551111 + - -0.11441468247260453 + - -0.09407075447398454 + - - -0.3335613416814355 + - 0.09990569143506908 + - -0.9374196947763372 + - 0.9766906593888195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979041820197071 + - 0.019998164092040586 + - -0.0615411808509314 + - 0.054081069839420945 + - - -0.0005815720118082131 + - -0.9482362600443501 + - -0.317565201039249 + - -0.0938542502780928 + - - -0.06470630016910493 + - 0.3169354328093522 + - -0.9462372990684601 + - 0.9732186625598345 + - - 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: + - - 0.997845766678376 + - -0.0028447572236171316 + - -0.06554184372126444 + - 0.0236735895429969 + - - -0.0073228498768715036 + - -0.9976457737383766 + - -0.06818567306726858 + - -0.034826592306141047 + - - -0.06519357170553532 + - 0.06851873830051392 + - -0.9955174436994967 + - 0.9702962375438731 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991446094525069 + - -0.014545541549519786 + - -0.03871016175409927 + - 0.09154211672877527 + - - -0.014400996712524657 + - -0.9998882582948854 + - 0.00401026404459535 + - -0.03399703365160417 + - - -0.03876416767690479 + - -0.003449368790476571 + - -0.9992424336262271 + - 0.9678878731633329 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8674139954032697 + - 0.05456976956974932 + - -0.49458578712660217 + - 0.10004643448508681 + - - 0.007109675307398127 + - -0.9952259426203505 + - -0.09733845926691714 + - -0.09018218769817418 + - - -0.497536343492171 + - 0.08091639750099094 + - -0.8636608845605439 + - 0.9757546604438219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.952932161776288 + - 0.032264981037770535 + - -0.3014618815887055 + - 0.012623806541359105 + - - 0.045409407035403776 + - -0.9982942772590226 + - 0.03669498255319041 + - -0.09382343383567049 + - - -0.29976370828548177 + - -0.04865703433747513 + - -0.9527718573742712 + - 0.974876304012302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972678803064221 + - -0.01029193182515406 + - 0.07314951160767987 + - 0.05406690225670528 + - - 0.0026107525025384315 + - -0.9847174239631118 + - -0.17414011288276995 + - -0.0936835370881956 + - - 0.07382383680428835 + - 0.17385531652141026 + - -0.9820001884097245 + - 0.9721483956987549 + - - 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: + - - 0.9963388632822944 + - -0.0038958702761856556 + - -0.08540311298855859 + - 0.023658764239797587 + - - -0.006932108265570355 + - -0.9993532774103863 + - -0.035284172147214646 + - -0.03475998202762584 + - - -0.08521041830867739 + - 0.03574701559446607 + - -0.9957215150270429 + - 0.9697367101982729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995506557269934 + - -0.01164541317793602 + - -0.02762011925485916 + - 0.09159326947875 + - - -0.012261535354422745 + - -0.9996773875963103 + - -0.022243549163031014 + - -0.03400483652704031 + - - -0.027352173341248932 + - 0.02257221922034009 + - -0.9993709789327377 + - 0.9683562077334096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8665553774158306 + - 0.04615653431353723 + - -0.4969420008530881 + - 0.09999890339218412 + - - 0.004504674851775123 + - -0.9963970517071625 + - -0.08469134107896739 + - -0.09012333688708071 + - - -0.49906060331004604 + - 0.0711511748985037 + - -0.8636411433774884 + - 0.9750301930293965 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9325019759907783 + - 0.053837695594718266 + - -0.3571296225550945 + - 0.012623089673280038 + - - 0.029716184637019097 + - -0.996911529064574 + - -0.07269354571591588 + - -0.09400554439776268 + - - -0.35994029108160763 + - 0.05717434521867141 + - -0.9312218216434279 + - 0.9764900431904197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987725013475067 + - -0.006364744675630375 + - 0.049122098665048186 + - 0.05410671535217682 + - - 0.009607426058807258 + - -0.9479840950072277 + - -0.3181726779248214 + - -0.09372046207457198 + - - 0.048592056105594514 + - 0.31825405832218634 + - -0.9467592969941669 + - 0.9732769433660938 + - - 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: + - - 0.9952595943454364 + - -0.005641913978933612 + - -0.09709020892969361 + - 0.02366838675894614 + - - -0.007566840141702645 + - -0.9997818190729125 + - -0.019469390887452132 + - -0.03471861528253987 + - - -0.09695918106928894 + - 0.020111764167093846 + - -0.9950851391456212 + - 0.9700993305446236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9979554748671191 + - -0.010125520772143286 + - -0.06310581599056898 + - 0.09158401111357516 + - - -0.012353756722725588 + - -0.9993102560916522 + - -0.03501994809921962 + - -0.03396550855520682 + - - -0.06270769392649016 + - 0.03572794283371516 + - -0.9973922293778372 + - 0.9681869831895438 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8630816996956134 + - 0.01870806609950624 + - -0.5047177309282362 + - 0.09997785971264478 + - - 0.027240508531821535 + - -0.9995834697479409 + - 0.0095310913118745 + - -0.09005841240322045 + - - -0.5043291924382909 + - -0.02197487814491896 + - -0.8632318172918892 + - 0.9750848632839522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9402826518095533 + - 0.04587152483895289 + - -0.3372896943503371 + - 0.012638390400191771 + - - 0.03172790739152431 + - -0.9983753031627598 + - -0.04732963054179744 + - -0.09383905169547985 + - - -0.3389127831737088 + - 0.03380173432854468 + - -0.9402103850510447 + - 0.9753744703665493 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950787590227747 + - -0.010504920956945649 + - 0.09852872666072052 + - 0.05403382097335738 + - - 0.010506414891884818 + - -0.9775729213309016 + - -0.2103349679123435 + - -0.09358015263634663 + - - 0.09852856736913532 + - 0.21033504253037652 + - -0.972651680354242 + - 0.9722553107942458 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.796843528747559 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8868012000710307 + - 0.05346017953984479 + - -0.4590486256990073 + - 0.10010132816419462 + - - 0.00026226340813585713 + - -0.9933449550069622 + - -0.11517695767870365 + - -0.09014363206095885 + - - -0.46215101727734464 + - 0.10201867263292883 + - -0.8809135188335638 + - 0.9758087635329764 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9400243058453942 + - 0.08698000674529485 + - -0.3298314461152442 + - 0.012648162117307174 + - - -0.0036559587582758457 + - -0.9643182884692599 + - -0.26472036659326775 + - -0.09400893550422798 + - - -0.34108787487309267 + - 0.25004942901415456 + - -0.9061646344148793 + - 0.9765817233791827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996220173990937 + - -0.00940151078436835 + - 0.02583474261411115 + - 0.053992761281315596 + - - -0.003265124641088974 + - -0.973658811331822 + - -0.227986530472705 + - -0.09343642046671549 + - - 0.02729764260964889 + - 0.2278160018762398 + - -0.973321482346445 + - 0.9709568658616345 + - - 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: + - - 0.9951314134934649 + - -0.003237177417367574 + - -0.09850375912048764 + - 0.02365526715893018 + - - -0.007861516379108783 + - -0.9988829757205558 + - -0.046593962869326086 + - -0.03483313863467906 + - - -0.09824289510554732 + - 0.04714150504614399 + - -0.9940452766666439 + - 0.9699067359689639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991745039805888 + - -0.011469911727571709 + - -0.03897116523926369 + - 0.09156824002645955 + - - -0.01286640031080248 + - -0.9992770725512319 + - -0.03577412495760422 + - -0.034021595344299195 + - - -0.0385326658588069 + - 0.0362460121724006 + - -0.9985997497813686 + - 0.9679655369672207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8950825567014601 + - 0.06883436368050674 + - -0.4405553847877441 + - 0.100094947030195 + - - -0.006844630267127966 + - -0.9857754427976039 + - -0.16792834011474791 + - -0.09024037050087771 + - - -0.4458479199517295 + - 0.15332516673360533 + - -0.8818792579037271 + - 0.9758598545617091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.925943318481517 + - 0.051166632775920304 + - -0.3741803664675769 + - 0.012618419675818416 + - - 0.030523517359696287 + - -0.9976775164011089 + - -0.06089243102148895 + - -0.09401187019542143 + - - -0.37642699936033863 + - 0.04496163873891374 + - -0.9253546159146139 + - 0.9762510526684451 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984883911871073 + - -0.003465921705934523 + - 0.05485362386670888 + - 0.05405791355347572 + - - 0.01227932424338099 + - -0.9587177025273935 + - -0.2840943242247577 + - -0.0937867293201452 + - - 0.05357378893365634 + - 0.2843384501739506 + - -0.9572259372227476 + - 0.9726541265633127 + - - 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: + - - 0.9974537060366773 + - -0.0024853173655255047 + - -0.07127361020244777 + - 0.023676343247750097 + - - -0.008006515292156834 + - -0.9969769543794236 + - -0.07728420374956788 + - -0.034845483380959406 + - - -0.07086607105360299 + - 0.07765806869811326 + - -0.9944582567104083 + - 0.9701259296057174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9985827608700298 + - -0.01261195648724734 + - -0.05170501181464537 + - 0.09154443774368758 + - - -0.013122277175973491 + - -0.9998683667519978 + - -0.009542274907563018 + - -0.03400051353955796 + - - -0.051577858960078625 + - 0.010207238718593848 + - -0.9986168117665744 + - 0.967935896563916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8856249744041182 + - 0.05955987448619613 + - -0.4605659844831069 + - 0.10009722923301274 + - - -0.001557653178916929 + - -0.9913552045514084 + - -0.13119615895829206 + - -0.0901869630700479 + - - -0.46439851251729813 + - 0.11690799698918716 + - -0.8778761540284011 + - 0.9759706014811056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9162572534739282 + - 0.055701247339736165 + - -0.3966988990420963 + - 0.012648760304222554 + - - 0.030866448863711215 + - -0.9971583385454421 + - -0.06872052243570684 + - -0.09405141176377169 + - - -0.39939943388913024 + - 0.05072099086266079 + - -0.9153728602569291 + - 0.9765515637663786 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969835615976548 + - -0.006389129331311865 + - 0.07734957614908572 + - 0.053977613034018955 + - - 0.002203940431502047 + - -0.9938734643589955 + - -0.11050194337487146 + - -0.09348944585595083 + - - 0.07758170242157508 + - 0.11033909492757624 + - -0.9908614250135757 + - 0.9708551343349087 + - - 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: + - - 0.9975175874805995 + - -0.004776411548067118 + - -0.07025559450754153 + - 0.023659349739058158 + - - -0.007852855808240392 + - -0.9990191413433173 + - -0.043578525506434936 + - -0.034770117388825676 + - - -0.06997853472701178 + - 0.04402205268253067 + - -0.9965766721908936 + - 0.9698826219349412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989862329674482 + - -0.011758137312910057 + - -0.04345402798864706 + - 0.09154363978438232 + - - -0.012124837432324224 + - -0.9998929921962175 + - -0.008184893043599544 + - -0.03391769935841273 + - - -0.04335313897224835 + - 0.008703468494008994 + - -0.9990218991480754 + - 0.9679782285666102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8613474952013462 + - 0.05462037738380916 + - -0.5050713879094888 + - 0.10006034872178249 + - - 0.0017414859968750834 + - -0.9945148719101069 + - -0.10458076676018284 + - -0.0901838347826026 + - - -0.508013247599794 + - 0.08920080674565305 + - -0.8567180144826162 + - 0.9758781613786024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9533340649414226 + - 0.052015318721565944 + - -0.297403038384878 + - 0.012662294588908468 + - - 0.02093692169344307 + - -0.994065795046606 + - -0.10674661787786205 + - -0.09407580096385801 + - - -0.30119064715270616 + - 0.09553848301419474 + - -0.9487658258659409 + - 0.9772477947956757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996366286186137 + - -0.010455662684815407 + - 0.08452752728825297 + - 0.054130364330330735 + - - 0.00014262642545594898 + - -0.992230199753545 + - -0.12441547473985014 + - -0.09371239027138914 + - - 0.08517161152254754 + - 0.12397544036969936 + - -0.9886232279163739 + - 0.9736467787979306 + - - 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: + - - 0.9966362063120326 + - -0.0011476670407927821 + - -0.08194482978396413 + - 0.023666224231336564 + - - -0.00965186190091552 + - -0.9945868744606223 + - -0.10345912580578187 + - -0.03482405376184437 + - - -0.08138251550428403 + - 0.10390203083200261 + - -0.9912523665339625 + - 0.9705419358968798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992181926924448 + - -0.011284147566213718 + - -0.03789025476488928 + - 0.0916129989564699 + - - -0.012492396993794503 + - -0.9994160434258942 + - -0.031804278961811025 + - -0.033955295013497755 + - - -0.03750924432448268 + - 0.03225275424882616 + - -0.9987756587109896 + - 0.9682447012301234 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.86931697850463 + - 0.044771953443076884 + - -0.4922229810446396 + - 0.09999070709118077 + - - 0.008962788117149859 + - -0.9971529852113759 + - -0.07487050496162985 + - -0.0901340091361952 + - - -0.4941737137007064 + - 0.060674510866865 + - -0.8672433017431265 + - 0.9753816940124512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9487005694583828 + - 0.05047666406122472 + - -0.3121207072505612 + - 0.012628491829125019 + - - 0.023171996535246188 + - -0.9956194594284984 + - -0.09058118228348948 + - -0.09393335649716375 + - - -0.31532568573763664 + - 0.07870195926757144 + - -0.9457143932084011 + - 0.9758188371411959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966256129823993 + - -0.008387371643684718 + - 0.08165194146110442 + - 0.05404036337019209 + - - 0.008751254476259733 + - -0.9782379592875681 + - -0.20730149674805942 + - -0.09352982531355922 + - - 0.08161374328229686 + - 0.20731653818691037 + - -0.9748636057939831 + - 0.9721812096623756 + - - 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: null + base_right_marker_pose: + - - 0.9992843202462525 + - -0.013318369276685412 + - -0.03540435495521771 + - 0.09160682607395097 + - - -0.013468199232770641 + - -0.9999013115852288 + - -0.003996836194449365 + - -0.03399723231484966 + - - -0.03534762961517508 + - 0.004470808645950555 + - -0.9993650769116557 + - 0.9683694709243895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8786693349819124 + - 0.05944297613760747 + - -0.47371587724114517 + - 0.10010745282078412 + - - -0.004141876882139871 + - -0.9912324444915426 + - -0.1320647032450912 + - -0.0901628210332293 + - - -0.477412865995814 + - 0.1180032778155956 + - -0.8707193473252091 + - 0.9758947418920827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9389733704537704 + - 0.06216547802048024 + - -0.3383259713961842 + - 0.01263331398626994 + - - 0.02019515241028107 + - -0.9918006187267414 + - -0.12618909823110386 + - -0.09397136520730166 + - - -0.34339651337457106 + - 0.11165565832387916 + - -0.9325298110872648 + - 0.9761270337485084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959224285569643 + - -0.013872599354146382 + - 0.08914071619836678 + - 0.05406602462718331 + - - 0.012097543897850518 + - -0.9586444045830651 + - -0.2843493537766892 + - -0.09365874515820974 + - - 0.08939891346564571 + - 0.2842682826991793 + - -0.9545676391552471 + - 0.9726284692078847 + - - 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: + - - 0.9967336374012722 + - -0.0016694828220716307 + - -0.08074198969517636 + - 0.023676797733247927 + - - -0.008024083812517019 + - -0.9968863602988538 + - -0.07844232740730551 + - -0.03482797243224152 + - - -0.08035963011238205 + - 0.07883398681540861 + - -0.9936435640464797 + - 0.9701557076893327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988830653533167 + - -0.012339849178519213 + - -0.04561085257494274 + - 0.09156671815429838 + - - -0.013442897194073728 + - -0.9996226088837865 + - -0.02395680119301978 + - -0.034005446869595835 + - - -0.045298016130856406 + - 0.024543185013842603 + - -0.9986719790822134 + - 0.9679313069536404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8570720402913893 + - 0.04263007928331648 + - -0.5134298336589463 + - 0.10006533627415376 + - - 0.010754212745724575 + - -0.9978339478229471 + - -0.06489806992732101 + - -0.09013498619918033 + - - -0.5150843277163214 + - 0.050100787542411984 + - -0.8556740304746049 + - 0.975338653346758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9073818230052597 + - 0.03671012965581403 + - -0.4187010791248392 + - 0.01262022120791882 + - - 0.04572867895210669 + - -0.9988874520556511 + - 0.011521547077784865 + - -0.09388670880805196 + - - -0.417812296612901 + - -0.029601089615481743 + - -0.9080510229566566 + - 0.9751222459121094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9853245073366269 + - -0.018288276263143784 + - 0.16970902802490045 + - 0.05399957027037654 + - - 0.010294828317098438 + - -0.9860665520615847 + - -0.1660324408520789 + - -0.09358193302330592 + - - 0.17038084326518338 + - 0.1653429582918503 + - -0.9714072649468626 + - 0.9714525128924504 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8606161531836662 + - 0.03184302815744841 + - -0.5082576693342782 + - 0.09995608510387138 + - - 0.023656424154434308 + - -0.9994655398510068 + - -0.022561211105823657 + - -0.09010123545957459 + - - -0.5087044431451075 + - 0.007392983707542662 + - -0.8609094803266639 + - 0.9749707282572198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9242405908308334 + - 0.06974548010758609 + - -0.37538633201707594 + - 0.01262286719997202 + - - 0.015775454296724334 + - -0.9893103394774637 + - -0.14496960800360167 + - -0.09391987626874677 + - - -0.381484554474233 + - 0.12806490622941277 + - -0.9154610393075437 + - 0.9753914933471124 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930283083993781 + - -0.008799569599294616 + - 0.11754720878156491 + - 0.05414002149098787 + - - 0.008955911734157796 + - -0.9886950914903981 + - -0.14967233447702927 + - -0.09373166583060114 + - - 0.11753540046504973 + - 0.14968160754635462 + - -0.9817234060568486 + - 0.9732645445792921 + - - 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: + - - 0.9956365985953969 + - -0.0019567612474904513 + - -0.09329487993887463 + - 0.023682467727057382 + - - -0.00917462500805446 + - -0.996988865213635 + - -0.07700018763607126 + - -0.03481639359618533 + - - -0.09286328549728516 + - 0.07752015044779596 + - -0.992656555149464 + - 0.9703613043213137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989748874448503 + - -0.011177081995847273 + - -0.04386624092176884 + - 0.09157828905895793 + - - -0.011839303568797708 + - -0.9998194042436378 + - -0.01486572530702507 + - -0.033987541504419044 + - - -0.043692163434126435 + - 0.015369832008066272 + - -0.9989268056862276 + - 0.9680611781917934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8822523363218917 + - 0.05235022373638921 + - -0.4678571033224929 + - 0.10005584030731512 + - - 0.0012678595539308418 + - -0.9940586935487763 + - -0.10883798193761351 + - -0.09017704284375647 + - - -0.47077511360172314 + - 0.09542938674669754 + - -0.8770769775558098 + - 0.9757587167899977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9194009867764759 + - 0.054676915187232195 + - -0.38950258081308126 + - 0.012616145147022627 + - - 0.028236019229456732 + - -0.9969106665870435 + - -0.07329290595310493 + - -0.09391186620031539 + - - -0.3923067074783662 + - 0.05638756769523893 + - -0.9181045090167561 + - 0.9755251694215382 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980946535325548 + - -0.00772114566519099 + - 0.06121639077360334 + - 0.054061087323295565 + - - 0.007342864033423644 + - -0.970225009566654 + - -0.24209401718996085 + - -0.09356408682372022 + - - 0.061262916495350254 + - 0.2420822478435858 + - -0.9683196994492473 + - 0.972251154942386 + - - 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: + - - 0.9973869042970245 + - -0.0035061008161140607 + - -0.0721600332169078 + - 0.023685780414385856 + - - -0.008113621206817218 + - -0.997938805638574 + - -0.06365775170054251 + - -0.0347625795004058 + - - -0.07178810686813157 + - 0.06407688707890609 + - -0.9953595432076622 + - 0.9700781781346622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997594415872991 + - -0.013003069967226463 + - -0.01766293091418401 + - 0.09158970873479627 + - - -0.012976960998637948 + - -0.9999145283653863 + - 0.001591994681944392 + - -0.03395587130122834 + - - -0.017682122052843478 + - -0.0013624005486356729 + - -0.9998427308454335 + - 0.9682890512567437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8788997500019448 + - 0.04558741886363439 + - -0.47482314253611385 + - 0.10004427380745948 + - - 0.008114136333208396 + - -0.9967075251531203 + - -0.08067385012945046 + - -0.090104301075146 + - - -0.47693751187979044 + - 0.0670514469977679 + - -0.8763758972138732 + - 0.9756749836090757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9555613780977361 + - 0.05313268277031599 + - -0.28996443007649103 + - 0.012612573937062894 + - - 0.02355838535110152 + - -0.9942407764313186 + - -0.10454798401164181 + - -0.0938620453726478 + - - -0.29384937496548175 + - 0.09307092189765004 + - -0.9513098067031149 + - 0.9753781422494371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996846925759459 + - -0.010107727086331387 + - 0.07870222650639538 + - 0.054177022615204046 + - - 0.015909423629438497 + - -0.9462526355024619 + - -0.3230369019855545 + - -0.09377047490906999 + - - 0.07773735809567228 + - 0.32327044971323 + - -0.9431082225802678 + - 0.9740022572176239 + - - 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: + - - 0.9981654016927872 + - -0.005108318245863389 + - -0.060330224168121234 + - 0.023664813541542748 + - - -0.009207932862654722 + - -0.9976515616894747 + - -0.06787175724076269 + - -0.034799841264532366 + - - -0.05984183182251044 + - 0.06830275648355019 + - -0.9958683088746599 + - 0.9702495384794911 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994996835853137 + - -0.012121608560865495 + - -0.029213851487864304 + - 0.091590717157967 + - - -0.01255585542684537 + - -0.9998127140424908 + - -0.014727095215568866 + - -0.0339901915289956 + - - -0.02902986406027415 + - 0.015086531903834825 + - -0.9994646884946744 + - 0.9682377230497782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8714501478919491 + - 0.052149558108729774 + - -0.48770386847775193 + - 0.10001522350452399 + - - 0.006292691923899089 + - -0.9954385693280694 + - -0.09519693651813343 + - -0.09012333843814996 + - - -0.49044371926598374 + - 0.07989041421316356 + - -0.867803249561442 + - 0.9754427916390305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9380066043478487 + - 0.05514365695585531 + - -0.34220284525023087 + - 0.012642792046403924 + - - 0.028921598728549144 + - -0.9962727393551258 + - -0.08126604423016001 + - -0.09393772697849294 + - - -0.34540867291775307 + - 0.0663310328230195 + - -0.9361052519657328 + - 0.9760586873344559 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958578873892684 + - -0.013953963427923176 + - 0.08984628556170515 + - 0.054074648326859875 + - - 0.007898063982072701 + - -0.9711423659056012 + - -0.23836972485742997 + - -0.09362190335731682 + - - 0.09057973675120926 + - 0.23809198232599932 + - -0.9670095755690107 + - 0.972526100509647 + - - 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: + - - 0.9956300859839051 + - -0.001925298438707898 + - -0.09336501009266691 + - 0.023671595353807647 + - - -0.009088417669460096 + - -0.9970390948119942 + - -0.07635734464178959 + - -0.03484377442396694 + - - -0.09294155447348258 + - 0.07687220981864315 + - -0.9926996176133299 + - 0.9709310449676546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9985051518842094 + - -0.011998229712823704 + - -0.0533245172922376 + - 0.09154795900056187 + - - -0.012661001359704565 + - -0.9998465283053207 + - -0.012108628343747872 + - -0.033999264799382756 + - - -0.0531710513838253 + - 0.012765669569426022 + - -0.9985038192091119 + - 0.9679241952707408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8766434241474482 + - 0.047287407681027294 + - -0.4788112446192607 + - 0.10007531290469802 + - - 0.00648200609435012 + - -0.9962290388478129 + - -0.08651985756667072 + - -0.09016136172744663 + - - -0.48109696579383043 + - 0.07274340678833033 + - -0.8736441531154424 + - 0.9755244894798899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9135759444246168 + - 0.04210782806048347 + - -0.4044822920533091 + - 0.012620620763225218 + - - 0.04326824131591701 + - -0.999043775144826 + - -0.006276514781465249 + - -0.09394074665007236 + - - -0.404359806437407 + - -0.011767164501405617 + - -0.914524292065279 + - 0.9760115567067045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9893650717279933 + - -0.0145680912840625 + - 0.14472223589000394 + - 0.05399228734848316 + - - 0.004487147618815303 + - -0.991441263438727 + - -0.1304763835231016 + - -0.09350387211633686 + - - 0.14538438826404187 + - 0.12973816657930604 + - -0.9808319875400324 + - 0.9713262152673572 + - - 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: + - - 0.9966179442523032 + - -0.0016916192230594334 + - -0.08215723716579874 + - 0.02367378592763747 + - - -0.008087119202216107 + - -0.996953762315266 + - -0.07757444365540518 + - -0.03482202536525996 + - - -0.08177574027376501 + - 0.07797649793265059 + - -0.9935956894395414 + - 0.970448447622907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998908945814719 + - -0.010868291502800357 + - -0.0454180383893551 + - 0.0915516561679562 + - - -0.012361751365618656 + - -0.9993877114377381 + - -0.03273208411353058 + - -0.034011608650952756 + - - -0.045034487612288884 + - 0.03325781813424887 + - -0.9984316764097821 + - 0.9678418094314465 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8719435688839624 + - 0.039582782122674666 + - -0.48800370494631234 + - 0.10002111970395419 + - - 0.009689223352471847 + - -0.9979264464519292 + - -0.06363117492747264 + - -0.09007825858810428 + - - -0.4895105020658132 + - 0.050754416864481615 + - -0.8705190736198845 + - 0.9748195500357587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9392567415173038 + - 0.05806023029729382 + - -0.33826880313165447 + - 0.012646578093733814 + - - 0.023957537971044166 + - -0.9942746061750046 + - -0.10413473911190699 + - -0.09406516201941706 + - - -0.34237816794980197 + - 0.08970516804155801 + - -0.9352701069412903 + - 0.9768445916586832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994772192350528 + - -0.0013971944268522506 + - 0.03230071327230476 + - 0.054187198874684844 + - - 0.008870348855817688 + - -0.9488779043033263 + - -0.31551868349767104 + - -0.0938789022340222 + - - 0.03109027406347788 + - 0.31564025499397413 + - -0.9483694555846875 + - 0.9744657524811502 + - - 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: + - - 0.9962749146649179 + - -0.004919575323386463 + - -0.08609350839667283 + - 0.023669503086234216 + - - -0.006988152469803193 + - -0.999693689006896 + - -0.02374223841264786 + - -0.03477801294062648 + - - -0.0859503352783992 + - 0.024255431111851113 + - -0.9960041234488489 + - 0.9700051866791182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990778270129145 + - -0.01280571899710434 + - -0.04098181465138206 + - 0.09159804617486549 + - - -0.013239541933923068 + - -0.9998589733106379 + - -0.010331893320069509 + - -0.03399434854852873 + - - -0.04084372779917284 + - 0.010864945980749526 + - -0.9991064722282119 + - 0.9683422795396923 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8787396936576871 + - 0.04581005856596841 + - -0.4750978734161802 + - 0.09999835892906075 + - - 0.008026282359221346 + - -0.9966610259082103 + - -0.08125501970391745 + - -0.09013869970569793 + - - -0.4772338311371945 + - 0.06758874144246589 + - -0.8761732890520798 + - 0.9753597776420775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9533837365090989 + - 0.062242448168060335 + - -0.29527161835502486 + - 0.012594625177086757 + - - 0.015511020917670041 + - -0.9873108950528019 + - -0.15803988338431538 + - -0.0940023839839498 + - - -0.30136167505182326 + - 0.14609269028970176 + - -0.9422515941370849 + - 0.9766685626602524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996905081142836 + - 0.0011836946503521882 + - 0.02484928274980977 + - 0.05408681932605072 + - - 0.006699598546412033 + - -0.9747742439094138 + - -0.22309255655478144 + - -0.0936194347224416 + - - 0.02395836733840976 + - 0.22318999143735402 + - -0.9744804894694775 + - 0.972906363253888 + - - 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: + - - 0.9976889922367248 + - -0.0038701086718403808 + - -0.06783580933796524 + - 0.023677063943185552 + - - -0.008505634832413365 + - -0.9976368088058565 + - -0.0681795562596599 + - -0.03479356497246138 + - - -0.06741163805876743 + - 0.06859897939863711 + - -0.9953641801269014 + - 0.9702764469488021 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8692162493821963 + - 0.03967868745836481 + - -0.49283741088875255 + - 0.1000708709180321 + - - 0.014004784349363473 + - -0.9983505694926591 + - -0.05567770118290294 + - -0.09015281801651207 + - - -0.49423372793170994 + - 0.04149388093762996 + - -0.8683382290441092 + - 0.9759142680306765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9058002453407789 + - 0.04589507710806299 + - -0.4212120100826065 + - 0.012644922779251616 + - - 0.0414231281677219 + - -0.9989461616786468 + - -0.019765892853594605 + - -0.09397399662808399 + - - -0.4216752779015926 + - 0.0004560315167299635 + - -0.9067467959920624 + - 0.9761791453663345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999625836551423 + - 0.0005575711400045607 + - 0.027347321866895445 + - 0.054110975751337685 + - - 0.008062894258012716 + - -0.9613755930301879 + - -0.2751217164493539 + - -0.09362553561856085 + - - 0.026137647848493352 + - 0.2752392745236014 + - -0.9610203770600652 + - 0.9730292631001383 + - - 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: + - - 0.9975050032468524 + - -0.005072739190921655 + - -0.07041332128651344 + - 0.023651594818331605 + - - -0.007778922212881248 + - -0.9992393768479039 + - -0.03821198929419024 + - -0.03478469642339296 + - - -0.07016592382847119 + - 0.038664390254008335 + - -0.9967857382906237 + - 0.9700835049662326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8775251195696268 + - 0.054449119996617695 + - -0.47642938391319484 + - 0.1000728511879708 + - - 0.0020384745250906777 + - -0.9939472522492995 + - -0.10983944813990593 + - -0.09016007813288658 + - - -0.4795263383234784 + - 0.09541568570032108 + - -0.8723246745199952 + - 0.9758524430275995 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9266684955643196 + - 0.05485487323570859 + - -0.371855404977331 + - 0.012656485574150809 + - - 0.027503500381871174 + - -0.9965372653086549 + - -0.0784667848066467 + - -0.09401110459653468 + - - -0.37487205390013395 + - 0.06248537215574964 + - -0.9249683894443385 + - 0.9760198293236146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971552614735388 + - -0.0036258115784491866 + - 0.07528770155899336 + - 0.0540944045381066 + - - 0.0048586622140293955 + - -0.9936731182059793 + - -0.11220573762645203 + - -0.09363447971240303 + - - 0.07521820203334051 + - 0.11225233915248187 + - -0.9908287614101985 + - 0.9723734107430928 + - - 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: + - - 0.9943444739000522 + - -0.001985834868860149 + - -0.10618438531301179 + - 0.023653476134125218 + - - -0.008329367434770937 + - -0.9982036319321266 + - -0.059330690503718315 + - -0.03480034620601943 + - - -0.1058758181199329 + - 0.05987959299615398 + - -0.9925748059869592 + - 0.9703667404471014 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996192187254139 + - -0.01295161410445725 + - -0.02436541087037844 + - 0.09158448140604801 + - - -0.013236649993483415 + - -0.9998454083924262 + - -0.011573694895426978 + - -0.033998626738460366 + - - -0.024211746152294496 + - 0.011891804264771641 + - -0.9996361219661808 + - 0.9681839628955582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8685719664727092 + - 0.03157494550628811 + - -0.49455612611108757 + - 0.0999648294448301 + - - 0.020828687552084706 + - -0.9994122612437063 + - -0.02722678553556486 + - -0.09015161469098688 + - - -0.49512514057820645 + - 0.01334746762561904 + - -0.8687191377398075 + - 0.9753495759228835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9422452993490527 + - 0.06593842988806008 + - -0.32836857236725836 + - 0.012636709873585991 + - - 0.01629556944055269 + - -0.9882929253654102 + - -0.15169557702612463 + - -0.09392988782232012 + - - -0.3345269051529669 + - 0.13758349151180227 + - -0.9322888675685239 + - 0.9756751143554762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993692141771208 + - -0.005415000567363435 + - 0.03509774243252052 + - 0.0540337178388496 + - - 0.0010424213451552134 + - -0.9834078583430556 + - -0.18140534034824798 + - -0.09358161475578414 + - - 0.03549770573914972 + - 0.18132749906724013 + - -0.9827818938957293 + - 0.9720765868513305 + - - 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: + - - 0.9963936760616066 + - -0.0014250493099855948 + - -0.08483873843299564 + - 0.023694925260230253 + - - -0.00918593174701346 + - -0.995794053487497 + - -0.09115822341884113 + - -0.03482486152884135 + - - -0.0843520062735757 + - 0.09160880019629257 + - -0.992215987960393 + - 0.9706911769617944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991334268785736 + - -0.013115242398919726 + - -0.039501717819552806 + - 0.09159758388186955 + - - -0.013499901951052665 + - -0.9998638670293511 + - -0.009486835954342241 + - -0.03401901925046627 + - - -0.0393719181802203 + - 0.010011884234758938 + - -0.9991744663635478 + - 0.968100472717419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8660568680968034 + - 0.05192953336634328 + - -0.49724121388588655 + - 0.10007766308281213 + - - 0.0014408526852003195 + - -0.9948459708312464 + - -0.10138746601219906 + - -0.09020386103894254 + - - -0.4999434219648216 + - 0.08709085994057647 + - -0.8616680085444253 + - 0.9758944036532282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9252702318436568 + - 0.011709597600542125 + - -0.37912779295116195 + - 0.012585989792846215 + - - 0.06906011795454486 + - -0.98801779754909 + - 0.13802728655722496 + - -0.09378537813543265 + - - -0.3729687629977745 + - -0.15389514953460787 + - -0.9149921227953993 + - 0.9743415060432898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872557267477077 + - -0.01707026357784483 + - 0.15822369008855244 + - 0.05409094001457451 + - - 0.0044970592461018675 + - -0.9908410182802557 + - -0.13495870832029644 + - -0.09367863622110648 + - - 0.15907830292655387 + - 0.13395029897215127 + - -0.9781367036070565 + - 0.9726260703858847 + - - 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: + - - 0.9959360044629856 + - -0.003526306216861545 + - -0.08999466750185199 + - 0.02364573980410857 + - - -0.008523600494867917 + - -0.9984386564108023 + - -0.05520505066746253 + - -0.03480079526672169 + - - -0.08965948499131511 + - 0.05574777618038356 + - -0.9944110629925812 + - 0.9701307893976844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996204134728842 + - -0.013236881145702413 + - -0.024162242152467983 + - 0.09161166084301882 + - - -0.013384569923997133 + - -0.9998926546231658 + - -0.0059609159185716725 + - -0.03399489640364536 + - - -0.024080744511945307 + - 0.006282054454809971 + - -0.999690278804179 + - 0.9682222065104945 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8519333030653047 + - 0.018002664324895716 + - -0.5233407601223555 + - 0.09999407079884795 + - - 0.024950223452701793 + - -0.9996692962943481 + - 0.006227711941305344 + - -0.09013267551212391 + - - -0.5230555739860728 + - -0.01836306411165508 + - -0.8521007360626629 + - 0.9751988824296313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9280845436884377 + - 0.032425207276362764 + - -0.3709550993040924 + - 0.01256821996648092 + - - 0.051288560953712675 + - -0.9978379364141468 + - 0.041096668576104604 + - -0.09376220208948713 + - - -0.3688205027949523 + - -0.05716693612431748 + - -0.9277410081117663 + - 0.9742236723447412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.960784009596435 + - -0.028670968283311102 + - 0.27581164312170525 + - 0.054155484584736194 + - - 0.0035952609687801354 + - -0.993268891857729 + - -0.11577556981628999 + - -0.09375874917672879 + - - 0.27727452281514053 + - 0.11222693101665766 + - -0.9542137889132706 + - 0.9736689921050736 + - - 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: + - - 0.9949655580489716 + - -0.0016978705167984814 + - -0.10020307146992512 + - 0.023653750554201224 + - - -0.008208896772868362 + - -0.997877355184192 + - -0.06460184226766123 + - -0.03477675393947328 + - - -0.09988069037642423 + - 0.06509916471285616 + - -0.9928675372090774 + - 0.9700583217833116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991753945010436 + - -0.010852336427186375 + - -0.03912490022677363 + - 0.09156001613420346 + - - -0.01191141979853789 + - -0.9995661210267346 + - -0.026938592649766644 + - -0.03400459281346356 + - - -0.03881557808492393 + - 0.027382412049310512 + - -0.9988711400417446 + - 0.9679894100476226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8744104160850635 + - 0.049861728610281306 + - -0.4826181018796755 + - 0.10013596730545207 + - - 0.00416613122551316 + - -0.9954402840597575 + - -0.0952957723177765 + - -0.09021386925001636 + - - -0.48516911236450116 + - 0.0813169655792956 + - -0.8706310834770477 + - 0.9761872113041183 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9469094278308975 + - 0.03569772237523981 + - -0.31951245375130943 + - 0.01266032756620238 + - - 0.04400942327947635 + - -0.9988536604737904 + - 0.018829116302095487 + - -0.093841856388735 + - - -0.31847402743013475 + - -0.031891026564384146 + - -0.9473949843001597 + - 0.9750106076174676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9834259232327182 + - -0.002981475871284757 + - 0.1812858635291372 + - 0.054056679201476415 + - - -0.01285223473927952 + - -0.9984959242330301 + - 0.053298305341109305 + - -0.0934895707861199 + - - 0.18085428824355385 + - -0.05474486360980919 + - -0.9819850947607411 + - 0.9713733795432943 + - - 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: + - - 0.9981310180357534 + - -0.0055144497270376855 + - -0.06086100294210162 + - 0.023678333486335756 + - - -0.007326660627219835 + - -0.9995351688886005 + - -0.029593347206593037 + - -0.03473473527685151 + - - -0.06066952182903764 + - 0.029983945688391234 + - -0.9977074581870133 + - 0.9697771062684928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999430270461196 + - -0.013486986889333159 + - -0.030939225434835755 + - 0.09160109810211375 + - - -0.0134037301352328 + - -0.9999059698330119 + - 0.00289681044691826 + - -0.03398002821284073 + - - -0.03097538545882011 + - -0.0024804590201166652 + - -0.9995170697985737 + - 0.9682875475234392 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8738704187948729 + - 0.052323013023363896 + - -0.48333507369466805 + - 0.10001892575289834 + - - 0.003228888803630342 + - -0.994794246813844 + - -0.10185274067579175 + - -0.09014922874355094 + - - -0.48614819287164596 + - 0.08744546194190517 + - -0.8694902102688674 + - 0.9752887373849916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9592800461678612 + - 0.050560378253371 + - -0.2778946584140508 + - 0.012639869220322796 + - - 0.02785401545470293 + - -0.995986442100296 + - -0.08505974944381024 + - -0.09396264095831733 + - - -0.2810799652185034 + - 0.07385563826324064 + - -0.9568382297178009 + - 0.9762666663726862 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960513235368218 + - -0.006525416185192381 + - 0.08853914289259565 + - 0.05401619184289565 + - - -0.00044084284078738925 + - -0.9976463449126612 + - -0.06856804022281529 + - -0.0934981442245472 + - - 0.08877818728795475 + - 0.06825825536898755 + - -0.9937098389549374 + - 0.9711346590468966 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.869871442059608 + - 0.04799208991786287 + - -0.4909383195417261 + - 0.09999170215100686 + - - 0.010032847668748793 + - -0.9967713243788979 + - -0.07966347258056393 + - -0.09013321864261933 + - - -0.4931764554972124 + - 0.06437147039841752 + - -0.867544406668588 + - 0.9753493379826125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.939010791227216 + - 0.025245931525484388 + - -0.3429597307268717 + - 0.012637770716043335 + - - 0.05779000142427376 + - -0.9947032213717794 + - 0.08500480649932572 + - -0.09388873950235348 + - - -0.3389971234305982 + - -0.09964007393622269 + - -0.93549602135539 + - 0.9754408146339011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928024019960326 + - -0.0172026269994065 + - 0.11852198199164289 + - 0.05415278305573277 + - - 0.009266513870995276 + - -0.975629883834599 + - -0.21922696341820097 + - -0.09377534443755736 + - - 0.11940486720224884 + - 0.2187473414540297 + - -0.9684482837483926 + - 0.9738915093305259 + - - 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: + - - 0.9973078532763082 + - -0.005495578949614819 + - -0.07312211980933252 + - 0.023657301893964356 + - - -0.006521966937322563 + - -0.9998834324595826 + - -0.013805268563588545 + - -0.034795293395297765 + - - -0.07303772820036437 + - 0.0142450028028388 + - -0.9972274415370236 + - 0.9699777090497512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996145460310256 + - -0.012644102429955617 + - -0.024716108854901973 + - 0.0916082477405549 + - - -0.013090634259030468 + - -0.9997524867805017 + - -0.01798889854602825 + - -0.03399246049139915 + - - -0.024482537815407764 + - 0.01830551419501211 + - -0.9995326475369243 + - 0.9684072614037545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8797876760321774 + - 0.043249046913544455 + - -0.473395358070789 + - 0.10010342291972993 + - - 0.006624752154816678 + - -0.9968714693558478 + - -0.0787615784707257 + - -0.0901901337454793 + - - -0.4753206893885303 + - 0.06615733916492607 + - -0.8773217475440975 + - 0.9759738892700732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9075195926058305 + - 0.047213671206743885 + - -0.4173476467978812 + - 0.012612446097756129 + - - 0.040193817012704414 + - -0.9988639487519804 + - -0.025598221765407346 + - -0.09387794412286644 + - - -0.4180821045087875 + - 0.006456092841899351 + - -0.9083863015010302 + - 0.9751420943924793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9925193001196551 + - -0.015139968800098057 + - 0.12114545073886213 + - 0.053973869932662566 + - - 0.004501713738764766 + - -0.9870679928822376 + - -0.16023892161658448 + - -0.09346514208056189 + - - 0.12200480918145903 + - 0.1595855844748007 + - -0.9796158776604392 + - 0.9710062878859489 + - - 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: + - - 0.9972748285525936 + - -0.0034176065354468593 + - -0.0736969219232652 + - 0.023671581535214828 + - - -0.007563669553788215 + - -0.9983991536518266 + - -0.05605284016174684 + - -0.03477270579522372 + - - -0.07338737792206555 + - 0.05645750572675092 + - -0.9957041944316789 + - 0.9700527684885869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995403215442183 + - -0.01282048824272074 + - -0.027473272256845278 + - 0.09159151520539473 + - - -0.013056420382207966 + - -0.9998792624414953 + - -0.008425581656712939 + - -0.03397973504477919 + - - -0.027361935130460886 + - 0.008780411190208143 + - -0.9995870291701703 + - 0.9681899071317579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8827562143438094 + - 0.039920385029556624 + - -0.4681322771359377 + - 0.09996534162948188 + - - 0.014467182004571998 + - -0.9982208378041512 + - -0.0578434060064317 + - -0.09006875561832166 + - - -0.46960852492499855 + - 0.04428907125544927 + - -0.8817631833350135 + - 0.9747777811777246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9537711701017396 + - 0.034882294960182615 + - -0.29850256377637596 + - 0.01264212494251221 + - - 0.04236452826202767 + - -0.998928508125063 + - 0.018630147615398253 + - -0.09387856443703958 + - - -0.2975328584003697 + - -0.03041481798969852 + - -0.9542269840131113 + - 0.9755646650066181 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998706108030626 + - -0.002050898977121992 + - 0.015954794442308563 + - 0.054010144893110304 + - - 0.001024151332248805 + - -0.9817107351897186 + - -0.19037590059487852 + - -0.09357952447595615 + - - 0.016053434721558287 + - 0.19036760813396814 + - -0.9815816119951478 + - 0.9720236026644153 + - - 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: + - - 0.9947474488263973 + - -0.0028131212167731507 + - -0.10232106040495147 + - 0.023656221583520043 + - - -0.00760730829992464 + - -0.9988895847900314 + - -0.04649436802913684 + - -0.03477132587978001 + - - -0.10207664725001446 + - 0.04702854183385516 + - -0.9936642664095242 + - 0.9700033515139315 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986097671448368 + - -0.011152470776694273 + - -0.05151849530517889 + - 0.0915667144685776 + - - -0.01208442928598644 + - -0.999768289906695 + - -0.017813844780806058 + - -0.03398129759937369 + - - -0.05130788956648628 + - 0.01841165100195086 + - -0.9985131504269814 + - 0.9680970547230404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8708349912690969 + - 0.06573930619355003 + - -0.48715989326148623 + - 0.1000888835476021 + - - -0.01057822099520209 + - -0.9882819992679173 + - -0.1522720958139913 + - -0.0902411396787152 + - - -0.4914616152070562 + - 0.13775715423962323 + - -0.8599351412948957 + - 0.9760488143309651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9075627529310428 + - 0.05957032176056708 + - -0.4156696119005686 + - 0.01264412148552275 + - - 0.02315542621276297 + - -0.9954798537612106 + - -0.09210693238005835 + - -0.09392480583415472 + - - -0.4192775640660159 + - 0.07396781408762773 + - -0.9048398127569137 + - 0.975564900703495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935472664775444 + - -0.011418457655749375 + - 0.11284258105769765 + - 0.05408462546074513 + - - 0.0058082837022727695 + - -0.988491475302849 + - -0.15116503264323708 + - -0.09354941893025553 + - - 0.11327000095097164 + - 0.1508450266941568 + - -0.9820466815819938 + - 0.9722180076397471 + - - 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: + - - 0.9969386970920272 + - -0.004107188138987915 + - -0.07807922416393724 + - 0.02367030818509171 + - - -0.007516503865319408 + - -0.9990285780401625 + - -0.04342122094891525 + - -0.03477730344906138 + - - -0.07782503716731552 + - 0.04387517822918598 + - -0.9960011206445825 + - 0.9701532032475748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995235348089958 + - -0.013515481375639626 + - -0.027749506772461956 + - 0.09157195005139875 + - - -0.013552952144993365 + - -0.999907478554311 + - -0.001162677649080888 + - -0.033954502127760446 + - - -0.027731225199866184 + - 0.0015382114109870884 + - -0.9996142321188556 + - 0.9680779347301068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.867445670513819 + - 0.04283078078714632 + - -0.4956849129477257 + - 0.10001345182049813 + - - 0.007467367192253441 + - -0.9972962351952421 + - -0.07310579794115722 + - -0.09012768464181761 + - - -0.4974758759317351 + - 0.059713846656874056 + - -0.8654201346071128 + - 0.9755486519224675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9203312913555302 + - 0.017538670035087595 + - -0.3907463489340146 + - 0.01260948011054774 + - - 0.06646445661745605 + - -0.9914781915693082 + - 0.11204227616842206 + - -0.09382477045163579 + - - -0.3854514108917084 + - -0.12908675646965095 + - -0.913654102571502 + - 0.9747785747198463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875568232872439 + - -0.015346145758714427 + - 0.15651203336855513 + - 0.054052241209049105 + - - 0.005139940000861715 + - -0.9915459912967113 + - -0.12965387830762984 + - -0.09350277016456135 + - - 0.15717856659097945 + - 0.12884503464928107 + - -0.9791291310397371 + - 0.9718731358669035 + - - 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: + - - 0.9950122393993936 + - -0.002047653614108127 + - -0.09973189339464163 + - 0.023655602471348017 + - - -0.007248284827966191 + - -0.9986305654621155 + - -0.05181173700879093 + - -0.03482145229025037 + - - -0.09948922460475913 + - 0.05227619763804623 + - -0.9936644772497665 + - 0.9701330407052325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994170879308101 + - -0.013174762825559428 + - -0.03149460233738148 + - 0.09157265203437945 + - - -0.013464995298752768 + - -0.9998686487373898 + - -0.009021040609127636 + - -0.03398619428560249 + - - -0.03137161541113405 + - 0.009439856808088851 + - -0.9994632113539444 + - 0.9679858509917962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8770301586369726 + - 0.03288442404048369 + - -0.4793085806625334 + - 0.10002845296192528 + - - 0.014899521189241613 + - -0.9990365572222131 + - -0.04127906978021534 + - -0.0901098860531133 + - - -0.48020423270681195 + - 0.029061520763962182 + - -0.8766751524375198 + - 0.97519952167852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9378669210575449 + - 0.07286598433121537 + - -0.3392582890858879 + - 0.012662198169108919 + - - 0.00542190719131426 + - -0.980661191763246 + - -0.1956380072784929 + - -0.09404543068430479 + - - -0.3469527940634714 + - 0.18164298857080596 + - -0.9201247651240657 + - 0.9765598405981721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997981267043818 + - -9.054647469211065e-05 + - 0.020092228341942058 + - 0.0540979203745573 + - - 0.005020287262029557 + - -0.9671464785658493 + - -0.2541701904501865 + - -0.09367813966511289 + - - 0.0194551421021673 + - 0.2542197490342033 + - -0.9669507829495622 + - 0.973051055797527 + - - 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: + - - 0.9956501167998647 + - -0.004123114619138656 + - -0.09307977676301696 + - 0.023676098881281114 + - - -0.007970083355532153 + - -0.9991275228862577 + - -0.04099598495556645 + - -0.034826254581555666 + - - -0.09282953564314267 + - 0.041559510788850805 + - -0.994814296426861 + - 0.9701697927370077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993891980456436 + - -0.012781564148162275 + - -0.032524797426142324 + - 0.09155808754161815 + - - -0.013385688657176249 + - -0.9997406410518545 + - -0.018424819358697185 + - -0.03399658634342951 + - - -0.032280863818341735 + - 0.018848932255008298 + - -0.9993010875526895 + - 0.96796438817805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8709801837261003 + - 0.052718180814941465 + - -0.48848164035919683 + - 0.1000373904102837 + - - -0.0012108476815513997 + - -0.993993405881822 + - -0.10943328063869762 + - -0.09013186203275171 + - - -0.49131665288726034 + - 0.09590569573815211 + - -0.865684725590466 + - 0.9752457357186389 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9346582630519817 + - 0.059817102355949156 + - -0.3504794510016107 + - 0.012630209750221517 + - - 0.023573952393942277 + - -0.9940029873546502 + - -0.10678169271255837 + - -0.09400137312049511 + - - -0.3547649927447474 + - 0.09154220554350327 + - -0.9304632311526609 + - 0.9763799686630444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997470494420123 + - -0.0002929517626055972 + - 0.022488915297440727 + - 0.05406856452191282 + - - 0.004042115217455936 + - -0.9812934611956127 + - -0.19247546420077585 + - -0.09365404770411963 + - - 0.02212461155725651 + - 0.19251768021145518 + - -0.9810440583222759 + - 0.9726726032155165 + - - 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: + - - 0.9940277774556845 + - -0.0012837518057705615 + - -0.10911979484865919 + - 0.02366869184010583 + - - -0.007898151745277261 + - -0.9981547629658819 + - -0.060205384871565105 + - -0.034823449150284076 + - - -0.10884115419050305 + - 0.06070766961287418 + - -0.9922036998543463 + - 0.9705200695186098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996124101513003 + - -0.013238818632789669 + - -0.024490062325698402 + - 0.09156415623490549 + - - -0.013427483492430793 + - -0.9998813023560026 + - -0.007555387873910699 + - -0.033984360314484055 + - - -0.0243871310032359 + - 0.0078812993898747 + - -0.9996715225319559 + - 0.9681436412908448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8751011033710665 + - 0.05536754066208832 + - -0.48076240942878845 + - 0.1000876730248372 + - - 4.541758492139503e-05 + - -0.9934430211984941 + - -0.11432830607181621 + - -0.09017606330794528 + - - -0.48394013763686206 + - 0.10002699172243412 + - -0.8693655986470679 + - 0.9759916916102029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9343463889406312 + - 0.060558396400835095 + - -0.3511830094109937 + - 0.012663048073653177 + - - 0.01905752397974631 + - -0.9925364201495794 + - -0.12045026133811126 + - -0.0940371640609683 + - - -0.3558562016508412 + - 0.1058495881050901 + - -0.9285269131504046 + - 0.976752981433726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950737062082854 + - -0.013867334392234384 + - 0.09816321230359612 + - 0.05414969392521456 + - - 0.015406749306770705 + - -0.956507325422291 + - -0.2913011645862303 + - -0.09382583973231658 + - - 0.09793340231353781 + - 0.2913785054707187 + - -0.9515816387787992 + - 0.9742493786112156 + - - 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: + - - 0.996118057568856 + - -0.0022916276466475706 + - -0.08799752171498136 + - 0.02367392486507758 + - - -0.008596727448330902 + - -0.9974150838106525 + - -0.07133895754893398 + - -0.034826168678701745 + - - -0.08760657316907568 + - 0.07181851453294345 + - -0.993562876373636 + - 0.9704110158605779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992021421586024 + - -0.01236862310932946 + - -0.037974942633791156 + - 0.091577718520525 + - - -0.01265333157447364 + - -0.999893542847415 + - -0.007266097447103653 + - -0.03398284840470116 + - - -0.0378810283087299 + - 0.007740809674946096 + - -0.9992522742330133 + - 0.9679497287821147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8796383753246085 + - 0.05348534602372747 + - -0.47262632852709896 + - 0.1000685384928332 + - - 0.0009552749435219748 + - -0.9938542084699332 + - -0.11069281709481509 + - -0.090199167649466 + - - -0.4756421092650076 + - 0.09691816170009647 + - -0.874283394458919 + - 0.9759786047641824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9374247874114725 + - 0.03293895641070774 + - -0.3466263017965154 + - 0.012632688948801464 + - - 0.04931349003916363 + - -0.9980401360630196 + - 0.03852358378275367 + - -0.09389047093903155 + - - -0.34467803476101105 + - -0.0532063150188305 + - -0.9372118972758532 + - 0.9754864269876423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988940603348235 + - -0.004328173559011415 + - 0.0468179788270822 + - 0.054086043615240144 + - - 0.005349544077249829 + - -0.9788257050106102 + - -0.2046255643575563 + - -0.093640018311404 + - - 0.046712296089740694 + - 0.2046497156707674 + - -0.9777200290829167 + - 0.9726179935632582 + - - 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: + - - 0.995507708914165 + - -0.0034282181677842416 + - -0.09461843801640522 + - 0.023655707312605957 + - - -0.00810254617100557 + - -0.9987628690195293 + - -0.049062003764879916 + - -0.034764733395624026 + - - -0.09433318736275674 + - 0.04960825322537009 + - -0.9943039127821585 + - 0.9700105270484618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999341564377354 + - -0.012021006224496303 + - -0.03423350868920062 + - 0.09158137662591406 + - - -0.012796588341241621 + - -0.9996643257218053 + - -0.022527387908793977 + - -0.033998347969254036 + - - -0.03395121551060805 + - 0.02295062719228168 + - -0.999159938987164 + - 0.9681812191018424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.870670147397754 + - 0.05159582147930061 + - -0.4891537239316999 + - 0.10002212827208767 + - - 0.0033288557415274388 + - -0.9950783398583197 + - -0.09903542933851048 + - -0.09016917954269567 + - - -0.49185608987774626 + - 0.08459886967736119 + - -0.8665567598833257 + - 0.9755864339830229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9318210372239378 + - 0.047515578699901875 + - -0.35979414165285994 + - 0.012618131674740234 + - - 0.03606431420322269 + - -0.9986084561756604 + - -0.03847748036859979 + - -0.09375866727697098 + - - -0.3611217520836374 + - 0.022878396693784813 + - -0.9322379841739803 + - 0.9744448778856387 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942795928400495 + - -0.006976306795380798 + - 0.10658059112860134 + - 0.05400001809495951 + - - 0.009146531368170768 + - -0.9886377631487812 + - -0.15003904238599375 + - -0.09353793559290727 + - - 0.10641631559942506 + - 0.15015560069365275 + - -0.9829185436009296 + - 0.9713412820343079 + - - 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: + - - 0.9969338347729965 + - -0.003700266731329666 + - -0.07816160893254948 + - 0.023676462949009602 + - - -0.008097430323043725 + - -0.9983970592291849 + - -0.05601556698524818 + - -0.034809621688079655 + - - -0.0778290479639269 + - 0.05647672218385544 + - -0.9953657715354675 + - 0.9702096552370753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989507474523394 + - -0.011111673475319628 + - -0.04442898690033783 + - 0.0915751086056383 + - - -0.012253642338102113 + - -0.9995993604490645 + - -0.0255140518003525 + - -0.03399628769890096 + - - -0.04412768307833965 + - 0.0260316980314208 + - -0.9986866867460178 + - 0.9681410394298303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8681906000380363 + - 0.010759934772030553 + - -0.4961142064175307 + - 0.10000221826872073 + - - 0.031669935193254325 + - -0.9989281785557554 + - 0.03375661849380615 + - -0.09005498081604274 + - - -0.4952192415591802 + - -0.04501908363108863 + - -0.8676008211721378 + - 0.9748847751056232 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9174108744117582 + - 0.04050967229428573 + - -0.3958740379990369 + - 0.01262055441399593 + - - 0.04499964518042818 + - -0.9989848835489754 + - 0.0020577595282550033 + - -0.09387925409048697 + - - -0.3953888205863804 + - -0.019702002214245548 + - -0.9183025164204122 + - 0.9753328460615196 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99556641514175 + - -0.014111647006941803 + - 0.09299663682389875 + - 0.054000993361485006 + - - 0.0122673385301417 + - -0.9607582330074131 + - -0.277115734150662 + - -0.09358569410302292 + - - 0.09325784389096475 + - 0.27702793925383223 + - -0.9563255175020604 + - 0.9718951636288368 + - - 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: + - - 0.9966523647143337 + - -0.0037843246725810273 + - -0.08166849328902359 + - 0.02366861198645237 + - - -0.007215300286883018 + - -0.9991017481763499 + - -0.041756870485349214 + - -0.03478092804942591 + - - -0.08143711286076455 + - 0.04220634641535106 + - -0.9957844249490796 + - 0.9700232947496581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989285448145255 + - -0.01208949453744617 + - -0.04467221145816955 + - 0.0915828838496521 + - - -0.013000782850108254 + - -0.9997121240815491 + - -0.020165530234589318 + - -0.03397909243351462 + - - -0.044415560336651005 + - 0.020724697493253407 + - -0.9987981502354691 + - 0.9680718451056387 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8645280423398028 + - 0.05237085380546746 + - -0.49984853473806895 + - 0.10001495195786692 + - - 0.0017254427188042876 + - -0.9948594605578214 + - -0.101250563386213 + - -0.09016011825729119 + - - -0.5025816220829531 + - 0.08667149133531604 + - -0.8601742647476619 + - 0.9754768858336879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9430060612090432 + - 0.0724259199805724 + - -0.32479848312141785 + - 0.012641480114033422 + - - 0.008892498237414219 + - -0.9811645413605953 + - -0.19296908107712818 + - -0.09402334457653937 + - - -0.33265671795125945 + - 0.17908274314299916 + - -0.9258881569122027 + - 0.976452795261489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998260317864814 + - -4.1118895275334914e-05 + - 0.018652197493439833 + - 0.05418150171671803 + - - 0.006145595399448598 + - -0.9434330227704487 + - -0.33150620386864743 + - -0.09384503652701799 + - - 0.01761073023142732 + - 0.33156316118569534 + - -0.9432686427128092 + - 0.9745637477383295 + - - 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: + - - 0.9957928936368572 + - -0.0021290682948798202 + - -0.09160775103958543 + - 0.02367086884952171 + - - -0.008899008612860063 + - -0.9972513406606057 + - -0.07355658499640033 + - -0.03481896883699358 + - - -0.0911993455461341 + - 0.07406234278511692 + - -0.9930747447967533 + - 0.9704424503533385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992796958324844 + - -0.012425586631133386 + - -0.03585657950515653 + - 0.09160459070458127 + - - -0.01309114262463989 + - -0.9997452391874994 + - -0.01838691672660997 + - -0.03398487707851088 + - - -0.03561897642716237 + - 0.01884307615019777 + - -0.9991877836520417 + - 0.9683653072749746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8753979920438297 + - 0.04461295391094562 + - -0.4813398382317538 + - 0.10003007187479156 + - - 0.008608768176122963 + - -0.9970130800594788 + - -0.07675159477692581 + - -0.09008220935719508 + - - -0.48332623003114666 + - 0.06304444887261285 + - -0.8731673109033731 + - 0.9751775934621294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9570073343634321 + - 0.04789745451855867 + - -0.28608179918554877 + - 0.012641254082735405 + - - 0.028472613738882928 + - -0.9970212236226461 + - -0.07167977338745463 + - -0.09390088749595205 + - - -0.28866290416587026 + - 0.06045257229136802 + - -0.9555203892444585 + - 0.9755032017762938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952547230200213 + - -0.009919683190370829 + - 0.09679688110545356 + - 0.05416840122824081 + - - 0.008499721101346707 + - -0.9821244617751451 + - -0.18804067731233604 + - -0.09377240988546617 + - - 0.09693188870304736 + - 0.18797111870786276 + - -0.9773796946346777 + - 0.974143557753909 + - - 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: + - - 0.9970900411655117 + - -0.0043722248289958954 + - -0.07610738110461432 + - 0.023673638112322853 + - - -0.007952084482431286 + - -0.9988727358788756 + - -0.04679766949577014 + - -0.03478414439331452 + - - -0.07581697805203375 + - 0.047266702528267944 + - -0.9960008256377917 + - 0.9702166429198724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.854093278440146 + - 0.04302866738440361 + - -0.5183369613547596 + - 0.10003757069214395 + - - 0.011282322396950747 + - -0.9978703375614456 + - -0.06424561165043349 + - -0.09018020175762301 + - - -0.5199974816522618 + - 0.04902370037165099 + - -0.8527598113637723 + - 0.9755197043310968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9457614837863786 + - 0.055787778699013704 + - -0.3200358410147488 + - 0.012629847255119078 + - - 0.024320198147473493 + - -0.9945387455290821 + - -0.10149488461744176 + - -0.09391807707604893 + - - -0.3239502180092727 + - 0.08820661760474698 + - -0.9419532094867956 + - 0.9753307387612634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967148472593984 + - -0.010113816026623564 + - 0.0803568539581648 + - 0.0540622385287891 + - - 0.007883886973131688 + - -0.9753445433141149 + - -0.2205467436929781 + - -0.09363068563085103 + - - 0.08060618821696694 + - 0.220455738307627 + - -0.9720606513321948 + - 0.9721883277997205 + - - 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: + - - 0.9963706097559548 + - -0.003046783683992349 + - -0.08506659228939228 + - 0.023666518032328835 + - - -0.00695617055937238 + - -0.9989310681033333 + - -0.045698280811029404 + - -0.03477345106172711 + - - -0.08483642911919181 + - 0.04612416164135383 + - -0.9953267513772489 + - 0.969806735656095 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994795746861627 + - -0.0126875926335447 + - -0.02965813174043076 + - 0.09159552601673482 + - - -0.013120461014269533 + - -0.9998095578323316 + - -0.014446507186537807 + - -0.03399349699034106 + - - -0.02946919218337275 + - 0.01482811721975779 + - -0.9994556986939325 + - 0.9683262460809681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8922116702873146 + - 0.04733969788563272 + - -0.4491294784438195 + - 0.10011790909701314 + - - 0.0028362038294210794 + - -0.9950586691366892 + - -0.09924817844051484 + - -0.09017276610326735 + - - -0.45160855987343546 + - 0.08727656031271694 + - -0.8879372222567448 + - 0.9758036707895485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9300192846305984 + - 0.05196238567511679 + - -0.3638186920571021 + - 0.012656704348684066 + - - 0.03169388016610954 + - -0.9976059188671452 + - -0.061464856635763475 + - -0.09394449942266565 + - - -0.3661415411766416 + - 0.04563267597006653 + - -0.9294396326328055 + - 0.9756113714408226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999551754815558 + - -0.0017090272735193496 + - 0.02988927350935248 + - 0.05393885174355107 + - - 0.004807041952294132 + - -0.9762536880386462 + - -0.2165770738989012 + - -0.09343803119240802 + - - 0.029549649622413413 + - 0.21662367326014856 + - -0.9758078716583878 + - 0.9705713831736371 + - - 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: + - - 0.9975756258178824 + - -0.004433687573353318 + - -0.06944935700611088 + - 0.023666272623375267 + - - -0.007678195817534796 + - -0.9988878219316908 + - -0.04652058152637386 + - -0.03480932485020778 + - - -0.0691658592301718 + - 0.046941043992079025 + - -0.9965001868067499 + - 0.970087498882893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992799647306153 + - -0.011122403040465629 + - -0.036274567379719805 + - 0.09158327703574931 + - - -0.012155391254994647 + - -0.9995232454821712 + - -0.02838182876817714 + - -0.03397594290285604 + - - -0.03594159917725408 + - 0.028802324409560574 + - -0.9989387506535067 + - 0.968301131743878 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8759639994539277 + - 0.05122275534235107 + - -0.4796491436412839 + - 0.10014955308378412 + - - 0.0016125403469233572 + - -0.9946514270415868 + - -0.10327603012202292 + - -0.09021405314729014 + - - -0.48237378802574765 + - 0.0896926307969227 + - -0.8713614408535751 + - 0.9761847679525851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9476485338572046 + - 0.056089608478733344 + - -0.314350460631113 + - 0.012658745487576797 + - - 0.023725108873001246 + - -0.9940985174716992 + - -0.10585488543063784 + - -0.09400577529143912 + - - -0.3184326859593009 + - 0.09285522807721508 + - -0.9433867346594783 + - 0.9762055399507185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979089508647484 + - -0.008439289920617416 + - 0.06408201127970965 + - 0.054152506631482314 + - - 0.013329385936106162 + - -0.943258152342651 + - -0.33179268453312055 + - -0.09384246857084516 + - - 0.0632459742164148 + - 0.3319530635869539 + - -0.9411732626464973 + - 0.974220010762886 + - - 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: + - - 0.9942065888389338 + - -0.00031917702689559027 + - -0.1074856122245051 + - 0.023676170190831434 + - - -0.00883777430016215 + - -0.9968523470690762 + - -0.07878636867056465 + - -0.034806757723293585 + - - -0.10712213802324229 + - 0.07927986042432367 + - -0.9910799923701568 + - 0.9706327868474595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996730620849317 + - -0.012027960611430062 + - -0.022563180300354747 + - 0.09160852397085256 + - - -0.012590431850891913 + - -0.99960929910347 + - -0.02495456214158669 + - -0.033998269548448506 + - - -0.022254212355068335 + - 0.02523048373297968 + - -0.9994339261417216 + - 0.9683381283622758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8662433356972837 + - 0.049321272078336295 + - -0.49718195409791144 + - 0.1000502382738875 + - - 0.011041983196628035 + - -0.9967623755153533 + - -0.07964195730942249 + - -0.09012571196206244 + - - -0.49950030827530867 + - 0.06349943997835898 + - -0.8639833697214936 + - 0.9757180841984036 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8869442669365737 + - 0.07122993063647512 + - -0.45635092235018754 + - 0.01263738167972625 + - - 0.015410891649484431 + - -0.9920505102538912 + - -0.12489311239440747 + - -0.0939625160724746 + - - -0.46161929310516453 + - 0.10374045539960382 + - -0.8809912293244304 + - 0.9758474332019998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.985735297505124 + - -0.023634477696818867 + - 0.16663533453767615 + - 0.05408222516759979 + - - 0.015278870386594258 + - -0.9734361216976082 + - -0.22844840357076032 + - -0.0935928582013682 + - - 0.16760811248920598 + - 0.22773565473662197 + - -0.9591892369024414 + - 0.9724277544919793 + - - 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: null + base_right_marker_pose: + - - 0.9990564108446723 + - -0.013382666621889716 + - -0.04131818224763503 + - 0.09156531879036003 + - - -0.013381630295574378 + - -0.9999104164720338 + - 0.0003016643127849566 + - -0.033981184379984264 + - - -0.04131851789202984 + - 0.0002515249737121528 + - -0.9991459937438546 + - 0.968096236564323 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8636482400170155 + - 0.019479241370702113 + - -0.503718449802202 + - 0.09991231300984321 + - - 0.028331303769856087 + - -0.9995493455390787 + - 0.009921847564851222 + - -0.0900361834457868 + - - -0.5032981767721911 + - -0.022839986602928058 + - -0.8638109053894648 + - 0.9743343240585787 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9415196583607222 + - 0.06031098401773323 + - -0.33151669358739944 + - 0.01263948126670141 + - - 0.020249957894222893 + - -0.9922006809407661 + - -0.12299491024413561 + - -0.09401282120071702 + - - -0.33634903318664555 + - 0.10908892678678941 + - -0.9353977410315443 + - 0.9764327282007016 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976011098300671 + - -0.009656066225158303 + - 0.06854769179829281 + - 0.05409033600154103 + - - 0.010254118364105728 + - -0.9586867870001615 + - -0.28427890791946187 + - -0.09374434310561622 + - - 0.06846078236766867 + - 0.28429985018702053 + - -0.9562879882447779 + - 0.973052302136425 + - - 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: + - - 0.9946216392012627 + - -0.0049871421042409336 + - -0.10345493340689711 + - 0.023649937860748628 + - - -0.0070314792000899205 + - -0.9997869721917649 + - -0.019405373891817377 + - -0.03477775304187397 + - - -0.10333611727199794 + - 0.02002844600199007 + - -0.9944448241194143 + - 0.9701977155147005 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991708923208439 + - -0.013532167939378286 + - -0.03839802559545181 + - 0.09160747633329241 + - - -0.013861279022888544 + - -0.9998693310954844 + - -0.008317792887445977 + - -0.03401042112972126 + - - -0.0382804503972738 + - 0.00884314228819594 + - -0.9992279049105128 + - 0.9682720967015912 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8733705371103253 + - 0.04705827745942244 + - -0.48477770517029123 + - 0.10010855822296569 + - - 0.00556318792628421 + - -0.9962204638562018 + - -0.08668239921824354 + - -0.09018451027084418 + - - -0.4870245947051531 + - 0.07300894408691387 + - -0.8703313956393823 + - 0.9758872180743827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9264161573784998 + - 0.05235035371515588 + - -0.37284385983136786 + - 0.012594765290713033 + - - 0.025701596876636743 + - -0.9967694133061332 + - -0.0760931311968264 + - -0.09393856955094224 + - - -0.37562285775235443 + - 0.06091122362294688 + - -0.9247687773550259 + - 0.975566562213964 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9863732319956893 + - -0.020513154750128985 + - 0.16323926514345566 + - 0.05414126572225602 + - - 0.01982307160867007 + - -0.9701502634657889 + - -0.24169301216472516 + - -0.09380639776260907 + - - 0.1633245022474451 + - 0.24163542120197878 + - -0.9565236171606882 + - 0.9737002227270195 + - - 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: + - - 0.9956087692199845 + - -0.002746253001431351 + - -0.09357155949710223 + - 0.023655387792335777 + - - -0.007288181395139516 + - -0.9988095438542439 + - -0.04823253588221552 + - -0.03479833269828505 + - - -0.09332770791259772 + - 0.04870270218509231 + - -0.9944435558319292 + - 0.969867589010506 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8698146447960149 + - 0.03639428860566839 + - -0.49203449010742095 + - 0.10004139352725047 + - - 0.011861891686652746 + - -0.9985299518211428 + - -0.052888853661999975 + - -0.0900973090010958 + - - -0.49323602790550136 + - 0.04016703963392928 + - -0.8689676804709424 + - 0.97516437994768 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9563877578367013 + - 0.03097033960430327 + - -0.29045360167310935 + - 0.0126108216013496 + - - 0.04457179333753539 + - -0.9981918463226354 + - 0.04032856523215298 + - -0.09376350571611725 + - - -0.2886794275641463 + - -0.0515157839870666 + - -0.9560388653718186 + - 0.9739000628492416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.994522232478267 + - -0.011600848650661015 + - 0.10387949468989673 + - 0.05414610581843049 + - - 0.009874246312531428 + - -0.9789503765027386 + - -0.20385941137192096 + - -0.09375196953402094 + - - 0.10405781261492712 + - 0.2037684486266976 + - -0.9734733642879326 + - 0.9732122837103788 + - - 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: + - - 0.996021706806469 + - -0.0012591580455183185 + - -0.08910204313788052 + - 0.023680096775419303 + - - -0.00836656658076691 + - -0.996804644400291 + - -0.07943866480284544 + - -0.03484823866351114 + - - -0.08871730459148265 + - 0.07986811267975254 + - -0.9928495980978168 + - 0.9708837937091601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991961978552756 + - -0.01151409436067235 + - -0.03839770595510195 + - 0.09156846774704577 + - - -0.012504918012811223 + - -0.9995923921590736 + - -0.025664694878268175 + - -0.03399080217547486 + - - -0.0380865490305148 + - 0.026124225706329912 + - -0.9989329004563778 + - 0.9680395296377948 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8815212777956352 + - 0.05181586863698116 + - -0.46929239558184377 + - 0.10005490161727662 + - - 0.0064280862234731215 + - -0.9951846868580319 + - -0.09780653736220539 + - -0.09014482948179188 + - - -0.4721005364337709 + - 0.08320189180947747 + - -0.8776095536730839 + - 0.9755315005954704 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8968296167371111 + - 0.05367926852052594 + - -0.4391072473488313 + - 0.012599686214781632 + - - 0.03053541428494059 + - -0.9977548012176015 + - -0.059606586227302166 + - -0.0938810270395197 + - - -0.44132100223942833 + - 0.040048630167922525 + - -0.8964551746763809 + - 0.97504371358489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9843016013731745 + - -0.02401313782210919 + - 0.1748534436210528 + - 0.05397652646086077 + - - 0.00611642997790585 + - -0.9854650746716608 + - -0.1697680060750673 + - -0.09350600786879068 + - - 0.176388624402283 + - 0.16817239908592346 + - -0.9698479764206119 + - 0.9713332023141557 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8811874564881098 + - 0.056920098484040046 + - -0.469327997158259 + - 0.10004032866833495 + - - 0.0030156656558349634 + - -0.9933822754145863 + - -0.11481533282968358 + - -0.09020342620211563 + - - -0.47275741378498526 + - 0.09975849477967268 + - -0.8755276525790754 + - 0.9759057368057031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9234750076553683 + - 0.051825851095636165 + - -0.3801420673828806 + - 0.012627707699543819 + - - 0.029989520561262452 + - -0.9975536064471384 + - -0.06314610772496838 + - -0.0938899414818322 + - - -0.3824846910562868 + - 0.04691357396874218 + - -0.9227700567774489 + - 0.9752732555643192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9905890897961667 + - -0.01587237968150716 + - 0.13594602877630566 + - 0.054050009194510425 + - - 0.007467041098041222 + - -0.9855066391898454 + - -0.16947243849657834 + - -0.0935533727678714 + - - 0.13666564481991153 + - 0.16889266317985052 + - -0.9761136049917426 + - 0.9717654752314189 + - - 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: null + base_right_marker_pose: + - - 0.9986318491925513 + - -0.012008079812842982 + - -0.050894359191111974 + - 0.0915556289019209 + - - -0.012982868467126953 + - -0.9997377242344648 + - -0.018866050695867248 + - -0.03399964381217526 + - - -0.05065446579158457 + - 0.019500993864471246 + - -0.9985258315805694 + - 0.9679824634581291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8443597845720103 + - 0.017328237891800408 + - -0.5354962991179989 + - 0.09990397405874389 + - - 0.033364967103599076 + - -0.9992375677344867 + - 0.020274668881189627 + - -0.09002427824642147 + - - -0.5347366951759379 + - -0.0349859314529612 + - -0.844294173515774 + - 0.9745580157440938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9444996135163749 + - 0.08103363946903819 + - -0.31836147590721514 + - 0.01263740564062547 + - - -0.002517002903938491 + - -0.9672864776712443 + - -0.25367407201119413 + - -0.09405295430194142 + - - -0.3285028839505065 + - 0.24039637973305855 + - -0.9133977424142457 + - 0.9769484662782618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9915440142211442 + - -0.02054294849443231 + - 0.12813451966341607 + - 0.05418365079980694 + - - 0.01811712228227066 + - -0.9558076312626271 + - -0.29343405034237974 + - -0.09377933519555104 + - - 0.12849995230516045 + - 0.2932742049469747 + - -0.9473531564154365 + - 0.9743228666149737 + - - 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: + - - 0.9953676746681852 + - 0.002609608408485665 + - -0.09610609850370663 + - 0.023691404180709176 + - - -0.01053215030242248 + - -0.9906554869895965 + - -0.13598080712884802 + - -0.03486943033880262 + - - -0.09556289047353572 + - 0.13636310366576487 + - -0.9860389636941247 + - 0.9710132139978201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993506225904817 + - -0.013049335311119766 + - -0.03358642547152933 + - 0.09160016658819842 + - - -0.013244817867481466 + - -0.999896577484971 + - -0.00560438520265496 + - -0.033993940556956447 + - - -0.03350981837721409 + - 0.006045591929700263 + - -0.999420103305185 + - 0.9683023893681114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8712345011171252 + - 0.060820359259895374 + - -0.4870845182950195 + - 0.10012559046294844 + - - -0.0032585546950843584 + - -0.9915557454503909 + - -0.1296402155413908 + - -0.09024266637375498 + - - -0.49085621711912036 + - 0.11453422005591334 + - -0.8636793887500676 + - 0.975881727518288 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9290184956081955 + - 0.07279419487515068 + - -0.3628024807114249 + - 0.012683419450066959 + - - 0.009583955589263692 + - -0.9848636421019737 + - -0.17306575126494422 + - -0.0941831192802548 + - - -0.3699091545408795 + - 0.15730420101864767 + - -0.9156541954956235 + - 0.9778583831961888 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994440777328204 + - 0.009013421451485867 + - -0.0320981887110456 + - 0.05406343853827543 + - - 0.002765691901507664 + - -0.9818579505826054 + - -0.18959777378975684 + - -0.09372051783734703 + - - -0.03322478642667151 + - 0.1894035984649282 + - -0.9813370422313824 + - 0.9729446199271659 + - - 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: + - - 0.9965652601346482 + - -0.002019997908133364 + - -0.08278648380751599 + - 0.023666336325744143 + - - -0.008622285482932396 + - -0.9967998763998495 + - -0.07947114320491443 + - -0.034814234989715795 + - - -0.08236102528387917 + - 0.07991198919871999 + - -0.9933935451252399 + - 0.9704066460675391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9976188328264496 + - -0.008459468478538403 + - -0.06844780334717154 + - 0.09159110572043062 + - - -0.012768922078641833 + - -0.9979463756306856 + - -0.06276930774294397 + - -0.034055831145100496 + - - -0.06777624228992063 + - 0.06349384819523422 + - -0.9956781167738993 + - 0.9681134368820581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8591380023838163 + - 0.01989428433867279 + - -0.5113571259996262 + - 0.09994271382627828 + - - 0.028674029749442345 + - -0.9995456593627924 + - 0.00928842650446202 + - -0.0900214119674099 + - - -0.5109400090792203 + - -0.022642709635835017 + - -0.8593181103773349 + - 0.9743080487905504 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9177130096724785 + - 0.0235820211071782 + - -0.39654346566093107 + - 0.012575449684903614 + - - 0.06098465715659734 + - -0.9947665518420732 + - 0.08197791731756014 + - -0.09376334903545534 + - - -0.39253497101452467 + - -0.09941526852920053 + - -0.9143483476847835 + - 0.9740415985509328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922352348828178 + - -0.012727609777618568 + - 0.1237224579710091 + - 0.05398715663222398 + - - 0.002288546699024142 + - -0.9927135429257077 + - -0.12047648835310759 + - -0.09348234073331607 + - - 0.1243543373230135 + - 0.11982416134168747 + - -0.9849762277069007 + - 0.9712333639732009 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.87734170010814 + - 0.050636582320709805 + - -0.4771870469556317 + - 0.10004708099941712 + - - 0.0045571059577293495 + - -0.9952512831246776 + - -0.09723227974275177 + - -0.09019844917262218 + - - -0.47984453111049236 + - 0.08313134168026333 + - -0.8734062090423854 + - 0.9760735817372908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9394463927763433 + - 0.08265648371442036 + - -0.33257838294074993 + - 0.012644912530328721 + - - 0.0031756064022973526 + - -0.9725347453333771 + - -0.2327360836727327 + - -0.09394306163539792 + - - -0.34268117926652175 + - 0.21758693623310962 + - -0.9139067428119758 + - 0.9755615570756587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.983039273829164 + - -0.029567305874989673 + - 0.1809960235273821 + - 0.0540876927170636 + - - 0.018499023505930016 + - -0.9658979706852536 + - -0.25826129472965487 + - -0.09364770469314 + - - 0.1824597825241412 + - 0.25722924532293256 + - -0.9489686734091064 + - 0.9725156216579287 + - - 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: + - - 0.9960427064878198 + - -0.005083767877536723 + - -0.08873039026504001 + - 0.02365497194151664 + - - -0.007354834440341251 + - -0.9996531771305459 + - -0.025286989998031875 + - -0.034794840880801654 + - - -0.08857106334900891 + - 0.025839519286796335 + - -0.9957346463693292 + - 0.9702503799292316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8571288373500245 + - 0.03820124190933351 + - -0.5136835809129776 + - 0.0999863799869344 + - - 0.013278909661501973 + - -0.9985534490351899 + - -0.05210259089649104 + - -0.09013407039108702 + - - -0.514930895112341 + - 0.03783747529249307 + - -0.8563962276436605 + - 0.9754219399498653 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9475278628854134 + - 0.06806260833292667 + - -0.312343449431423 + - 0.012643362735291071 + - - 0.008604716752545118 + - -0.9821474257076136 + - -0.18791592009597374 + - -0.09404336385520734 + - - -0.319557362464722 + - 0.17536794325881383 + - -0.9311977107852897 + - 0.9766446854794664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967036877524882 + - -0.014763481670830208 + - 0.07977341931712403 + - 0.05417293592369264 + - - 0.014007269840080569 + - -0.9372195639357128 + - -0.34845844137827836 + - -0.09383870579417838 + - - 0.07990966907839006 + - 0.3484272213606551 + - -0.9339233995369614 + - 0.9747268236156809 + - - 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: + - - 0.9962758230333588 + - -0.002749594829558655 + - -0.08617960412694371 + - 0.023681053137306316 + - - -0.00792922096785585 + - -0.9981777964868872 + - -0.05981817495900559 + - -0.034808924836798066 + - - -0.08585809160496398 + - 0.060278738613681625 + - -0.9944822078735738 + - 0.9705397554838091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8831658201109104 + - 0.04871033230716357 + - -0.4665248521936949 + - 0.1000689097612287 + - - 0.002764496123034605 + - -0.9951165937770982 + - -0.09866773713150531 + - -0.09019515943377493 + - - -0.46905276009102526 + - 0.08585026683704486 + - -0.8789876221739414 + - 0.9757319544084222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9227356777501678 + - 0.06594333240685911 + - -0.3797503731637626 + - 0.012593986204730108 + - - 0.019619171856002687 + - -0.9920142204255766 + - -0.12459082859151278 + - -0.0939166898762459 + - - -0.384933704815028 + - 0.10751401482836352 + - -0.9166606675934466 + - 0.9750363391032495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965672565196096 + - -0.007602752294660585 + - 0.08243725729622811 + - 0.054000681808263035 + - - 0.008198811780847658 + - -0.9818153241856874 + - -0.18966140535052767 + - -0.09345679181033847 + - - 0.08238011118201236 + - 0.18968623395413003 + - -0.9783826704975613 + - 0.971307281971169 + - - 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: + - - 0.9963908464748188 + - -0.0024663914504536753 + - -0.08484808762964129 + - 0.02366276988209409 + - - -0.0066757462674427335 + - -0.9987586132206517 + - -0.04936260658974266 + - -0.03479590263321181 + - - -0.08462101082453981 + - 0.04975087366845039 + - -0.9951704050544606 + - 0.9702654211198707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994496082136897 + - -0.013488743113066507 + - -0.03030733328308448 + - 0.09159978068466047 + - - -0.013551245549249124 + - -0.9999064517352985 + - -0.001857827276433166 + - -0.034003918989609215 + - - -0.030279438329767865 + - 0.002267506858821842 + - -0.9995389007072606 + - 0.9682124297947239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8876889657072468 + - 0.03716046375556864 + - -0.45894160858988325 + - 0.10002210332906518 + - - 0.011011343481295538 + - -0.9981661884183728 + - -0.05952319390854802 + - -0.09012752744489078 + - - -0.46031190564261476 + - 0.04778451874622938 + - -0.8864702980313869 + - 0.9753594185252636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9298271806680263 + - 0.04813644748441755 + - -0.36483461529099653 + - 0.012622752605845623 + - - 0.03365115687815581 + - -0.9983762292845668 + - -0.04596198908110598 + - -0.09388533093927473 + - - -0.36645465440039277 + - 0.030459599851440432 + - -0.9299372016674989 + - 0.9755608850049738 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998670733156828 + - 0.010821986510209675 + - -0.050394953556644924 + - 0.05401726986491061 + - - 0.0008046194366005 + - -0.980864649579176 + - -0.19468921848290163 + - -0.09360858299675255 + - - -0.05153755255700259 + - 0.19438987580091102 + - -0.9795695263035397 + - 0.9720970626016551 + - - 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: + - - 0.9967005663498301 + - -0.0035323123685681943 + - -0.08108948025026885 + - 0.02366948423534623 + - - -0.006949013647524064 + - -0.9990980000958847 + - -0.04189149572084263 + - -0.03481052491502103 + - - -0.08086836369838582 + - 0.04231676941513509 + - -0.9958260886214074 + - 0.9705049491343638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99876435636162 + - -0.012426437292200424 + - -0.04811802279585009 + - 0.09158878760839942 + - - -0.013194373094998985 + - -0.9997900824176318 + - -0.01567480838718486 + - -0.03399451438635713 + - - -0.04791313995334584 + - 0.016290327055280523 + - -0.998718657212452 + - 0.9682057496689761 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.865406833591982 + - 0.047873196972839954 + - -0.49877767530624234 + - 0.10005596630550623 + - - 0.006185336027939432 + - -0.9963702150127816 + - -0.08490074353976673 + - -0.09016279297152449 + - - -0.5010316896070758 + - 0.07038857611135088 + - -0.8625617046695824 + - 0.9755028829795177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.93736094332393 + - 0.07187241723921911 + - -0.34086480834938593 + - 0.012630814254498949 + - - 0.012509134556142616 + - -0.9847987135083537 + - -0.1732484211326275 + - -0.09400043078841187 + - - -0.3481350075524269 + - 0.158132379709165 + - -0.9240109128165038 + - 0.9762479638257333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949754395448664 + - -0.01414303998264303 + - 0.09911533242919149 + - 0.05409050958364806 + - - 0.009993393081282784 + - -0.9709991845034074 + - -0.23887384910960907 + - -0.09369397025378848 + - - 0.09961930935929414 + - 0.23866411149095434 + - -0.9659790034410738 + - 0.9730485126011744 + - - 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: + - - 0.997005590118764 + - -0.002373095691535129 + - -0.07729308952793945 + - 0.023677372935216406 + - - -0.009002738653331 + - -0.9962942533024461 + - -0.08553777839797905 + - -0.034818624080533454 + - - -0.07680367158329779 + - 0.08597749271385371 + - -0.9933323043060489 + - 0.9704308137535911 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993117517089483 + - -0.010976259784063433 + - -0.035433665031238806 + - 0.09159370001269355 + - - -0.012260529652097391 + - -0.999268160391116 + - -0.03623289998336376 + - -0.03399383956087994 + - - -0.03501003154873364 + - 0.036642398252668344 + - -0.998714990545976 + - 0.96817892240847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8629900729184999 + - 0.03311221941314786 + - -0.5041346198880392 + - 0.10002539746634023 + - - 0.015919777646069104 + - -0.9991366743896435 + - -0.03837273210632015 + - -0.09015751089479568 + - - -0.5049699938846088 + - 0.025089575826212136 + - -0.8627721706574912 + - 0.9752739983650369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9594740420456125 + - 0.0364570396513408 + - -0.27942878681430594 + - 0.012631187461661449 + - - 0.03736696222890207 + - -0.9992994638895273 + - -0.002071618663392764 + - -0.09393734782124215 + - - -0.2793085619425908 + - -0.008453740590015513 + - -0.9601641846557275 + - 0.9757571832413136 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962112764839259 + - -0.009570195177204657 + - 0.08643786190401244 + - 0.0540335828404942 + - - 0.003977295498954062 + - -0.9878728702963956 + - -0.1552139595940873 + - -0.09359160096545878 + - - 0.0868750466289424 + - 0.15496968573444025 + - -0.9840920296276096 + - 0.9721521964772617 + - - 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: + - - 0.9952027466934809 + - -0.003950552959919391 + - -0.09775421272284042 + - 0.023666338339844252 + - - -0.006464440524204951 + - -0.999656134367438 + - -0.025413068100113824 + - -0.034796322115867404 + - - -0.09762020273724327 + - 0.02592308146927904 + - -0.9948860687861087 + - 0.9705212973539503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995928468971654 + - -0.012144025795438367 + - -0.02581981931578305 + - 0.09161705980279283 + - - -0.012586989936207035 + - -0.9997751816662326 + - -0.01706322972353436 + - -0.03397216332612031 + - - -0.0256067982451102 + - 0.017381276182490493 + - -0.9995209768293524 + - 0.968404038348093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8987803511160314 + - 0.07530620291825067 + - -0.4318829196087507 + - 0.10022225946251975 + - - -0.01273767221984555 + - -0.9802344817239255 + - -0.1974287530879104 + - -0.09031399333687885 + - - -0.43821413961003486 + - 0.18294626708807854 + - -0.8800562659309769 + - 0.9767974700690298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9265708327713968 + - 0.030169409535838312 + - -0.37490838692349787 + - 0.012618592355560693 + - - 0.05125754084056662 + - -0.9976068919517018 + - 0.04640208656346184 + - -0.09381962361799287 + - - -0.3726112670925263 + - -0.062211701943639425 + - -0.9258998583955922 + - 0.974800513568311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899694997619335 + - -0.01800279922960347 + - 0.14012954278454584 + - 0.054008945535879004 + - - 0.010409546024091373 + - -0.9798578263729836 + - -0.1994248767009392 + - -0.09351998447073344 + - - 0.1408972352201405 + - 0.19888323035266467 + - -0.969841961245135 + - 0.9712609789104674 + - - 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: + - - 0.9960162676623789 + - -0.0025358081831160953 + - -0.08913565071711035 + - 0.023665158826861123 + - - -0.007756607585110587 + - -0.9982704963562788 + - -0.05827393193667282 + - -0.034824941031414036 + - - -0.08883371877094226 + - 0.05873317445403247 + - -0.9943133231672389 + - 0.9708381592212887 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998799339062336 + - -0.011502201324708127 + - -0.047619110169411484 + - 0.0915787253118368 + - - -0.012101703178371238 + - -0.9998508669645432 + - -0.012320414377513671 + - -0.03394498705750865 + - - -0.04747029670039219 + - 0.012881894074123136 + - -0.9987895813114189 + - 0.9680665018657166 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8745895095050937 + - 0.05377673000150237 + - -0.4818726524445903 + - 0.10009829608268754 + - - 0.002248652853357687 + - -0.9942695259117674 + - -0.10687868545006438 + - -0.09013319816967924 + - - -0.4848588799062924 + - 0.09239141276944643 + - -0.869698622180397 + - 0.9755808460890041 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9576154277813006 + - 0.05320641218289946 + - -0.2830932181770873 + - 0.012623467794046862 + - - 0.02944136077427862 + - -0.9957247682786885 + - -0.0875522250551729 + - -0.09394866939194714 + - - -0.28654126884446385 + - 0.07550671188031091 + - -0.9550878691042145 + - 0.9759432781514196 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991386521784615 + - -0.005792822640695123 + - 0.04109010743306207 + - 0.0541122526057331 + - - 0.006607985526454195 + - -0.9553619605834236 + - -0.29536394295424545 + - -0.0937242565500056 + - - 0.04096691653382403 + - 0.295381054700619 + - -0.9545007827517273 + - 0.9737257201124375 + - - 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: + - - 0.9936813390451552 + - -0.002930818031252787 + - -0.11219985177840087 + - 0.02364742631779756 + - - -0.008217058528009174 + - -0.9988760452496783 + - -0.04668111154963759 + - -0.034807542869919 + - - -0.11193693037856055 + - 0.047308102181657215 + - -0.9925885688871271 + - 0.9705848019175543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999856371256624 + - -0.013200069259184223 + - -0.01062991199817945 + - 0.0916316288603197 + - - -0.013344608801509244 + - -0.9998178744801689 + - -0.013643287209950233 + - -0.033988421111007645 + - - -0.01044788368383673 + - 0.013783179658962924 + - -0.999850421655669 + - 0.9683284705423236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8757359883856486 + - 0.018970654818577473 + - -0.4824174467221989 + - 0.09995792706786433 + - - 0.030431051600403367 + - -0.9994097471386867 + - 0.01594077860959383 + - -0.09003795874519147 + - - -0.4818302914353816 + - -0.028640383725447534 + - -0.8757963796884265 + - 0.9746586137156131 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9378126961413328 + - 0.07478713696512687 + - -0.3389900162256752 + - 0.012656199741597688 + - - 0.00594749381373267 + - -0.9798359209026825 + - -0.19971528591003931 + - -0.0941135335785242 + - - -0.3470907291666832 + - 0.18527938971551175 + - -0.9193473627923172 + - 0.9772756622283364 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999916535422103 + - 0.004053174585796818 + - -0.000514413931510239 + - 0.05399165532715074 + - - 0.003837429450633497 + - -0.9749747118521687 + - -0.22228267000374202 + - -0.09345690567239823 + - - -0.0014024910435691642 + - 0.2222788407036489 + - -0.9749821280384143 + - 0.9715128630303483 + - - 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: + - - 0.9963234504106953 + - -0.0021931189513357333 + - -0.0856432857321119 + - 0.023687796390862742 + - - -0.00945120060838497 + - -0.9963841924621958 + - -0.08443468374145094 + - -0.03481334158057494 + - - -0.08514844078893595 + - 0.08493368731383366 + - -0.9927416641757764 + - 0.9704970981641245 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996961707919543 + - -0.014683381087119278 + - -0.019798091416954273 + - 0.09160396043500446 + - - -0.01475189222926745 + - -0.9998856767790956 + - -0.0033188925361947756 + - -0.034029866579951065 + - - -0.019747095471479577 + - 0.003609943470632009 + - -0.9997984899611421 + - 0.9682474650834064 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8687239387510783 + - 0.05530280061660083 + - -0.4921994702199233 + - 0.1000606440517839 + - - 0.004131572167622166 + - -0.9945214733983236 + - -0.10445079732128389 + - -0.09018089583375477 + - - -0.49527936394749617 + - 0.08870535042255732 + - -0.8641930990549367 + - 0.9758020652074414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8856640931601029 + - 0.04411948457458734 + - -0.46222568639979894 + - 0.01259780682031931 + - - 0.041954098202030284 + - -0.9990074182353371 + - -0.014967697044636272 + - -0.09381940369682354 + - - -0.46242725669119783 + - -0.006135910008985085 + - -0.8866359923200806 + - 0.9746073611320134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.973047178383328 + - -0.021939435462095473 + - 0.2295601224338593 + - 0.05406756875500862 + - - 0.00522571329580033 + - -0.9931106618131628 + - -0.11706368059125878 + - -0.09353880434579265 + - - 0.2305469161814879 + - 0.11510809947447968 + - -0.9662288781001009 + - 0.9712303264559525 + - - 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: + - - 0.9950263391229665 + - -0.003518158021872759 + - -0.09955002268046194 + - 0.02364980981617228 + - - -0.007776187268009717 + - -0.9990697264103202 + - -0.042417127224526396 + - -0.03480210669282778 + - - -0.09930818376710047 + - 0.0429802784372315 + - -0.9941280502542611 + - 0.9704632549504879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992398052355432 + - -0.011930383423639883 + - -0.03711438513836259 + - 0.09158272155499105 + - - -0.012743442188091453 + - -0.9996822650966726 + - -0.021747954671313918 + - -0.033993493726405505 + - - -0.03684313116487987 + - 0.022204387011392424 + - -0.9990743460240666 + - 0.9681521063286163 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8736489916040789 + - 0.035440062392864166 + - -0.48526430061026105 + - 0.09995553583885233 + - - 0.017850124558871746 + - -0.9990069196405775 + - -0.040823370310131356 + - -0.0900605637998777 + - - -0.48622917695507395 + - 0.027003268095459217 + - -0.8734139974775746 + - 0.9749603626578781 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.935495195462705 + - 0.059957030658042504 + - -0.3482152979707611 + - 0.012623889437929353 + - - 0.0221380995826754 + - -0.993507605257026 + - -0.11159096219370848 + - -0.09393465801564073 + - - -0.35264520954220113 + - 0.09668398404658696 + - -0.9307489260889948 + - 0.9756433743747376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995943372433001 + - -0.01702754736825616 + - 0.08835644593012089 + - 0.05403814869291801 + - - 0.013323518576326078 + - -0.9432029606417778 + - -0.33194978368622485 + - -0.0936349899171604 + - - 0.08899035205867474 + - 0.3317804057915521 + - -0.9391498706666931 + - 0.9724899431119367 + - - 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: + - - 0.9979403378148043 + - -0.002443655907097861 + - -0.06410234557238813 + - 0.02367701685976147 + - - -0.007251598033374886 + - -0.9971662463658384 + - -0.0748791789126103 + - -0.034833812551367124 + - - -0.06373771636979565 + - 0.07518979754243295 + - -0.9951301411662153 + - 0.9704007301045869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998615647115734 + - -0.010350364629587742 + - -0.05157188466265645 + - 0.0915967686037534 + - - -0.012447762664202335 + - -0.9991013648952828 + - -0.040515624998741125 + - -0.034005174229218865 + - - -0.051106188864749554 + - 0.04110149165684265 + - -0.997847094921513 + - 0.9682334606698434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.86793253676162 + - 0.0609308896755662 + - -0.4929305613510723 + - 0.10007230945623688 + - - -0.0032406740789014503 + - -0.9917309626315612 + - -0.12829339729460398 + - -0.09014802927281107 + - - -0.49667153095587596 + - 0.11294744105654074 + - -0.8605581130270782 + - 0.9754091453491652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9392351716995384 + - 0.03227766755418287 + - -0.341753484868553 + - 0.012634175625253388 + - - 0.0518913831276421 + - -0.99747903630176 + - 0.048403062874296646 + - -0.09383766285931225 + - - -0.3393295987673915 + - -0.06319592008804448 + - -0.9385423267410944 + - 0.9748396310070926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978866677070574 + - -0.008163591877837488 + - 0.06446358801801985 + - 0.053960964278832124 + - - 0.0008124800192317928 + - -0.990431322979042 + - -0.13800410985982525 + - -0.09345197257627362 + - - 0.06497336599502318 + - 0.1377648366951323 + - -0.9883315797249627 + - 0.9708745356221962 + - - 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: + - - 0.9957916222246623 + - -0.0028883995759702106 + - -0.09160077649815397 + - 0.023651604185044903 + - - -0.007172907690352073 + - -0.9988935111289535 + - -0.04647905786197111 + - -0.0347718010360887 + - - -0.09136517116735955 + - 0.046940500342031996 + - -0.9947105081003208 + - 0.9698051840408575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990534034419285 + - -0.011733625618836679 + - -0.04188817375986031 + - 0.09160279792207267 + - - -0.012683904488453438 + - -0.9996665391996058 + - -0.022492864904469063 + - -0.03398015054157361 + - - -0.04161028284002718 + - 0.023002878831135137 + - -0.9988690864810328 + - 0.9682615756737196 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8873264313999336 + - 0.06313292469282691 + - -0.45679977885151024 + - 0.10007484782764282 + - - -0.004298938919690059 + - -0.9894085640342319 + - -0.1450938060010992 + - -0.09025191133506591 + - - -0.4611218095722903 + - 0.13070932344500022 + - -0.877656965733952 + - 0.9761584272476558 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9316010633521806 + - 0.06581756221101795 + - -0.3574737854244494 + - 0.012665147825717872 + - - 0.016877620127595618 + - -0.9902413131957302 + - -0.13833758556236656 + - -0.09401491990646313 + - - -0.36309035335562845 + - 0.12284213505550647 + - -0.9236207041611239 + - 0.9764002307283793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984389486082526 + - -0.007507333795163059 + - 0.05534713941420171 + - 0.054108759216863735 + - - 0.0075898492609329645 + - -0.9634981478621449 + - -0.2676073863973364 + - -0.09375286809215601 + - - 0.055335884290787236 + - 0.2676097139595366 + - -0.9619370982056219 + - 0.9737356166267985 + - - 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: + - - 0.995998221608666 + - -0.0025496774285930918 + - -0.0893366761044128 + - 0.023668295309588538 + - - -0.008009406671240822 + - -0.9981172825922167 + - -0.06080904205382743 + - -0.0347957687076335 + - - -0.08901343694717849 + - 0.06128123151291586 + - -0.9941434598221282 + - 0.9701202579852883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990155720816268 + - -0.010702687174746626 + - -0.04305042654445515 + - 0.09161297426783777 + - - -0.012208583470612381 + - -0.9993172703755115 + - -0.03487038311918147 + - -0.03401092047390563 + - - -0.04264782794071821 + - 0.03536164046642803 + - -0.9984641792049741 + - 0.9684822703324661 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8736397836705011 + - 0.028743365775055967 + - -0.48572352970808547 + - 0.09996762147355004 + - - 0.02129843523570329 + - -0.9995558956368514 + - -0.02084198057102105 + - -0.09004748906317342 + - - -0.4861068864402875 + - 0.007863232257386756 + - -0.873863985145169 + - 0.9747589120632755 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9022641183180267 + - 0.07379470518075174 + - -0.42482208309253416 + - 0.012632885993003449 + - - 0.01717785948608671 + - -0.9906155944650055 + - -0.13559375039514635 + - -0.09403165607330793 + - - -0.4308414812193347 + - 0.1150438415997611 + - -0.8950645410084681 + - 0.9767070885554555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985863930245596 + - -0.0115227085503102 + - 0.051888754599280905 + - 0.054112277134723066 + - - 0.005479479188403815 + - -0.9487016379242369 + - -0.31612525604211605 + - -0.09363002787792249 + - - 0.052869565668952075 + - 0.315962702526001 + - -0.94729740822956 + - 0.9723568565339865 + - - 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: + - - 0.9958343402379108 + - -0.0018161103926318564 + - -0.09116286824122298 + - 0.023680831047754185 + - - -0.00848073130279128 + - -0.9973124896615412 + - -0.07277276387267471 + - -0.034828513264663366 + - - -0.09078570371757143 + - 0.07324274508877988 + - -0.9931734270973852 + - 0.9704131174238866 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997488031131443 + - -0.012491061043138746 + - -0.018609246837312146 + - 0.09161700458994074 + - - -0.012742168732687442 + - -0.999828530062697 + - -0.013436800536377075 + - -0.0339906594313614 + - - -0.018438216015199328 + - 0.013670547417102297 + - -0.9997365394560178 + - 0.9683301863838525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8760167538842933 + - 0.04430135546725453 + - -0.480241644193618 + - 0.10006936138329453 + - - 0.004711673848419706 + - -0.9965107405948703 + - -0.08333153069882833 + - -0.09021159587458791 + - - -0.4822576562829995 + - 0.07073707502312777 + - -0.873168837724756 + - 0.9758231332325681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9184101986065504 + - 0.06115016407672039 + - -0.39087512651595896 + - 0.012636258682833997 + - - 0.02068408899452287 + - -0.9940530973969348 + - -0.10691402161563002 + - -0.09399079591668293 + - - -0.3950884401725054 + - 0.0901060319232343 + - -0.9142133380415681 + - 0.9761861076849723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953757540775 + - -0.01271104768769406 + - 0.09521311601522892 + - 0.05399773438058858 + - - 0.00038388647933299685 + - -0.9906718102934892 + - -0.13626891399359045 + - -0.09349123418341601 + - - 0.09605707067061361 + - 0.13567532405158547 + - -0.9860858206148584 + - 0.9714425913905663 + - - 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: + - - 0.9960730149994776 + - -0.0038757952910001966 + - -0.08845070378867918 + - 0.023668252730762968 + - - -0.00812550468395885 + - -0.998826902323349 + - -0.04773672976624231 + - -0.03479214099691376 + - - -0.08816192468113072 + - 0.048267974952410655 + - -0.9949360168525981 + - 0.970340180728806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999177250401356 + - -0.011901206890765436 + - -0.038770911195497394 + - 0.09158793175499909 + - - -0.013206542902148065 + - -0.9993485162974766 + - -0.033587649495102255 + - -0.03402490896122726 + - - -0.03834591901310582 + - 0.03407204497201947 + - -0.9986834765061776 + - 0.968181183340046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8768781992740926 + - 0.0684660416591703 + - -0.4758119636761454 + - 0.10011421365190026 + - - -0.007260432957355616 + - -0.9878062527659681 + - -0.15551878699928073 + - -0.09019827329380786 + - - -0.4806577886096266 + - 0.1398256347597988 + - -0.8656886750517894 + - 0.976125338930763 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9379750737191808 + - 0.05298305118807599 + - -0.34263035091523814 + - 0.012597021650504884 + - - 0.03186179023161824 + - -0.9972450398817612 + - -0.0669862430239314 + - -0.0938955575843105 + - - -0.34523555350620233 + - 0.05191460987069594 + - -0.9370791246619679 + - 0.9754479645336682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912002704930734 + - -0.019923999637673252 + - 0.13086274493871916 + - 0.054031633650929216 + - - 0.01041036120513338 + - -0.9738121367608338 + - -0.22711571208720488 + - -0.09357729167248259 + - - 0.13196078263649744 + - 0.22647948369717175 + - -0.9650354373338971 + - 0.9716979499306841 + - - 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: + - - 0.9954769804210891 + - -0.003720610376287744 + - -0.09493017702574097 + - 0.02366292196308553 + - - -0.007347587632898213 + - -0.9992550581323496 + - -0.03788590440905213 + - -0.03479745980935334 + - - -0.09471850087331166 + - 0.03841205351634842 + - -0.9947627454508788 + - 0.9703799729952755 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991690689406034 + - -0.01168206004940581 + - -0.039047421750605514 + - 0.09159377623332281 + - - -0.012962451201679326 + - -0.9993811517974138 + - -0.03269997386724793 + - -0.03402950512150489 + - - -0.03864125426550833 + - 0.03317895274231379 + - -0.9987021630915354 + - 0.9683731352112308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8731722960200565 + - 0.05012138490384175 + - -0.4848277923535158 + - 0.09997347123895597 + - - 0.007514893209801386 + - -0.9959649083378862 + - -0.0894283385709054 + - -0.09013124761951874 + - - -0.4873537399498522 + - 0.07444291863453603 + - -0.8700256226238771 + - 0.9751616208077876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9120825839187069 + - 0.07133770874774337 + - -0.4037527602664744 + - 0.012642029233208429 + - - 0.009062097092413079 + - -0.9880140924026458 + - -0.15409747437925272 + - -0.09397225814038733 + - - -0.4099063777357736 + - 0.136890775892311 + - -0.9017969155897236 + - 0.9758855161838579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933358589658509 + - -0.01849646041207726 + - 0.11376182243969127 + - 0.0540484882831417 + - - 0.013282628574159959 + - -0.962090759538715 + - -0.27240584095863246 + - -0.09365807854508273 + - - 0.11448774201082093 + - 0.27210154604934406 + - -0.9554335694159071 + - 0.9724045789775111 + - - 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: + - - 0.994878675394372 + - -0.002956376027192847 + - -0.1010330692710342 + - 0.02364422252402416 + - - -0.008857451143146882 + - -0.9982767772370362 + - -0.05800880612876425 + - -0.034773371272687585 + - - -0.10068747094244904 + - 0.05860661967750427 + - -0.9931904637707668 + - 0.9704081699439852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996853523445274 + - -0.014061066675738905 + - -0.020772161941855258 + - 0.09158521496656541 + - - -0.01383499500172749 + - -0.9998439237641447 + - 0.010987312010765906 + - -0.03397592806054717 + - - -0.020923413227779318 + - -0.010696472122161132 + - -0.9997238600048715 + - 0.9681027827139972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8592181889841919 + - 0.01850991953663112 + - -0.5112743750643806 + - 0.09994483377265156 + - - 0.030128006686020663 + - -0.9994416218024025 + - 0.014448107907644595 + - -0.09009946299892597 + - - -0.5107214572855271 + - -0.027817754900985266 + - -0.8592960872600413 + - 0.9751095573883258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9426851763520198 + - 0.07993221801514908 + - -0.323968360815281 + - 0.012638795737309317 + - - 0.0064307299888469935 + - -0.9750568455357107 + - -0.2218621051143252 + - -0.09404343067923647 + - - -0.333621498105221 + - 0.20706276463219553 + - -0.9196856568985406 + - 0.9768318678179146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996811737843242 + - -0.008101546286017626 + - 0.07937710151996911 + - 0.05415984949537704 + - - 0.010910606235067047 + - -0.9716469067492576 + - -0.2361847735908958 + - -0.09374948718009868 + - - 0.07903997703389902 + - 0.2362978069140188 + - -0.9684606489053159 + - 0.9741104781757935 + - - 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: + - - 0.9960861313129612 + - -0.0015331754496933827 + - -0.08837459125234251 + - 0.02366889414730683 + - - -0.008324341480789556 + - -0.9970326790084674 + - -0.07652804928985292 + - -0.03487468262255524 + - - -0.08799502454621716 + - 0.0769641888298669 + - -0.993143186702135 + - 0.9707541248004596 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994949121532326 + - -0.013557333013804147 + - -0.028742291163974865 + - 0.09158765905510459 + - - -0.013663024594353323 + - -0.9999005867871251 + - -0.003484006558075358 + - -0.03399110481388261 + - - -0.028692199963334768 + - 0.0038749534597762687 + - -0.9995807833271648 + - 0.9681493601404543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8482680117264239 + - 0.015384706566226498 + - -0.5293436417730648 + - 0.09991603132042085 + - - 0.032673749865857526 + - -0.9991939991915822 + - 0.023319049063694107 + - -0.08999079235757908 + - - -0.5285582336426167 + - -0.03707644512898594 + - -0.8480869830773218 + - 0.9741436589170794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.920892518600757 + - 0.06227968237458597 + - -0.3848093168680756 + - 0.012615521820490852 + - - 0.022382708594826738 + - -0.9939740702706029 + - -0.10730592707605098 + - -0.09389767912438801 + - - -0.389173462020618 + - 0.09020415064182129 + - -0.9167372729773101 + - 0.9752582619000132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941847042300404 + - -0.017283035385701594 + - 0.10629238243112119 + - 0.05403043605558891 + - - 0.012788461748650719 + - -0.9611044355503113 + - -0.27588896174298466 + - -0.09359161496476683 + - - 0.10692627890808895 + - 0.27564390189767546 + - -0.9552943055548356 + - 0.9720428745930487 + - - 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: + - - 0.9968380211152718 + - -0.004402775641925072 + - -0.07933835910602047 + - 0.023651717988223502 + - - -0.00783452273132972 + - -0.9990445533053115 + - -0.04299535747685941 + - -0.034809551835984984 + - - -0.07907325662043563 + - 0.043480985242258754 + - -0.995920089168705 + - 0.9700626503738676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991982474784219 + - -0.010420888682989002 + - -0.03865575397152441 + - 0.09158894042489088 + - - -0.012324608853149604 + - -0.998705933976576 + - -0.04934127538473815 + - -0.0340136972921403 + - - -0.03809155093543894 + - 0.049778132940403175 + - -0.9980336523526153 + - 0.9683662142898752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8797076181791489 + - 0.0412485055865455 + - -0.47372256364294657 + - 0.10009017189369811 + - - 0.009106927282178812 + - -0.9975093066744242 + - -0.06994459931536814 + - -0.0901522780589202 + - - -0.4754277762111149 + - 0.0572166399291938 + - -0.8778921834269671 + - 0.9755370917813442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9530738253834274 + - 0.053046066186492116 + - -0.29805435449115386 + - 0.012636365838187108 + - - 0.023237136566920072 + - -0.9944428636350965 + - -0.10268118839105494 + - -0.09382118266204131 + - - -0.30184485891459273 + - 0.09093682327510297 + - -0.9490101028542649 + - 0.9744192839484029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936175976904941 + - -0.0182791762098855 + - 0.11131011309337281 + - 0.05404224647239418 + - - 0.01585775944456782 + - -0.9543476367293836 + - -0.2982769178706921 + - -0.09362119384639842 + - - 0.11168079971584065 + - 0.2981383235783842 + - -0.9479667393894693 + - 0.9720121057441712 + - - 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: + - - 0.9961941729881629 + - -0.00434874829367873 + - -0.08705319116901142 + - 0.023655692863391014 + - - -0.00799087571080773 + - -0.9991051647803164 + - -0.04153330729272977 + - -0.034786452971880634 + - - -0.0867946750083474 + - 0.042070869940804924 + - -0.9953374936636419 + - 0.9704251139457235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991069524467129 + - -0.012485804837719315 + - -0.04036585500390276 + - 0.09158483316457966 + - - -0.012968708597394 + - -0.999847174063596 + - -0.011723528238478375 + - -0.03399166726859442 + - - -0.04021330836871788 + - 0.012236551581099384 + - -0.9991161877556819 + - 0.9680545185771177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8409999070862649 + - 0.009754396968862747 + - -0.5409473246265921 + - 0.09994967453092445 + - - 0.03826792377942075 + - -0.9984057584528196 + - 0.041491053226712794 + - -0.0900178959748987 + - - -0.5396802037230068 + - -0.05559490289606873 + - -0.8400324306129318 + - 0.9746155507047187 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9215238430515585 + - 0.038955957990676006 + - -0.38636283468330007 + - 0.01260819688574046 + - - 0.04764961689306347 + - -0.9987802147907237 + - 0.01294590871822469 + - -0.09381731148296774 + - - -0.385387234735961 + - -0.03034000460819036 + - -0.9222560183717669 + - 0.9745931444064533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963029577420599 + - -0.015063396119336731 + - 0.08457842805216452 + - 0.05410545245185138 + - - 0.00605330651058986 + - -0.9697517418074839 + - -0.2440182713274564 + - -0.0937392712921932 + - - 0.08569582180428677 + - 0.24362810461583295 + - -0.9660753452845099 + - 0.9730929148152883 + - - 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: + - - 0.9965970761169219 + - -0.004082517762229984 + - -0.08232618613735908 + - 0.02366938889263086 + - - -0.0078062930791772305 + - -0.99895824445805 + - -0.04496095659184219 + - -0.03478263167006608 + - - -0.08205686847280981 + - 0.045450620215928904 + - -0.995590734919939 + - 0.9703459146477658 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994420348916113 + - -0.011962706744344513 + - -0.031185133302009383 + - 0.09160228119424901 + - - -0.012914858881092603 + - -0.9994509680566331 + - -0.030511782490381157 + - -0.034002066227731484 + - - -0.03080300816148877 + - 0.03089750957614029 + - -0.9990478059583513 + - 0.9683870375125734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8559549513280884 + - 0.04642656910423089 + - -0.5149618383707086 + - 0.09997383003066737 + - - 0.011655833984553474 + - -0.9974401025177798 + - -0.07055057351605616 + - -0.09009629241028815 + - - -0.5169190099339105 + - 0.05438580302367514 + - -0.854304934785241 + - 0.975123346109315 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9309841136895076 + - 0.04859363656111653 + - -0.36181105365028315 + - 0.012622762532139597 + - - 0.03456400066806362 + - -0.9983820064037097 + - -0.045151956182659436 + - -0.09392680447115247 + - - -0.3634197434311736 + - 0.02953011640797949 + - -0.931157377841872 + - 0.9756436113658752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883723914676109 + - -0.02318663369321396 + - 0.1502744016876213 + - 0.05410680937141756 + - - 0.019837859606385 + - -0.9601938133030339 + - -0.27862932405045965 + - -0.0936410813896006 + - - 0.15075302687121478 + - 0.27837065382786924 + - -0.9485690823427736 + - 0.9730007109951684 + - - 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: + - - 0.9939738631576215 + - -0.0007396738260136114 + - -0.10961483586697998 + - 0.023673029185313898 + - - -0.009440740517559918 + - -0.9968393457080175 + - -0.07888086755920244 + - -0.03486508358073446 + - - -0.10921003515242522 + - 0.07944036587934024 + - -0.990839238469573 + - 0.9709329923402166 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992191429436635 + - -0.012437963306573497 + - -0.037502019195169406 + - 0.0915639054126887 + - - -0.013415879279973791 + - -0.9995735142384055 + - -0.0259384621022313 + - -0.03404040816717623 + - - -0.03716340347809513 + - 0.02642133043334591 + - -0.9989598564206951 + - 0.9681772986656376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8414037742383572 + - 0.007106094941818263 + - -0.5403602429047917 + - 0.0998524796510597 + - - 0.037156182427084336 + - -0.9983079766233895 + - 0.04472808868663545 + - -0.09004400491939724 + - - -0.5391280986972325 + - -0.05771210639711708 + - -0.84024413474318 + - 0.9740129819582645 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9284780350791924 + - 0.04740983927460484 + - -0.368348809575161 + - 0.012630157677351636 + - - 0.03463176351963134 + - -0.9985493999512781 + - -0.0412278645149521 + - -0.09395287162750789 + - - -0.36976908920433355 + - 0.025522597769409197 + - -0.9287730711385312 + - 0.9756455936913793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982928824869605 + - -0.007254580080993684 + - 0.05795422196634424 + - 0.054002631660765105 + - - 0.0018571239874916462 + - -0.9878117769384397 + - -0.15564203941165053 + - -0.09344323435549749 + - - 0.05837698062054024 + - 0.1554839683361958 + - -0.9861119934997538 + - 0.9712768015217752 + - - 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: + - - 0.9963005268008321 + - -0.004298030800194086 + - -0.08582999025763077 + - 0.023675994030181582 + - - -0.007154380659828638 + - -0.9994297665113475 + - -0.032999343151767294 + - -0.03480228108497499 + - - -0.08563921492960266 + - 0.033491323388519664 + - -0.9957631526241204 + - 0.9700812054091366 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996785476759678 + - -0.013134502087925281 + - -0.021686082434823197 + - 0.09163657683160274 + - - -0.013785521640046833 + - -0.9994503562138345 + - -0.0301487123630728 + - -0.03403795051183266 + - - -0.021278174488885585 + - 0.030437974948110205 + - -0.9993101465368391 + - 0.9683794898196127 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8658208920987712 + - 0.04862337926606602 + - -0.4979858931677044 + - 0.10001020901271848 + - - 0.010070914135816664 + - -0.9967589095219904 + - -0.07981386456626006 + - -0.09013911826356721 + - - -0.5002526956386713 + - 0.06408933824966988 + - -0.8635043701273099 + - 0.9753827082318416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9341192621772125 + - 0.04872467308270965 + - -0.3536200082892414 + - 0.012604885229324042 + - - 0.03000368585686019 + - -0.9978519366857634 + - -0.05823479447438813 + - -0.09391832098814604 + - - -0.3556978814450586 + - 0.04378833960604636 + - -0.9335746346436598 + - 0.9753804034131723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971899929448862 + - -0.01012221697058078 + - 0.07422707520964586 + - 0.05399244599013847 + - - 0.008963021727420308 + - -0.967591680816314 + - -0.25236085959707266 + - -0.09358138658455725 + - - 0.07437595183990406 + - 0.2523170226890372 + - -0.9647820157161137 + - 0.9715262991894875 + - - 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: null + base_right_marker_pose: + - - 0.9980581623517392 + - -0.009904311643718577 + - -0.06149641594380582 + - 0.09155757839222857 + - - -0.011825107057622637 + - -0.9994510034483072 + - -0.03094928996355365 + - -0.03396325843809326 + - - -0.06115612321056033 + - 0.03161639316931108 + - -0.9976273514077383 + - 0.9679064586706239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8731269559047017 + - 0.050956551287206 + - -0.48482238887401186 + - 0.09998519204189613 + - - 0.009307443783596794 + - -0.9960831814464056 + - -0.08792989895264347 + - -0.09015551271550443 + - - -0.48740403195173143 + - 0.07226150787605565 + - -0.8701813512806823 + - 0.9754435484092612 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9352490183353428 + - 0.07664089746170172 + - -0.3455943381177456 + - 0.012603465052116037 + - - 0.006959523167359399 + - -0.9800736236438943 + - -0.19851261238221207 + - -0.0938668063874515 + - - -0.3539220800403116 + - 0.18325355405500954 + - -0.9171462785107662 + - 0.9749703138487591 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918762247591025 + - -0.016970900496485756 + - 0.12606959702469386 + - 0.05416050312370288 + - - 0.01479680531070157 + - -0.968940500107795 + - -0.2468508898170186 + - -0.09368566056102573 + - - 0.1263432202780486 + - 0.24671095595290263 + - -0.9608179301525226 + - 0.9735958160701413 + - - 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: + - - 0.9935352637674448 + - 0.00112916778175964 + - -0.11351830086234721 + - 0.023668369552758875 + - - -0.010346368187645331 + - -0.9948883422501076 + - -0.10044968451995741 + - -0.034834466346871 + - - -0.11305145870743741 + - 0.10097480594165024 + - -0.9884449687510009 + - 0.9711047049006089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990397964086132 + - -0.012798273017000754 + - -0.0419009474787746 + - 0.09157882632352182 + - - -0.013231048660836908 + - -0.9998617822922269 + - -0.010067554953685765 + - -0.034003151290835074 + - - -0.04176630870894964 + - 0.01061228152628959 + - -0.999071045991042 + - 0.9681821329077981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8654106474036425 + - 0.04091303540814058 + - -0.49939016299292527 + - 0.10006432522127469 + - - 0.014644985228957618 + - -0.998300389714504 + - -0.05640794539347006 + - -0.09015815389748737 + - - -0.5008492146026106 + - 0.041502474981154114 + - -0.8645389573653615 + - 0.9758557302196587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9212304140745062 + - 0.045989367054277024 + - -0.38628940226475367 + - 0.012631082807552959 + - - 0.039731351719581 + - -0.9989179511458621 + - -0.024173261449155624 + - -0.09381532088441175 + - - -0.38698313125335143 + - 0.006921343547409305 + - -0.9220608174783544 + - 0.9749433620821024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9726294162284997 + - -0.03613025977141426 + - 0.22953566828677852 + - 0.05407698897329208 + - - 0.0156579000174075 + - -0.9754007540186783 + - -0.21988223945293744 + - -0.09359821468726258 + - - 0.23183366635165992 + - 0.21745798074258893 + - -0.9481377419749217 + - 0.9724945818386536 + - - 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: + - - 0.996364813577179 + - -0.0028446593458484634 + - -0.08514144806449706 + - 0.02367366642230021 + - - -0.007994790862824026 + - -0.9981537475799889 + - -0.060209463633925764 + - -0.034819636764473534 + - - -0.0848129800465299 + - 0.060671279080232024 + - -0.9945480150854442 + - 0.9703403550759246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997854941377952 + - -0.013438777080203225 + - -0.015759599685058124 + - 0.09162929155503109 + - - -0.01387850060001368 + - -0.9995078474958358 + - -0.028132721434950013 + - -0.034059106885407975 + - - -0.015373774186584747 + - 0.028345406414967494 + - -0.9994799572789992 + - 0.9684780348226583 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8742350896232409 + - 0.04967945765610522 + - -0.4829544073289311 + - 0.10003295987536037 + - - 0.006510773038668243 + - -0.9958611385348611 + - -0.0906543026584446 + - -0.09014447936303976 + - - -0.4854591825332824 + - 0.07610876587519452 + - -0.8709402033728101 + - 0.9754818334051107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.965691320255332 + - 0.052848163916219194 + - -0.25425842277926236 + - 0.012639389075836505 + - - 0.02240551909200362 + - -0.9923788276210709 + - -0.12117035612577373 + - -0.09396112706031555 + - - -0.25872430635278854 + - 0.1113163692370237 + - -0.9595157107844328 + - 0.9756600301025982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999118614245551 + - -0.003071148782688571 + - 0.04186362040249698 + - 0.05406380799496971 + - - 0.009346467765250527 + - -0.9560065060880811 + - -0.2931965277038122 + - -0.09375392834861321 + - - 0.04092234363233493 + - 0.2933293854396688 + - -0.9551351911793549 + - 0.9728483972036548 + - - 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: + - - 0.995741509358148 + - -0.0008595633230465611 + - -0.09218518152095227 + - 0.023661479218638225 + - - -0.008510834183400689 + - -0.9965432890972378 + - -0.08263799765701708 + - -0.03489264570249342 + - - -0.09179549140703973 + - 0.08307065731142481 + - -0.9923068344273294 + - 0.9710132144221535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994820358240887 + - -0.01201751281597363 + - -0.02985363379311199 + - 0.09160406183970451 + - - -0.013088722908171268 + - -0.9992678846510584 + - -0.03594968758741447 + - -0.03406532621741062 + - - -0.029399751658278364 + - 0.03632181287762905 + - -0.9989075935799641 + - 0.9681053631859071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8652632694533287 + - 0.024696337769821195 + - -0.5007090626658312 + - 0.09996715133815855 + - - 0.024176587544208362 + - -0.9996793599895135 + - -0.007527936348955115 + - -0.0901038778079987 + - - -0.5007344277655107 + - -0.005591789670185521 + - -0.865582904601651 + - 0.9748594371039386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9474203615074123 + - 0.02288002542026741 + - -0.31917262263222407 + - 0.012611279733077251 + - - 0.056146597733009 + - -0.9938525131235573 + - 0.09541877027607013 + - -0.09381267740748145 + - - -0.31502732923378546 + - -0.10832214267986806 + - -0.9428807428519637 + - 0.9743150041216149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998594875708045 + - 0.0010504619566548345 + - 0.016730261334660754 + - 0.05403006775392225 + - - 0.0036136634826422166 + - -0.9880757938176802 + - -0.15392584938143136 + - -0.09377701399498878 + - - 0.016369073000101195 + - 0.1539646784208589 + - -0.9879407529036742 + - 0.972241236408801 + - - 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: + - - 0.9958365138422145 + - -0.002491058943270346 + - -0.09112317116917118 + - 0.023659939352835675 + - - -0.00813123139008777 + - -0.998069189441445 + - -0.061577399780913825 + - -0.03483511292045982 + - - -0.09079383665572113 + - 0.062061966719068676 + - -0.9939339975633673 + - 0.9704051528012038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998816854556483 + - -0.008655420121929113 + - -0.04785368069863134 + - 0.09161382390884135 + - - -0.01135159066022648 + - -0.9983459508651575 + - -0.05636048066356082 + - -0.03400711574125892 + - - -0.047286704721055756 + - 0.05683701341254534 + - -0.9972630151885541 + - 0.9685340036932042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8728231995996827 + - 0.039926314775893604 + - -0.48640060817086644 + - 0.09995803492266707 + - - 0.01491113898075249 + - -0.9983643222873935 + - -0.05519364019458933 + - -0.09005509829149531 + - - -0.48780869218871975 + - 0.040921502563436796 + - -0.8719908889736642 + - 0.9747370493622354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9154837342560447 + - 0.06996777805875583 + - -0.39622473717087425 + - 0.012606607324873868 + - - 0.013511559877611882 + - -0.9895547520048444 + - -0.1435229268594542 + - -0.09385112543172835 + - - -0.4021280518221545 + - 0.12603929077137502 + - -0.9068666534389536 + - 0.9748482855781692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9877061185461532 + - -0.01851891361205801 + - 0.15522136845525303 + - 0.05407040929437995 + - - 0.012852647641433883 + - -0.9799757683403106 + - -0.19870154230509637 + - -0.0935909104393914 + - - 0.15579291651130173 + - 0.19825373465447757 + - -0.9676900453453345 + - 0.9718227719934734 + - - 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: + - - 0.9979975596415632 + - -0.004066927991212933 + - -0.06312155769781526 + - 0.02367962116483989 + - - -0.007579257368471228 + - -0.9984296623750516 + - -0.055504631765139624 + - -0.034777086738100926 + - - -0.0627967022002494 + - 0.055871901581703486 + - -0.9964611908179959 + - 0.9699277226577797 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993573292859016 + - -0.013174572656501696 + - -0.03333705202726686 + - 0.09159899004001257 + - - -0.013578348338542021 + - -0.9998368215528468 + - -0.011914643238413593 + - -0.03400164006973944 + - - -0.0331746418058636 + - 0.012359648151141663 + - -0.9993731446454989 + - 0.9683914417464299 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8671015260676466 + - 0.024304082664589687 + - -0.49753819457102105 + - 0.09998736617867438 + - - 0.020077771437907246 + - -0.9997025839192624 + - -0.013842933187610283 + - -0.09008133386953926 + - - -0.49772665850368675 + - 0.0020137703400033603 + - -0.8673316079469094 + - 0.9751130987264076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.93302337814209 + - 0.05331044655356201 + - -0.3558445898543104 + - 0.012609259879543458 + - - 0.027232710102437024 + - -0.9965892623437481 + - -0.07789879127188419 + - -0.09395198385433032 + - - -0.35878371666060765 + - 0.0629907808286559 + - -0.9312928681085221 + - 0.9761546125790679 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973490912215924 + - -0.009058162830749032 + - 0.07219930696062955 + - 0.054017405721074746 + - - 0.010076857721046153 + - -0.9654676281966919 + - -0.2603280926882941 + - -0.09358873024576696 + - - 0.07206418790171278 + - 0.26036552880592106 + - -0.9628169837677775 + - 0.9717096539125096 + - - 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: + - - 0.9955972702443554 + - -0.0031963249801570106 + - -0.0936795548057804 + - 0.023667857822370894 + - - -0.00903652672034147 + - -0.9980361946377144 + - -0.061984638241283356 + - -0.03472715854582132 + - - -0.09329746334611967 + - 0.06255827443025772 + - -0.9936709946624628 + - 0.9706026476805122 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988954029893182 + - -0.010442988819479474 + - -0.04581394843629772 + - 0.09154506165014586 + - - -0.010847925071290999 + - -0.9999041852483214 + - -0.008599002531597452 + - -0.03386079535858114 + - - -0.04571975949690873 + - 0.009086490378963152 + - -0.998912978834562 + - 0.968071751772087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8641384642139215 + - 0.02390452641395494 + - -0.5026860732931933 + - 0.10000449603037008 + - - 0.022508126722352802 + - -0.999707512297953 + - -0.008847264350558928 + - -0.09001140963757677 + - - -0.5027505334631239 + - -0.0036692604108585557 + - -0.8644237604500362 + - 0.9748504769970059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9545487290380397 + - 0.04038046714201403 + - -0.29530686034234943 + - 0.012626353172003028 + - - 0.0354187219977988 + - -0.9991274183562878 + - -0.02213404664183314 + - -0.09387278178915151 + - - -0.29594296413989263 + - 0.010668634499922046 + - -0.9551460318788966 + - 0.9754515484072603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980232983867886 + - -0.00511726764314337 + - 0.06263632691197214 + - 0.05407353114385116 + - - 0.0029222115178508382 + - -0.9918225124459805 + - -0.12759139659549215 + - -0.09345663179443177 + - - 0.06277703845356157 + - 0.12752222307194797 + - -0.9898470215471625 + - 0.9725911919770054 + - - 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: + - - 0.9965899868427428 + - -0.0034981036696453732 + - -0.08243883426819061 + - 0.023642655217106238 + - - -0.007543017603955857 + - -0.9987798233936089 + - -0.04880540202947137 + - -0.03479461685404209 + - - -0.08216751797522058 + - 0.049260812544540206 + - -0.9954003573121943 + - 0.9699067601225786 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995659700163614 + - -0.015584024512444464 + - -0.025000195304156436 + - 0.09156533779813707 + - - -0.014662612885953732 + - -0.9992214891966233 + - 0.036625446223072705 + - -0.033931655169153516 + - - -0.025551504233745203 + - -0.03624298149542966 + - -0.9990162996286472 + - 0.9679823528127094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8542028264902486 + - 0.030822467269161827 + - -0.5190255357181491 + - 0.1000274958679617 + - - 0.022110161448096067 + - -0.9994917094523239 + - -0.022966573466910514 + - -0.09010570616211754 + - - -0.5194696064033096 + - 0.008142373579818082 + - -0.8544501329952952 + - 0.9752938410927436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.940021177500307 + - 0.0612719969567625 + - -0.33556806796813476 + - 0.012670374819056893 + - - 0.02240188355752255 + - -0.9927007147486018 + - -0.11850504862954175 + - -0.09407249044927145 + - - -0.3403797018977651 + - 0.10387989856822802 + - -0.9345323029245393 + - 0.9775534083661174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999986943801915 + - -0.0004348192978607199 + - 0.0015563322558500028 + - 0.05397929378836137 + - - -0.000256221939990681 + - -0.9935987002142442 + - -0.11296706282311078 + - -0.09346895937943521 + - - 0.0015954899654521994 + - 0.11296651656460599 + - -0.9935975143623436 + - 0.9712521017251692 + - - 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: + - - 0.9948790474224362 + - -0.0006242971557031299 + - -0.10107072401485698 + - 0.023649264483876442 + - - -0.007222935008434624 + - -0.9978633832179341 + - -0.06493456431456468 + - -0.034877448913493724 + - - -0.10081423614594287 + - 0.06533206476087977 + - -0.9927578814113693 + - 0.9701583533739013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99932071998183 + - -0.01241090290329447 + - -0.03469968449599697 + - 0.09161956178256 + - - -0.013544783569171466 + - -0.9993755473979044 + - -0.032635166633603774 + - -0.0340826763115765 + - - -0.034272984303399055 + - 0.033082997933436734 + - -0.9988647945516325 + - 0.9682967117048928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8892112221875094 + - 0.05155106564852445 + - -0.45458320466807545 + - 0.10008433810251709 + - - 0.0004861795336311009 + - -0.9937371680939271 + - -0.11174168594630758 + - -0.09029523347722565 + - - -0.4574966294578102 + - 0.09914095207916694 + - -0.8836673048470106 + - 0.9760516878192445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.911313059752827 + - 0.07042921786212343 + - -0.4056454515895253 + - 0.012629606916515893 + - - 0.014474789295842973 + - -0.9901316880534325 + - -0.13939053334893886 + - -0.09404350679807048 + - - -0.4114595819746835 + - 0.1211567810062245 + - -0.9033393862870305 + - 0.9763341040544182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958267558918255 + - -0.009800567201157235 + - 0.09073599689482878 + - 0.054083946664195234 + - - 0.012263593883121949 + - -0.9708302437097702 + - -0.23945405021318386 + - -0.09383699707474744 + - - 0.09043603548935916 + - 0.23956749942545155 + - -0.9666585419391915 + - 0.9726873241656344 + - - 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: + - - 0.9949855441582667 + - -0.0014474896834391778 + - -0.10000835809918185 + - 0.023664406969283024 + - - -0.008207242373973895 + - -0.9977048538964771 + - -0.06721358258585242 + - -0.03485335988789355 + - - -0.09968153333839072 + - 0.06769733587835414 + - -0.9927137868621961 + - 0.9706056637094372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995874995367428 + - -0.011813974093570363 + - -0.026177486242930058 + - 0.09160305046916888 + - - -0.012929079900572503 + - -0.9989980121501242 + - -0.04284636055752267 + - -0.03404678866670526 + - - -0.025645070926144 + - 0.043167137225174776 + - -0.9987386688223183 + - 0.9683074308208727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8508644504224709 + - 0.024588016618049133 + - -0.5248096001847308 + - 0.09996702201742683 + - - 0.027511687993179757 + - -0.9996189961546703 + - -0.0022292488632933488 + - -0.0901282564118414 + - - -0.5246644585170911 + - -0.012541609367186717 + - -0.8512167256365725 + - 0.9752115020045985 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9479305158003559 + - 0.035438494947412504 + - -0.3164993685465004 + - 0.012618140125360583 + - - 0.04166207084125604 + - -0.9990482684232552 + - 0.012916238373232206 + - -0.09379065044047148 + - - -0.31574041405510545 + - -0.025429715616935453 + - -0.9485047814829154 + - 0.9743123230071176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9877821423912599 + - -0.023761775990409937 + - 0.15401888577286285 + - 0.054089628169634855 + - - 0.013727337337717724 + - -0.9711990981143065 + - -0.23787364719862086 + - -0.09374870252894954 + - - 0.15523530327393023 + - 0.23708161004965994 + - -0.9590069399090455 + - 0.9731897970343077 + - - 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: + - - 0.9970900315440575 + - -0.002084165482998954 + - -0.07620449625652043 + - 0.023678547242410523 + - - -0.008007456578320608 + - -0.9969597078298887 + - -0.0775062681522577 + - -0.03482407080646958 + - - -0.07581127643442545 + - 0.07789093155164367 + - -0.9940752753928652 + - 0.9706757367040816 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.869860433961104 + - 0.043371577988983556 + - -0.49138755748568286 + - 0.10001607522590707 + - - 0.00612967381040011 + - -0.9970008136634976 + - -0.07714794004574754 + - -0.09014850609728604 + - - -0.493259822535728 + - 0.06409589516552272 + - -0.8675174140586186 + - 0.9752295724678082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9594225143489241 + - 0.03207109435885795 + - -0.28014261344360636 + - 0.01263622238363417 + - - 0.042817449462500226 + - -0.9985599002246834 + - 0.03232323753581739 + - -0.0938068643022986 + - - -0.2787025385279346 + - -0.04300663402192579 + - -0.959414052663494 + - 0.9749833878967102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959748938652919 + - -0.008925900788464041 + - 0.08918710156258529 + - 0.05403256964740306 + - - -0.000489584786131589 + - -0.9955561470570411 + - -0.09416856356384253 + - -0.09351031981867379 + - - 0.0896313064545954 + - 0.09374586045290086 + - -0.9915532978873041 + - 0.9718866829742328 + - - 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: null + base_right_marker_pose: + - - 0.9987290209293298 + - -0.012097882556986864 + - -0.04892835569666855 + - 0.09154811798250843 + - - -0.012921135231256615 + - -0.999779637300061 + - -0.01654451886557961 + - -0.03394997982300703 + - - -0.04871742006590603 + - 0.01715570102896683 + - -0.998665256682301 + - 0.9678557908805765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8630084793031767 + - 0.03254212415898429 + - -0.5041402332744724 + - 0.10001944182486301 + - - 0.01867291670671149 + - -0.9992960129043786 + - -0.032539219029890806 + - -0.0900599685511944 + - - -0.5048442203615711 + - 0.01866785334826273 + - -0.8630085888442156 + - 0.975219454159038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9675609279322068 + - 0.053104784426761156 + - -0.24699338576155067 + - 0.012648644925651781 + - - 0.01992309319522377 + - -0.9906521984126165 + - -0.13494922058976513 + - -0.09398114959896092 + - - -0.25185098986603444 + - 0.12565072085443 + - -0.9595743719234385 + - 0.976469629919611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993367379420277 + - 0.009187928337797817 + - -0.035237283837531 + - 0.0540244613299174 + - - 0.002095960230402937 + - -0.9805551547049036 + - -0.19623250376111595 + - -0.09356118512684244 + - - -0.03635507048679455 + - 0.19602849424127938 + - -0.9799240472074344 + - 0.9723420396721074 + - - 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: + - - 0.993992742011117 + - -0.004348500676688275 + - -0.10935958746761007 + - 0.02365797710132084 + - - -0.007474272768719446 + - -0.9995746713476426 + - -0.02818885678474066 + - -0.034801868850792526 + - - -0.10919049443884662 + - 0.028836902436230598 + - -0.993602470297897 + - 0.9707414943632998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996941887416388 + - -0.012863560801558871 + - -0.021120080485195234 + - 0.0916246123309505 + - - -0.013369632122722484 + - -0.9996226058920241 + - -0.023997890043540113 + - -0.0340281921143785 + - - -0.020803411573575948 + - 0.024272918925077238 + - -0.9994888911207351 + - 0.968529282719047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8554152709510612 + - 0.013865114784307336 + - -0.517757156218763 + - 0.09997312960616057 + - - 0.03119976826594786 + - -0.9992057257787068 + - 0.024788949780047666 + - -0.09010305698217283 + - - -0.5170022134226059 + - -0.0373587494847533 + - -0.8551684250210954 + - 0.9751397940261605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9282062852529305 + - 0.09450912427830024 + - -0.35986263691178666 + - 0.012629797887539488 + - - -0.005015312066934237 + - -0.9639350984576689 + - -0.26609015879260983 + - -0.09413470503596756 + - - -0.37203217422936263 + - 0.24879138126059322 + - -0.8942566242128822 + - 0.9773343093747651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995414496009285 + - -0.014638589943113501 + - 0.09452879359781623 + - 0.05407101098579882 + - - 0.0028831167789804798 + - -0.9831804766038771 + - -0.18261390435181227 + - -0.09364040072355663 + - - 0.09561207440600757 + - 0.18204906511556565 + - -0.9786298938405312 + - 0.9727315598790067 + - - 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: + - - 0.9954951041193852 + - -0.0023244629397414147 + - -0.09478446363395297 + - 0.02364454220437978 + - - -0.008461265689461593 + - -0.9978886520181341 + - -0.06439444973259625 + - -0.03481043063938211 + - - -0.09443465813601871 + - 0.0649063559713014 + - -0.9934129354388639 + - 0.9701003267462346 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993319932555677 + - -0.013371742326393607 + - -0.03401122995439178 + - 0.09160184826332263 + - - -0.013682404201333856 + - -0.999866623416869 + - -0.008917801983710614 + - -0.03401966715984918 + - - -0.03388744710250839 + - 0.009377200227460485 + - -0.9993816633522796 + - 0.9682126189016607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8790615973317435 + - 0.044566723836055824 + - -0.4746203906524501 + - 0.10003638533703535 + - - 0.006321836800231993 + - -0.9966226633761254 + - -0.0818736906737976 + - -0.09015651402429786 + - - -0.4766662799863599 + - 0.06897154465138644 + - -0.8763744539592458 + - 0.975157769985708 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9371310047627609 + - 0.046303463816979466 + - -0.34589227969251907 + - 0.012612726322010862 + - - 0.0341818893948792 + - -0.9985715706125519 + - -0.04106600542757691 + - -0.09391765000663592 + - - -0.3472996952917385 + - 0.026660975280945836 + - -0.9373751191744608 + - 0.9751961063929818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988948023789933 + - -0.0007911434180334128 + - 0.046995189884967245 + - 0.054023908917683286 + - - 0.007969650672076533 + - -0.9825292676580676 + - -0.18593741652359025 + - -0.09370067209516808 + - - 0.04632125266437745 + - 0.18610645417984334 + - -0.9814370735122091 + - 0.9717031069788564 + - - 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: + - - 0.9950564295384448 + - -0.0013731959985358953 + - -0.09930164332452779 + - 0.023678335769942015 + - - -0.0073716426160912365 + - -0.9981672673053551 + - -0.06006467651874914 + - -0.034867186196802485 + - - -0.09903716938272597 + - 0.06049975878390716 + - -0.9932428797971561 + - 0.9706483783077484 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9983383245037769 + - -0.0094195057416634 + - -0.05684947439136231 + - 0.09154078091507925 + - - -0.01168524673395739 + - -0.9991450950415849 + - -0.03965518961131773 + - -0.03403765419007024 + - - -0.05642734120759126 + - 0.04025359568940139 + - -0.9975949093686861 + - 0.9681920211305262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8643119404932283 + - 0.05900008709845385 + - -0.49948359256656766 + - 0.10008779343034854 + - - 0.00016360483813429236 + - -0.993128671383113 + - -0.11702741264451694 + - -0.0902479144976014 + - - -0.5029561042022326 + - 0.1010664721813716 + - -0.8583826218222999 + - 0.976056009348282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.926789995663888 + - 0.03626416598095723 + - -0.3738251117876326 + - 0.012603154821953753 + - - 0.04632093078734101 + - -0.9987653114777584 + - 0.01795059775413715 + - -0.0937978387773381 + - - -0.37271259075636926 + - -0.03395236154440591 + - -0.927325488616178 + - 0.9742268972913117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9909486433587034 + - -0.023660457821889143 + - 0.1321399597442188 + - 0.05406730656471238 + - - 0.010784775434421036 + - -0.9671314059939723 + - -0.2540482870616375 + - -0.09360121270890476 + - - 0.13380760383615822 + - 0.253173905203087 + - -0.9581223819950376 + - 0.9723566960658714 + - - 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: + - - 0.9969667652273109 + - -0.0034215627049030525 + - -0.07775321177191703 + - 0.023670241275209856 + - - -0.008457395918057066 + - -0.9978799124546266 + - -0.06453024696862154 + - -0.03474590368435679 + - - -0.07736757386966063 + - 0.06499210127548173 + - -0.994882045915655 + - 0.9702008047002747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999440489187886 + - -0.0131996914701984 + - -0.030732339920200434 + - 0.09159887936740338 + - - -0.013386383370415103 + - -0.9998931273244873 + - -0.005876960908222172 + - -0.03394674942525733 + - - -0.030651481402037446 + - 0.0062850675690933645 + - -0.999510372439182 + - 0.9682662130960615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8606151270907464 + - 0.02622591497487494 + - -0.5085801848345146 + - 0.09997212835640862 + - - 0.021689418887080827 + - -0.9996545162754128 + - -0.014846454071969165 + - -0.09003845392805365 + - - -0.5087938405001766 + - 0.0017462742914498945 + - -0.86088662342679 + - 0.9748139986821588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9626240172459872 + - 0.04107959071623692 + - -0.26770780460753085 + - 0.012693731001350328 + - - 0.030773984238791456 + - -0.9986189856972683 + - -0.04258031586344209 + - -0.09399962592767555 + - - -0.2690872782486531 + - 0.03275039895247604 + - -0.9625588023872549 + - 0.9764926439801634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999392062620841 + - -0.0007970810073748445 + - 0.03485498289095349 + - 0.05403396006760375 + - - 0.005947848283118481 + - -0.9811846548899321 + - -0.1929800407019511 + - -0.09353650730625779 + - - 0.034352995084300626 + - 0.19307003307192286 + - -0.9805834151454662 + - 0.9724863636698704 + - - 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: + - - 0.9969644660098764 + - -0.0042787736276158755 + - -0.07774024446762154 + - 0.023679045141068375 + - - -0.0075428866589373755 + - -0.9990999316985096 + - -0.041742440523809675 + - -0.034727044638889405 + - - -0.07749166648416053 + - 0.042202115779626286 + - -0.9960994042008211 + - 0.9697972993730142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996659996269435 + - -0.011113031537646489 + - -0.023332160635206677 + - 0.091646039279191 + - - -0.012151670243297219 + - -0.9989195550513248 + - -0.044855985624678754 + - -0.03396978699118052 + - - -0.022808465537207417 + - 0.045124528430848965 + - -0.9987209574419331 + - 0.9687230712618535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8794384497270459 + - 0.04478694091927253 + - -0.47390098445222073 + - 0.10005462696288721 + - - 0.009591147364700448 + - -0.9970290120863602 + - -0.07642747510107423 + - -0.09012283454579031 + - - -0.47591598316711214 + - 0.06266800604128325 + - -0.8772552068724875 + - 0.9757631421278732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9123793997273413 + - 0.07329581310817666 + - -0.4027301264295826 + - 0.012626989896159414 + - - 0.009844656334491192 + - -0.9874832456546007 + - -0.15741639778978664 + - -0.0940586013360997 + - - -0.40922721524213435 + - 0.13965873883244048 + - -0.9016809430019584 + - 0.976824600429248 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9885295635972332 + - -0.016959256546468737 + - 0.15007226763014775 + - 0.05404452332170577 + - - 0.006212308055784454 + - -0.9882681847354291 + - -0.15260210440344327 + - -0.09342857208441219 + - - 0.15089966574808467 + - 0.15178398682710378 + - -0.9768269612474799 + - 0.9718618528890425 + - - 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: + - - 0.9950602076596307 + - -0.004666782206835744 + - -0.09916352291143449 + - 0.023643247856020854 + - - -0.00672728891082801 + - -0.9997681481191474 + - -0.020454671601399937 + - -0.034788883095973805 + - - -0.09904507416465941 + - 0.021020731439339302 + - -0.9948608958711125 + - 0.9699791297486904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987504782806359 + - -0.012728355154307498 + - -0.04832671217108343 + - 0.0915840602765819 + - - -0.013201140250173798 + - -0.9998679536883066 + - -0.009476554397785445 + - -0.03397419600452044 + - - -0.048199709856970835 + - 0.01010268094244093 + - -0.998786625765223 + - 0.9682381597540033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8583940431654079 + - 0.035524782439160935 + - -0.5117593736227937 + - 0.10003662556208884 + - - 0.011860063413301643 + - -0.9987069803197901 + - -0.049433858400484434 + - -0.09016367291532632 + - - -0.512853785745973 + - 0.036364230958140245 + - -0.8577054489466923 + - 0.9753848790176228 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9335744602896255 + - 0.04499704355296024 + - -0.3555474555758027 + - 0.01263582534882265 + - - 0.036320150985077175 + - -0.9988578650484616 + - -0.03104532272744121 + - -0.09397043219800948 + - - -0.3565383201387413 + - 0.016069583140915 + - -0.9341424916843909 + - 0.9760758291509831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9823290061245755 + - -0.023084880149615426 + - 0.18573317429791994 + - 0.05410138478202102 + - - 0.012990880444014424 + - -0.9815611214748298 + - -0.19070658571314317 + - -0.09369318190192188 + - - 0.1867109015338765 + - 0.18974944826679466 + - -0.9639160679908053 + - 0.97304520332213 + - - 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: + - - 0.9964745943230882 + - -0.004443349568370603 + - -0.0837773209958998 + - 0.02366847118336517 + - - -0.007704463049084245 + - -0.9992233802216871 + - -0.03864295107094728 + - -0.0348163765251914 + - - -0.08354055373147862 + - 0.039152178265833316 + - -0.9957349460671142 + - 0.9702079555928572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8805443588843676 + - 0.04407198037961322 + - -0.47191025903484785 + - 0.10007513860989918 + - - 0.010418981236446426 + - -0.9972267197466291 + - -0.07369066598540837 + - -0.09024817642141811 + - - -0.4738492132175728 + - 0.05997107610171283 + - -0.8785615477382847 + - 0.9760362330971399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.935819199339661 + - 0.08312474764026138 + - -0.3425386145780046 + - 0.012609806767837664 + - - 0.008199821332332533 + - -0.9766658282672368 + - -0.214608067940582 + - -0.09402817682151107 + - - -0.3523850012094637 + - 0.19802559487302265 + - -0.9146642415103977 + - 0.9762480799906784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982449315747112 + - -0.01598616885641807 + - 0.057021916757455826 + - 0.054150516199252645 + - - -0.000759189499963172 + - -0.9662515445891631 + - -0.25759925506561554 + - -0.09368161894594032 + - - 0.0592155403310928 + - 0.2571038603062019 + - -0.9645678435439086 + - 0.972638366897325 + - - 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: + - - 0.9946583006849947 + - -0.0030561535608423715 + - -0.10317715252831489 + - 0.023656338824224042 + - - -0.007130835039317643 + - -0.9992080428343628 + - -0.03914637054394095 + - -0.03480326695830312 + - - -0.10297580332330816 + - 0.03967300165772736 + - -0.993892366843304 + - 0.9701912772549047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991280529800568 + - -0.012339787129245992 + - -0.03988562901454188 + - 0.09156927722032314 + - - -0.013091434237735825 + - -0.9997405649282955 + - -0.018639130517588292 + - -0.03401979334797966 + - - -0.03964527838065724 + - 0.01914503827255375 + - -0.9990303896337003 + - 0.9681439563869385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8991350279266546 + - 0.056224340744696594 + - -0.4340449574216456 + - 0.1000921424576927 + - - -0.00020588463135743848 + - -0.9916599268620854 + - -0.12888191132739624 + - -0.09017212419954827 + - - -0.4376712912299052 + - 0.11597160412665036 + - -0.891624600305218 + - 0.9757945305040991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9220240029348945 + - 0.0752411501552929 + - -0.3797505856943769 + - 0.012620556299924018 + - - 0.010369425170617182 + - -0.9853792314460814 + - -0.1700595344470898 + - -0.09400847646135368 + - - -0.38699381523939713 + - 0.15286117740629443 + - -0.9093235108631124 + - 0.976230179678729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974193597218443 + - -0.009464537362523206 + - 0.07116911819447891 + - 0.053985999375279196 + - - 0.009005506618906018 + - -0.9669513851513134 + - -0.25480172606262574 + - -0.0934841379807627 + - - 0.07122865787450405 + - 0.25478508843036696 + - -0.9643707985059103 + - 0.9716691966677709 + - - 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: + - - 0.9958637497992773 + - -0.001853801913746388 + - -0.09084027330533077 + - 0.023686148008246644 + - - -0.009136812403508174 + - -0.9967671178543585 + - -0.07982375225093907 + - -0.03479627136911812 + - - -0.09039861998297154 + - 0.08032357177554289 + - -0.9926611775033787 + - 0.970831380378442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992867344144809 + - -0.011860394457349979 + - -0.035851826544247206 + - 0.09160148333038885 + - - -0.01295182053469828 + - -0.9994549500395751 + - -0.030365328686311276 + - -0.033992759915705516 + - - -0.035472140731561366 + - 0.030808016565608574 + - -0.9988956869199175 + - 0.9683550045250627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.889414587819454 + - 0.06149928689999072 + - -0.45294539260792055 + - 0.10012682337396904 + - - -0.002282274879121523 + - -0.9902980838123656 + - -0.13894062191790096 + - -0.09022251481626861 + - - -0.45709570354065543 + - 0.12460956186565138 + - -0.8806452037547946 + - 0.9766208720233631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9146461921563769 + - 0.05920907663069646 + - -0.3998957719436158 + - 0.012605956023608521 + - - 0.027452573086182146 + - -0.9960296422273311 + - -0.08468357594860221 + - -0.09394692413337105 + - - -0.4033220789949242 + - 0.066477342373437 + - -0.9126401610416763 + - 0.9758601224445185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.976402081785825 + - -0.030666179341124793 + - 0.21377221552139347 + - 0.054079393745248734 + - - 0.01711569196626685 + - -0.975764768739653 + - -0.21815171137299744 + - -0.09359951220893693 + - - 0.21528127594573337 + - 0.2166626445215457 + - -0.9522138786512763 + - 0.9725877897781379 + - - 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: + - - 0.9971244798927545 + - -0.0033683101492092272 + - -0.07570618260976066 + - 0.023677711472883417 + - - -0.0067646567268919156 + - -0.9989797584605689 + - -0.044650661870012015 + - -0.034799692065795015 + - - -0.07547854673992478 + - 0.045034394331461405 + - -0.9961299575402933 + - 0.970090715219271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995005868792686 + - -0.01208321109258947 + - -0.029198849937791822 + - 0.09160304982904138 + - - -0.012362407832315927 + - -0.999879394653877 + - -0.009400373353472697 + - -0.034015149398810146 + - - -0.02908174170480951 + - 0.009756646774845773 + - -0.9995294193484884 + - 0.9684079420833034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8608056953047514 + - 0.04716812962669131 + - -0.5067432510437837 + - 0.10007248053007116 + - - 0.009741195187389962 + - -0.997040528958528 + - -0.07625806665802314 + - -0.09015703320249459 + - - -0.5088405094400648 + - 0.060707093173845636 + - -0.8587176397344805 + - 0.9757464420441071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9682175116970235 + - 0.05007534481976324 + - -0.24504552614648148 + - 0.012644810395425449 + - - 0.024318277450370806 + - -0.9939582624695725 + - -0.10703080794946924 + - -0.09399922171288141 + - - -0.24892463000890633 + - 0.09767001745495489 + - -0.9635855417477365 + - 0.9760214414132274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922906167617861 + - -0.017180255025625542 + - 0.12273618343328302 + - 0.0540620387575593 + - - 0.009002633400186267 + - -0.9777361954017083 + - -0.20964466316425867 + - -0.09368089869786032 + - - 0.12360535780610757 + - 0.209133380976467 + - -0.970043784827766 + - 0.9725413300712411 + - - 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: + - - 0.9958289319633985 + - 0.0009961084229235294 + - -0.09123456599692294 + - 0.023685918225048584 + - - -0.011017783372774877 + - -0.9913102012556899 + - -0.13108277284202413 + - -0.03489278513174247 + - - -0.09057232863401334 + - 0.1315412203623369 + - -0.9871644040540557 + - 0.9713502202637093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993004623052045 + - -0.011470145857595575 + - -0.0355952495511663 + - 0.09159548470774756 + - - -0.012544746544128547 + - -0.9994677338344572 + - -0.030114421096182897 + - -0.034007615175489704 + - - -0.03523088660178589 + - 0.030539888307263563 + - -0.998912458552516 + - 0.9681364179707953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8844204881231366 + - 0.05012936588481344 + - -0.46399078316710046 + - 0.10006641733559493 + - - -0.00023468678677876845 + - -0.9941664280266509 + - -0.10785665629362742 + - -0.09024574039393381 + - - -0.46669084532498045 + - 0.09549952911253579 + - -0.8792493928511629 + - 0.9757178459194242 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9348173670452814 + - 0.05657648834745166 + - -0.3505931990737961 + - 0.012639319671454865 + - - 0.024895906478253595 + - -0.9952397527908712 + - -0.09422328961245333 + - -0.09394456662929505 + - - -0.35425511162318296 + - 0.07935323201380565 + - -0.931775928245525 + - 0.9756475790005488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968391225480089 + - -0.009612908007816647 + - 0.07886289214420868 + - 0.05404741130102402 + - - 0.015118454801252162 + - -0.9515606827336767 + - -0.30708907404829966 + - -0.09366604959804598 + - - 0.0779948465101274 + - 0.30731068818876583 + - -0.9484075837121977 + - 0.9723723377107606 + - - 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: + - - 0.9968787898784826 + - -0.0029138811322444156 + - -0.07889352056512215 + - 0.023664928387326895 + - - -0.007547862853298965 + - -0.9982587060792448 + - -0.05850286747962466 + - -0.034803045484634185 + - - -0.0785856733556441 + - 0.058915745210748924 + - -0.9951649244770945 + - 0.9700460889982576 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989913842534209 + - -0.010013631997954167 + - -0.043771467437629254 + - 0.09159368069129371 + - - -0.011032287392039578 + - -0.99967245076994 + - -0.02309285184903539 + - -0.033975202752985954 + - - -0.04352588680697194 + - 0.023552459443370265 + - -0.9987746386607117 + - 0.9684706507575491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.857928665648241 + - 0.03324747636214851 + - -0.5126919250140155 + - 0.09997410536258836 + - - 0.019017409109892684 + - -0.9992751165973763 + - -0.03297847025024887 + - -0.09009486356003979 + - - -0.5134167340570187 + - 0.018543102891586272 + - -0.857939048257728 + - 0.9748172726481072 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9242907945673686 + - 0.08216311261649929 + - -0.3727408617299569 + - 0.012635209749290091 + - - 0.004980367923692122 + - -0.9790693535124734 + - -0.2034659601702747 + - -0.0941209895889368 + - - -0.3816565511207256 + - 0.18620532736158654 + - -0.9053539932251898 + - 0.9777349137197746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995282268764657 + - -0.0058741269977697925 + - 0.03014661356110387 + - 0.05401505858079188 + - - -0.00028730817396000266 + - -0.98328566281367 + - -0.18206928010813714 + - -0.09358076878186417 + - - 0.030712230970765305 + - 0.18197472334666756 + - -0.9828234627498993 + - 0.9723999308982787 + - - 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: + - - 0.9976214317738936 + - -0.0037739777757020607 + - -0.06882758136935375 + - 0.023682765020673898 + - - -0.00846884208056461 + - -0.9976460790412374 + - -0.06804836285657077 + - -0.034774939430209734 + - - -0.06840875367393388 + - 0.06846939510024584 + - -0.9953050709985283 + - 0.9704185511661846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8734402447222843 + - 0.046278087499116556 + - -0.4847272196987706 + - 0.10003452709814077 + - - 0.00910734944051117 + - -0.9968519132850046 + - -0.07876115264642852 + - -0.0901179822426555 + - - -0.4868461718917429 + - 0.06437858026898158 + - -0.8711120498058247 + - 0.9753806534605669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9530871526713494 + - 0.05597667059706319 + - -0.29747519520405036 + - 0.01266389669811283 + - - 0.019033285646928723 + - -0.9918900914575083 + - -0.12566535125442643 + - -0.09403012707841561 + - - -0.30209702654991893 + - 0.1141081014533317 + - -0.9464231229911989 + - 0.9767536381930018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983628649343714 + - -0.005180751545428729 + - 0.05696270475897955 + - 0.05411433543443128 + - - 0.009283383477017359 + - -0.9680082845179282 + - -0.25074644543019065 + - -0.0935646116938358 + - - 0.05643942514991426 + - 0.2508647462639608 + - -0.9663754293082295 + - 0.9733407064518149 + - - 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: + - - 0.9957496191223698 + - -0.0028218698574750487 + - -0.09205831341146087 + - 0.02368536383894737 + - - -0.0076281925163450785 + - -0.9986231758075877 + - -0.051899551239882616 + - -0.034849179418745914 + - - -0.091785111519183 + - 0.052381196917167694 + - -0.9944001727237058 + - 0.9706608233120575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993394156135674 + - -0.013279245960963366 + - -0.033828893387779654 + - 0.09157756186856061 + - - -0.013362868618161348 + - -0.9999081880838896 + - -0.002247030281945945 + - -0.03400344813785351 + - - -0.03379594862446211 + - 0.002697596986664537 + - -0.9994251131660999 + - 0.9680542123543592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8645674160624292 + - 0.05023654849272683 + - -0.49999947227839403 + - 0.10003669346388713 + - - 0.005663715873869983 + - -0.9959014001358618 + - -0.09026806483984874 + - -0.09016060163525025 + - - -0.502484930525916 + - 0.07521097262347408 + - -0.8613084257055641 + - 0.9758343055080239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9106161552685337 + - 0.0634916401359798 + - -0.4083467024438879 + - 0.012611382357939365 + - - 0.02735652512544025 + - -0.9952211400145142 + - -0.09373634834615908 + - -0.09378544038659202 + - - -0.4123467452242287 + - 0.07418688631459448 + - -0.9080013588106194 + - 0.9742087001547123 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9855040071374557 + - -0.024684234755706278 + - 0.16784677676542697 + - 0.05412398786025788 + - - 0.013382983751501567 + - -0.9749639876163847 + - -0.22195972291626648 + - -0.09365993225249228 + - - 0.1691234686905544 + - 0.22098848704329355 + - -0.9605005678980059 + - 0.9736181886120764 + - - 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: + - - 0.9943004783533161 + - -0.001568663260014579 + - -0.10660252361901884 + - 0.02365861482803499 + - - -0.007364192178760795 + - -0.9985141090688451 + - -0.05399391321255944 + - -0.03484370096295035 + - - -0.10635942562801412 + - 0.05447121520608663 + - -0.9928346082273984 + - 0.9701846424450495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996282490438608 + - -0.012793808699585903 + - -0.024076589718298656 + - 0.09163472478910385 + - - -0.013696708739583625 + - -0.9991945644087118 + - -0.03771766994112204 + - -0.03407889967427047 + - - -0.02357464492220186 + - 0.038033418398072075 + - -0.998998345945452 + - 0.9684114645627776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8837221726605083 + - 0.06637185606037725 + - -0.46328166191992903 + - 0.1001167182597466 + - - -0.0013488299514567148 + - -0.9895276417672976 + - -0.14433719838008985 + - -0.09024283178504353 + - - -0.46800993814870306 + - 0.12817887072974204 + - -0.8743779931428374 + - 0.976382637303755 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9382979681917064 + - 0.06031344581312727 + - -0.3405278419475602 + - 0.012657202199484014 + - - 0.026454978542581938 + - -0.9943072370438284 + - -0.10321459428094562 + - -0.09399932567553285 + - - -0.3448145255026637 + - 0.08783738734966817 + - -0.9345520511913491 + - 0.9762746767385522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985557500287733 + - -0.007141814468671676 + - 0.053248554633616885 + - 0.05411458962041245 + - - 0.0076330220014458345 + - -0.9622121127184255 + - -0.27219402475636684 + - -0.09383345286506994 + - - 0.053180363477506 + - 0.272207355933008 + - -0.9607679242753483 + - 0.9738431379561565 + - - 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: + - - 0.9946026197534483 + - -0.0015549200407008693 + - -0.10374589632002083 + - 0.023646134875385402 + - - -0.00940944930345718 + - -0.9971193262447265 + - -0.07526294900592488 + - -0.03482338835642514 + - - -0.10333001037154287 + - 0.07583291800352802 + - -0.9917521250310922 + - 0.9704707302787523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999577410870154 + - -0.014205327914156705 + - -0.025361552337558192 + - 0.09158221561666158 + - - -0.014023142691855384 + - -0.9998746787654647 + - 0.007346988002073457 + - -0.033991559131810414 + - - -0.025462740370260348 + - -0.006988234577490134 + - -0.9996513459353348 + - 0.968192359414375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8766888888380476 + - 0.034213697227369805 + - -0.47983957226342144 + - 0.09996034285973827 + - - 0.013992767165654361 + - -0.9988592336235952 + - -0.045655600663353856 + - -0.0900681188905276 + - - -0.4808542343111446 + - 0.03331147440324008 + - -0.8761675359302723 + - 0.9746313014642813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9559173112288429 + - 0.05241427594720666 + - -0.2889201235115853 + - 0.012650539698509464 + - - 0.03264163724326888 + - -0.9968094905982156 + - -0.07283792261868073 + - -0.09395952567044766 + - - -0.2918160681167136 + - 0.06019620528119819 + - -0.954578335841876 + - 0.975799978855719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999411161444396 + - 0.009002659388208299 + - 0.0060594032505108825 + - 0.054038591441312143 + - - 0.010251530502443526 + - -0.9667987706755408 + - -0.25533320023573347 + - -0.09371989590498712 + - - 0.0035595457813977997 + - 0.2553802833897002 + - -0.9668341328736936 + - 0.9720080479474289 + - - 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: + - - 0.9958382128251513 + - -0.0025626917407268785 + - -0.09110261515593751 + - 0.023669414704914727 + - - -0.007395233868873049 + - -0.9985805173808523 + - -0.05274714042878599 + - -0.034796405837243694 + - - -0.09083812191604093 + - 0.053201343201383616 + - -0.9944435894953193 + - 0.9705468973950564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993388913750862 + - -0.012712964517855108 + - -0.03406113207721106 + - 0.09157449826041722 + - - -0.012752814176201744 + - -0.9999182254731948 + - -0.0009529413023323711 + - -0.033981851065656446 + - - -0.034046232035288816 + - 0.0013866865926300998 + - -0.9994192969842509 + - 0.9682322088877992 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8571910725910228 + - 0.01627855399273687 + - -0.51474117160973 + - 0.09996666535380092 + - - 0.027497632106627003 + - -0.9995212635862039 + - 0.014181814678214798 + - -0.09008302183086876 + - - -0.514263886831246 + - -0.026310688302364563 + - -0.8572283256999127 + - 0.9747382821222575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.928325232015764 + - 0.054194109936087975 + - -0.36779785487562755 + - 0.012630682703428712 + - - 0.02703412493660314 + - -0.9965393553409323 + - -0.07860324004512084 + - -0.0939782741345325 + - - -0.37078486982587366 + - 0.06302627789195525 + - -0.9265777185985511 + - 0.9761428471635186 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944878984692348 + - -0.01530025514673337 + - 0.1037290797736571 + - 0.0540664171396595 + - - 0.013748986055273513 + - -0.9617245675459106 + - -0.27367283672495624 + - -0.0936722516856045 + - - 0.1039460686158777 + - 0.2735904939340501 + - -0.9562130810903118 + - 0.9730020831088022 + - - 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: + - - 0.9963011854733502 + - -0.0039429694044844955 + - -0.08583938965691854 + - 0.023654941858197116 + - - -0.007350490637904737 + - -0.9991958243631106 + - -0.03941668254313058 + - -0.034788018117874964 + - - -0.08561494093777713 + - 0.03990184917518434 + - -0.9955289670926817 + - 0.9699438252624423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8600200154860209 + - 0.05592606612080952 + - -0.5071862065274204 + - 0.10008480734402445 + - - 0.0005811137490573381 + - -0.9940821471475647 + - -0.1086294022320753 + - -0.09019244476150753 + - - -0.5102599683203013 + - 0.09312872731192127 + - -0.854963042990179 + - 0.9758897529158417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9112771656587477 + - 0.07291212824083732 + - -0.4052872424643426 + - 0.012608023516678541 + - - 0.00871678877515212 + - -0.9873949997184104 + - -0.1580352243157488 + - -0.09404063904139585 + - - -0.41170128120083443 + - 0.14048108800287445 + - -0.9004260763500351 + - 0.9768162069140031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911153809843198 + - -0.0210578107404635 + - 0.1313273398159166 + - 0.05416455132220994 + - - 0.019917725661489222 + - -0.9527545268832504 + - -0.30308760401565105 + - -0.09379365306579965 + - - 0.13150507891629154 + - 0.3030105280519033 + - -0.943870242199068 + - 0.9737303925303924 + - - 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: + - - 0.9970187574779691 + - 0.00024697944164559817 + - -0.0771591617258899 + - 0.02370312179687696 + - - -0.008538456972414569 + - -0.9935001050246088 + - -0.11351051082882513 + - -0.03487412528743169 + - - -0.07668567004086783 + - 0.11383092864966887 + - -0.9905361314425317 + - 0.9712100286486295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99885853051849 + - -0.010614224856329076 + - -0.04657224754230667 + - 0.09156221636988453 + - - -0.011973689376094672 + - -0.9995074262504661 + - -0.029009233579940664 + - -0.033993557419242995 + - - -0.046241396747583235 + - 0.02953376205074534 + - -0.9984936104582564 + - 0.9680929364815082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8618933963823104 + - 0.0341383747805231 + - -0.5059390720629412 + - 0.10001043958728414 + - - 0.01761745275272491 + - -0.9991448678587366 + - -0.03740532569105963 + - -0.09011511004891076 + - - -0.5067833843281279 + - 0.023326045504827534 + - -0.8617577948414721 + - 0.9752725999459045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9500766365255565 + - 0.03807577463094382 + - -0.30968471081817905 + - 0.012637620354614337 + - - 0.03909240583669785 + - -0.9992313196256454 + - -0.002924668372655024 + - -0.09401029357925758 + - - -0.30955802127256293 + - -0.009327661306279912 + - -0.9508348048953459 + - 0.9764856911555151 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992973143857203 + - -0.002372990466125417 + - 0.03740650181097514 + - 0.05404921453390357 + - - 0.004096885239543538 + - -0.985099076298236 + - -0.17193901653695856 + - -0.09369410211905203 + - - 0.03725712002853708 + - 0.171971447608637 + - -0.9843971394790667 + - 0.9729187919238642 + - - 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: + - - 0.9946980891820804 + - -0.0031074237464485456 + - -0.10279131916255474 + - 0.023645381723036034 + - - -0.007502067430659292 + - -0.9990727980766788 + - -0.04239414024958941 + - -0.03482811775363467 + - - -0.10256427429560463 + - 0.042940517706427615 + - -0.9937991153031482 + - 0.970044241531747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987104582324571 + - -0.009094715459515155 + - -0.04994703963025172 + - 0.09161759433135008 + - - -0.011744876892369745 + - -0.998524117823732 + - -0.05302493744570327 + - -0.034045590074189155 + - - -0.049391076966376825 + - 0.053543181405741304 + - -0.9973432955813425 + - 0.968572103283818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8791246118292123 + - 0.06689185665871708 + - -0.4718743438553176 + - 0.1000300111301878 + - - -0.0035724545855825643 + - -0.9891485863649667 + - -0.14687515671624649 + - -0.09021648633797935 + - - -0.4765785920961734 + - 0.13080731479904958 + - -0.8693458989094568 + - 0.9757743880360454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9364622290452486 + - 0.04675828365195966 + - -0.347637967548896 + - 0.012615993343164069 + - - 0.038119712180598696 + - -0.9987717880042586 + - -0.031651272171022746 + - -0.09401563259638471 + - - -0.3486909535890954 + - 0.016388361623381573 + - -0.9370944672168479 + - 0.9763098221643902 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963854037752234 + - -0.009765618184446889 + - 0.08438459483318313 + - 0.05414559850290303 + - - 0.008466666893154659 + - -0.9770071850387916 + - -0.21303820299255657 + - -0.09377690211229964 + - - 0.08452480520773316 + - 0.2129826121636529 + - -0.9733930163199974 + - 0.973781735368775 + - - 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: + - - 0.9954534571132226 + - -0.004441938061426253 + - -0.09514559321162358 + - 0.023668970734328137 + - - -0.007474315922065139 + - -0.9994745973896184 + - -0.03153829060614795 + - -0.034789564265885184 + - - -0.0949555123351481 + - 0.032106048637587425 + - -0.9949636437167194 + - 0.970165438366642 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996412063297418 + - -0.013487768623098273 + - -0.023141709210607833 + - 0.0915972954049024 + - - -0.013624627679513493 + - -0.999890552469161 + - -0.0057665070458727255 + - -0.03399462365248575 + - - -0.023061399094877144 + - 0.006079735231507267 + - -0.9997155638937013 + - 0.9682037244872581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8666918953807614 + - 0.045666441655628415 + - -0.4967491666704801 + - 0.09998302131391192 + - - 0.006943050322156422 + - -0.9968088126724106 + - -0.07952348729050149 + - -0.09017751240022558 + - - -0.4987955017174146 + - 0.06547340746541022 + - -0.8642431835897467 + - 0.9753408086117179 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9167399238339364 + - 0.06719843453788432 + - -0.39379218179720893 + - 0.012612601003762621 + - - 0.02130527690201754 + - -0.9925719953792753 + - -0.11977862565972676 + - -0.09391990915891135 + - - -0.39891602778664675 + - 0.10141599668919234 + - -0.911362056698907 + - 0.9757064547459532 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936954935190656 + - -0.021205590254344465 + - 0.11008900536323106 + - 0.05407798261657297 + - - 0.022007584786648673 + - -0.9259495796213616 + - -0.3770053609842743 + - -0.09374709222572183 + - - 0.10993148944574131 + - 0.3770513213622111 + - -0.9196452406701469 + - 0.9732950675325621 + - - 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: + - - 0.9966879087430347 + - -0.0033698061372724004 + - -0.08125181211538277 + - 0.02365228572354986 + - - -0.007208584115136509 + - -0.9988689486583461 + - -0.04699850764892635 + - -0.03480386507947593 + - - -0.08100153628475981 + - 0.047428554824792926 + - -0.9955848950776328 + - 0.9699725851968847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8757676554446124 + - 0.03547850421191291 + - -0.4814273459369875 + - 0.10005557551127495 + - - 0.014090997868070072 + - -0.9987494167817 + - -0.047969221979266244 + - -0.09010255108187079 + - - -0.4825271572213616 + - 0.035226101361055445 + - -0.8751723626387959 + - 0.975605694169417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9397819239908094 + - 0.05011957121423115 + - -0.3380798188615141 + - 0.012619341060736549 + - - 0.032286223951568174 + - -0.9977843998221275 + - -0.05817122325123765 + - -0.09391584701785766 + - - -0.3402462859210689 + - 0.04375294336267857 + - -0.9393179146934333 + - 0.9757701959856773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975042288820355 + - -0.0076597335895419285 + - 0.07019004091602304 + - 0.05401670856189108 + - - 0.009041735877852619 + - -0.9720558709856273 + - -0.2345754264510458 + - -0.0935631543198774 + - - 0.07002542663040975 + - 0.2346246196879434 + - -0.9695605847297621 + - 0.9715482461719482 + - - 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: null + base_right_marker_pose: + - - 0.9991362071328717 + - -0.011578807277564192 + - -0.03990953292345636 + - 0.09158641625785086 + - - -0.012440840307568967 + - -0.9996931696813047 + - -0.0214194300808437 + - -0.03399077570263488 + - - -0.03964927601584912 + - 0.021897436255772302 + - -0.9989736919443094 + - 0.9682508978904824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8726624482249414 + - 0.049544380695014774 + - -0.4858040817033127 + - 0.09995784597474379 + - - 0.005044297439552807 + - -0.9957013298979285 + - -0.09248468361214703 + - -0.09013657112756908 + - - -0.4882978665951683 + - 0.07825737013882501 + - -0.8691610768422404 + - 0.9753319297450344 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9159315601623328 + - 0.068224535806724 + - -0.3954930970479156 + - 0.012633376721599823 + - - 0.015777758744223845 + - -0.9908044420872538 + - -0.1343786436498596 + - -0.0939262033813615 + - - -0.40102423795526876 + - 0.11684164606048617 + - -0.9085854887231434 + - 0.9755807591756238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947098584038878 + - -0.010412867036819477 + - 0.10219525328600672 + - 0.053972623780424694 + - - 0.0020636009966639585 + - -0.9926227739313014 + - -0.12122611197202875 + - -0.0934491973743958 + - - 0.10270364718472326 + - 0.1207956989010859 + - -0.9873501709028838 + - 0.9708152263323321 + - - 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: + - - 0.9977097417726934 + - -0.0035713193656460177 + - -0.06754640515863124 + - 0.023657001600400455 + - - -0.0060724019338480395 + - -0.9993020401552467 + - -0.036858628247892634 + - -0.034803231647600755 + - - -0.06736762654732019 + - 0.037184381392610426 + - -0.9970350669228393 + - 0.969879957753159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995779476525114 + - -0.01199205592395781 + - -0.02645972716242288 + - 0.0916306407523943 + - - -0.012327154836175953 + - -0.9998454088968881 + - -0.012537924926402415 + - -0.03399242710060003 + - - -0.02630528122712499 + - 0.012858806419408748 + - -0.9995712497251161 + - 0.9685447615966776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8866649862577024 + - 0.049530136556588014 + - -0.45975207200981055 + - 0.10002734020715445 + - - 0.005011854476458407 + - -0.9952178720804207 + - -0.09755136291424596 + - -0.09017007304530847 + - - -0.46238521111659175 + - 0.08419116737761664 + - -0.8826730787082269 + - 0.9757685120911472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9270926020926775 + - 0.05393947859065316 + - -0.37093104452768144 + - 0.01260948554613649 + - - 0.02822042087993682 + - -0.996827458437302 + - -0.07442194535745522 + - -0.09391190743907418 + - - -0.37376853130030563 + - 0.05852820478023646 + - -0.9256735570679413 + - 0.9755976172317603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9924257268198828 + - -0.02071274590012589 + - 0.12108740191821821 + - 0.05405922730440166 + - - 0.01324854779255306 + - -0.9618883666024884 + - -0.2731213030435095 + - -0.09365518215634258 + - - 0.12212965539710546 + - 0.27265683991433803 + - -0.9543283475410917 + - 0.9723738978288479 + - - 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: + - - 0.9960305678928266 + - -0.0030426595804534 + - -0.08895982264916477 + - 0.023676818122177895 + - - -0.008542967085881984 + - -0.9980696626956916 + - -0.06151395061185181 + - -0.03479160053709001 + - - -0.08860093417375978 + - 0.06202975599811176 + - -0.994133886272041 + - 0.9704609579067703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999442478125099 + - -0.012523592160301746 + - -0.030949839394793986 + - 0.09161261886677927 + - - -0.013240888672812682 + - -0.9996459137336541 + - -0.023080858362779035 + - -0.034017344233287165 + - - -0.03064982522487353 + - 0.02347779365721819 + - -0.9992544127591704 + - 0.9684771768988363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8764142519913362 + - 0.057272542963199315 + - -0.47814005764942485 + - 0.10006321405768465 + - - -0.003586278848237097 + - -0.9920986419161486 + - -0.12540902404594112 + - -0.09020159196667729 + - - -0.4815445955573477 + - 0.11162499957742997 + - -0.869283993847148 + - 0.9756990650536977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9022585321443637 + - 0.06487498746971662 + - -0.42628720033975026 + - 0.012606068878128825 + - - 0.02479218144455097 + - -0.9947866210991122 + - -0.09891878598846429 + - -0.0939646251264617 + - - -0.43048215864530176 + - 0.0786817290291415 + - -0.8991631090102984 + - 0.9760178878219521 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9895294334409561 + - -0.023060145064526142 + - 0.14247712119362646 + - 0.0541688633888844 + - - 0.023463615081188865 + - -0.9483202397216383 + - -0.31644617504659106 + - -0.09375052913410442 + - - 0.14241123242687745 + - 0.316475832637974 + - -0.9378497151648341 + - 0.9737892573348381 + - - 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: + - - 0.9960893116320485 + - -0.004399659252265316 + - -0.08824242885854681 + - 0.023665233113531216 + - - -0.008003808418631474 + - -0.9991462004911028 + - -0.040531581451892326 + - -0.03472618886084534 + - - -0.08798876236877971 + - 0.04107935056275226 + - -0.9952740650967218 + - 0.9702482214724578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993742684799564 + - -0.010434270327776681 + - -0.03379641257410317 + - 0.0915689856256888 + - - -0.011317087038491646 + - -0.9995969303367568 + - -0.026036520548970158 + - -0.03392453541429565 + - - -0.03351111817166542 + - 0.0264027056200803 + - -0.9990895365755887 + - 0.9682390685593433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8658623398492388 + - 0.01933643444913741 + - -0.49990850236177786 + - 0.10004364418874753 + - - 0.026693788880530357 + - -0.9996149965360142 + - 0.007569698508359664 + - -0.09004441430232717 + - - -0.4995696648776856 + - -0.019898768884028997 + - -0.8660451425479495 + - 0.9752207891147726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9303880257597849 + - 0.0310502239473531 + - -0.36525881935365934 + - 0.012607859071913492 + - - 0.05111291800637105 + - -0.9976611036234991 + - 0.045384930644605234 + - -0.09380654321891543 + - - -0.362995304564238 + - -0.060895040106406506 + - -0.929799012128296 + - 0.9753665889471038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935274691560959 + - -0.022452217895914298 + - 0.11135109314163533 + - 0.054104278637080463 + - - -0.002334247964476373 + - -0.9840997812470345 + - -0.17760115944435703 + - -0.09355983525264448 + - - 0.11356812633271315 + - 0.1761917093994322 + - -0.9777825741033553 + - 0.9722560469045316 + - - 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: + - - 0.9967489255181207 + - -0.004069589253075434 + - -0.0804674960576216 + - 0.023646170593412553 + - - -0.00874116436265377 + - -0.9982905668442178 + - -0.0577887203131901 + - -0.0347847540326424 + - - -0.08009476589676237 + - 0.05830422448813029 + - -0.9950806228053992 + - 0.969910330863896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988274460625833 + - -0.01194483262929147 + - -0.0469153915634871 + - 0.09158880399744597 + - - -0.012987158803551202 + - -0.9996741519760236 + - -0.02197552222883183 + - -0.0339976912811628 + - - -0.04663761034088738 + - 0.02255905238428142 + - -0.9986571095512289 + - 0.9683834109413096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8919734210475858 + - 0.039494072419272885 + - -0.4503594502043977 + - 0.10007055364886017 + - - 0.0058891925046279 + - -0.9971074082339644 + - -0.07577686887559774 + - -0.09017625121822803 + - - -0.45204948131405875 + - 0.06493869946870916 + - -0.8896258942696098 + - 0.9753548784851815 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9321267867296886 + - 0.06128201612066015 + - -0.3569091872748204 + - 0.012624355744724744 + - - 0.02154811924779005 + - -0.9932170585976879 + - -0.11426089911881769 + - -0.09389125085727787 + - - -0.36149043143334886 + - 0.09881492301643897 + - -0.9271247375468887 + - 0.9755207775548195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9842741483055296 + - -0.02384501583195656 + - 0.17503090069298596 + - 0.054027957680439935 + - - 0.00641062534832949 + - -0.985373099920909 + - -0.17029021649790013 + - -0.09352503361168914 + - - 0.17653131410621611 + - 0.1687343153369583 + - -0.9697244072249087 + - 0.9717230862585845 + - - 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: + - - 0.9934315907677257 + - -0.0015276527294109522 + - -0.11441739702442258 + - 0.023678430294734903 + - - -0.006839343430709403 + - -0.9989159232299729 + - -0.046045647992477526 + - -0.03486625137359097 + - - -0.11422301802238827 + - 0.04652574120579554 + - -0.9923650827992226 + - 0.9711839946012414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8745324631397426 + - 0.04149790539608739 + - -0.48318826016623384 + - 0.1000063773845054 + - - 0.012039465580045745 + - -0.997882962940764 + - -0.06391121608222732 + - -0.09011112271018339 + - - -0.48481751431160325 + - 0.05007510479569302 + - -0.873180658109431 + - 0.9752822751241873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9414043879626384 + - 0.0390072407724876 + - -0.3350167361371778 + - 0.01261011454771672 + - - 0.04195186608932078 + - -0.9991184234824926 + - 0.00155460267657943 + - -0.09387277109182313 + - - -0.33466075248871646 + - -0.015518087033378536 + - -0.9422108945021332 + - 0.9748334591027424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985198265085028 + - -0.0038766998005963166 + - 0.05425059693759654 + - 0.05410562226212352 + - - 0.006217635925768141 + - -0.9827811856156811 + - -0.18466857394622072 + - -0.09373632575548924 + - - 0.05403237060248328 + - 0.18473254287886648 + - -0.9813023950488369 + - 0.973245455448304 + - - 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: + - - 0.9965147163902264 + - -0.0010551660061029053 + - -0.08341047081995376 + - 0.023673447957100392 + - - -0.009271506974901263 + - -0.9951255651863656 + - -0.09817916617557447 + - -0.034847020582739044 + - - -0.08290029659851134 + - 0.0986103246988685 + - -0.9916670533433402 + - 0.9708003297069023 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9985643799227965 + - -0.013002703973430256 + - -0.05196257151816531 + - 0.09156544381985324 + - - -0.013308663401463612 + - -0.9998960531000066 + - -0.0055463928362799 + - -0.03401891231922994 + - - -0.05188505206576983 + - 0.006229982697177821 + - -0.9986336308615509 + - 0.9681356719022224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8723004912833181 + - 0.02504901526410344 + - -0.48832816808083135 + - 0.1000138875094297 + - - 0.02271619335555687 + - -0.9996846781309068 + - -0.010701348968235828 + - -0.09007903556077082 + - - -0.4884422457837927 + - -0.0017581651247026934 + - -0.8725944541361015 + - 0.9751167339862796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9469877441549811 + - 0.053142615141229727 + - -0.3168439282615514 + - 0.01267209587448284 + - - 0.026693534816032052 + - -0.9958293296347324 + - -0.08724334609736352 + - -0.09406437117747835 + - - -0.32015881624482134 + - 0.07416069508297647 + - -0.9444567346816497 + - 0.9767115678239927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944413855908539 + - -0.00874710007216412 + - 0.10492768397553662 + - 0.05407693698111125 + - - -0.000841476340382826 + - -0.9971717086337086 + - -0.07515234805445808 + - -0.09365405769432249 + - - 0.10528828302195412 + - 0.07464631096616484 + - -0.9916361760834621 + - 0.972388228040161 + - - 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: + - - 0.9943576263108428 + - -0.0033115443320705386 + - -0.10602803719584278 + - 0.0236602712117721 + - - -0.007620592615110134 + - -0.9991601226526037 + - -0.04026134460036098 + - -0.03474917629884518 + - - -0.1058056594217002 + - 0.040842171526147074 + - -0.9935477237955751 + - 0.9703894371864534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992362421806034 + - -0.011472751958417736 + - -0.037353825443816414 + - 0.09157790257444207 + - - -0.011778936712463916 + - -0.9998987259603568 + - -0.007987144219358996 + - -0.033953577491450816 + - - -0.03725840794653274 + - 0.008421032321377949 + - -0.9992701823090359 + - 0.9684962382365566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.859891558137337 + - 0.03779013366315002 + - -0.5090760395479876 + - 0.10001127018100678 + - - 0.01068304130546173 + - -0.9983698636126159 + - -0.05606681780333933 + - -0.09015510249418335 + - - -0.5103649487108306 + - 0.04277290296260362 + - -0.8588935311780751 + - 0.9755486658655853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.921108164890001 + - 0.0627174342175861 + - -0.3842216443904968 + - 0.012613151541491473 + - - 0.021129546494308656 + - -0.9935372102030113 + - -0.11152288647162065 + - -0.09394002057983387 + - - -0.38873292996338693 + - 0.09460621220184168 + - -0.9164804273823313 + - 0.9755601643757607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9896211940928324 + - -0.01762752063930091 + - 0.1426154364659991 + - 0.05410168337357734 + - - 0.01156213300793855 + - -0.9794626324480672 + - -0.2012939857974125 + - -0.09362767471715588 + - - 0.1432348047179286 + - 0.2008537332339461 + - -0.9690931681543336 + - 0.9728099279972837 + - - 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: + - - 0.9976289673700929 + - -0.004835283939342627 + - -0.06865175520923011 + - 0.02365675337029264 + - - -0.007261481201790647 + - -0.9993561870981835 + - -0.035135198865781 + - -0.03474222676327584 + - - -0.06843766766071269 + - 0.03555040559273372 + - -0.9970217922931051 + - 0.9698261871959998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996524756210108 + - -0.012310348574497228 + - -0.023310583492456023 + - 0.0915870377133024 + - - -0.012352787712742478 + - -0.9999222943443521 + - -0.0016774709687763906 + - -0.03391344518798256 + - - -0.023288121875932967 + - 0.0019648386960621628 + - -0.9997268640925833 + - 0.9682491032872146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8389368874701063 + - 0.01013185924831001 + - -0.544134399087342 + - 0.09990092669867981 + - - 0.036724730570044814 + - -0.9986016261336463 + - 0.03802744335075694 + - -0.08994432699862877 + - - -0.5429882070602712 + - -0.05188581416350569 + - -0.8381358298522158 + - 0.9744561776966031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9117407998322249 + - 0.08227378317581278 + - -0.4024422176204111 + - 0.012620714280300968 + - - 0.0051546495750079135 + - -0.9819504076757244 + - -0.1890683116051934 + - -0.09401254074199483 + - - -0.4107336649327078 + - 0.17030684503982504 + - -0.8957083426113257 + - 0.9768314753204802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830393975139651 + - -0.01309749729469765 + - 0.18292621053308877 + - 0.05402760231601936 + - - 0.00013556404065783768 + - -0.9973943730409514 + - -0.07214184810938438 + - -0.09343742773740824 + - - 0.18339445072785437 + - 0.07094307711723531 + - -0.9804761880083399 + - 0.9712405621378754 + - - 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: + - - 0.9959186180515592 + - -0.0021300448548053647 + - -0.09023064405837516 + - 0.02365748914775552 + - - -0.007886693166814002 + - -0.99795125499292 + - -0.06349088697559954 + - -0.03487073912706095 + - - -0.08991054603974555 + - 0.06394337781953924 + - -0.9938950337655694 + - 0.9702479322022304 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994266538371819 + - -0.012055173326430703 + - -0.03163915921581198 + - 0.09161923476787756 + - - -0.012551584513856314 + - -0.9998004889994632 + - -0.01553833718987121 + - -0.0340167971188927 + - - -0.03144552950747226 + - 0.015926549924711444 + - -0.9993785687523475 + - 0.9682590829980412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8691757857232318 + - 0.041281022210247396 + - -0.4927771613190689 + - 0.09998914031292792 + - - 0.013683761157345696 + - -0.9981356943816787 + - -0.05948016712983887 + - -0.09014616076511105 + - - -0.49431387618899725 + - 0.0449556760207419 + - -0.8681202560708553 + - 0.9752693695944034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9146409971799945 + - 0.06515452683797077 + - -0.398982122293851 + - 0.012610606187610394 + - - 0.02366724788781955 + - -0.9938643273044001 + - -0.10804425153236807 + - -0.09403799669677004 + - - -0.4035736706662141 + - 0.0893788931699944 + - -0.9105710877250088 + - 0.976646856462621 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935787316470365 + - -0.01378283573878072 + - 0.11230021129839503 + - 0.05409700338611064 + - - 0.013501688065964513 + - -0.9710163700214572 + - -0.23863133400649983 + - -0.09379768508541579 + - - 0.1123343600063479 + - 0.23861526059611127 + - -0.9645951217856195 + - 0.9727516924603725 + - - 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: + - - 0.9932321893601465 + - -0.003784811509917033 + - -0.11608399209488197 + - 0.02365981365081983 + - - -0.007224278093529516 + - -0.9995468187241642 + - -0.029222713502150957 + - -0.03481708121375736 + - - -0.11592078254082643 + - 0.029863562751886216 + - -0.9928094176602502 + - 0.9707986148651448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998874882459132 + - -0.01031890890939166 + - -0.04628703178185948 + - 0.09160404291315535 + - - -0.012233181496817534 + - -0.9990733122866082 + - -0.041265796334637984 + - -0.03402397163647592 + - - -0.0458183201647672 + - 0.04178560512408045 + - -0.9980754704638792 + - 0.96847634016948 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8718944846106167 + - 0.05351421395473152 + - -0.4867609645507682 + - 0.10003793567411805 + - - 0.001019247223237981 + - -0.9942070652315096 + - -0.10747684671056329 + - -0.09015262274680234 + - - -0.48969272900532734 + - 0.09321234010878182 + - -0.866898200950238 + - 0.9753215703291983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9356691537886934 + - 0.06603546549225628 + - -0.34664470563614774 + - 0.012652163957241475 + - - 0.015383900437410444 + - -0.9890338690080382 + - -0.14688547090275275 + - -0.09412516397162145 + - - -0.35254300483158413 + - 0.1321034566247705 + - -0.9264243663095795 + - 0.9775704505967233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974307735801451 + - -0.006957709028454601 + - 0.07129826225363944 + - 0.05414160365117232 + - - 0.00966306626190786 + - -0.973108677023149 + - -0.23014371130377498 + - -0.09380136243107275 + - - 0.0709822306336689 + - 0.23024137983284565 + - -0.9705413076973779 + - 0.9738674369606741 + - - 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: + - - 0.9958943057458165 + - -0.0021269419656354885 + - -0.0904986624262089 + - 0.023663733345416056 + - - -0.008222860099651045 + - -0.9977164157326691 + - -0.06703982659090305 + - -0.03480986993312621 + - - -0.09014941128393276 + - 0.06750873940040358 + - -0.9936375867235144 + - 0.9703863881234128 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9981528029299699 + - -0.008941634741282066 + - -0.06009183947257802 + - 0.09155809769278841 + - - -0.012107176139781342 + - -0.9985463437859555 + - -0.05252252466914728 + - -0.03402502623810752 + - - -0.05953484936543383 + - 0.05315304770052581 + - -0.9968100898522152 + - 0.968347433365903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8546792199496871 + - 0.03626638009411677 + - -0.5178881932049267 + - 0.09996608645535078 + - - 0.015333165072657098 + - -0.9988852466332734 + - -0.044644799330268936 + - -0.09009915093752352 + - - -0.5189299808597004 + - 0.030216117110813293 + - -0.8542825418043478 + - 0.9749719807482491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9236720228775642 + - 0.046647830562699125 + - -0.38033402958066 + - 0.012621618923697531 + - - 0.03758479554641045 + - -0.9988054651676334 + - -0.031225404641123243 + - -0.09388191460543091 + - - -0.38133630471934243 + - 0.014547255928905255 + - -0.9243219136469369 + - 0.9753232049189722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9895640859030775 + - -0.010813443946405469 + - 0.14368712301672873 + - 0.05398141704399189 + - - 0.011059907041730524 + - -0.9885385182496472 + - -0.1505631973392607 + - -0.09357369312657263 + - - 0.1436683623733314 + - 0.15058109896932892 + - -0.9781026195068467 + - 0.9714288490140989 + - - 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: + - - 0.994563233694068 + - -0.0022034372955697288 + - -0.10411108993802373 + - 0.023670676222211598 + - - -0.00745231284651904 + - -0.9987187064029509 + - -0.050054055920119266 + - -0.03479952522807939 + - - -0.10386740209149539 + - 0.05055779212842775 + - -0.9933053268949396 + - 0.9703037273238733 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999267787246374 + - -0.011623264843699601 + - -0.03645255939037316 + - 0.09160568824483288 + - - -0.01264659025391025 + - -0.9995287877575753 + - -0.02796902212845455 + - -0.03400233892677211 + - - -0.03611029114650237 + - 0.028409543436062022 + - -0.9989439146994538 + - 0.9684312234496706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8739155737259248 + - 0.05826087612024638 + - -0.4825735594839289 + - 0.10007708860533876 + - - 7.897610542680067e-05 + - -0.9928079095297498 + - -0.11971820470564518 + - -0.09021672797881228 + - - -0.4860777342792637 + - 0.10458549177046161 + - -0.8676348950734222 + - 0.9760913667118928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9381611351407158 + - 0.030210428184625736 + - -0.34487826046358067 + - 0.012630037836047409 + - - 0.04670625374226688 + - -0.99812260498043 + - 0.03962059172252612 + - -0.09386634727573874 + - - -0.3430338326941627 + - -0.05327847084875556 + - -0.937810852022502 + - 0.9748239131569063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9819739452757008 + - -0.029128838450892477 + - 0.18675835073746191 + - 0.05409227409901914 + - - 0.01563057874391707 + - -0.9721558575906001 + - -0.23381333058748777 + - -0.09366814005005086 + - - 0.18836893535773155 + - 0.23251773980233303 + - -0.9541764222979984 + - 0.9726599394243762 + - - 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: + - - 0.9948459562144478 + - -0.0007599050124284475 + - -0.101394999620954 + - 0.023651455812167904 + - - -0.007863154134917985 + - -0.9975388255429927 + - -0.06967397176390953 + - -0.03483595365935007 + - - -0.1010925032374394 + - 0.07011215357325452 + - -0.9924034420085963 + - 0.9704557514829661 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992074130375176 + - -0.011905558694101235 + - -0.03798425204019442 + - 0.09159071924649104 + - - -0.012882683619732323 + - -0.9995896564105479 + - -0.025584277589905766 + - -0.0340337733231294 + - - -0.03766407032737678 + - 0.026053338926609472 + - -0.9989507702270168 + - 0.9684118660921187 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8829772930623965 + - 0.06681943273873793 + - -0.4646356242742004 + - 0.10009902193011185 + - - -0.002820512853536697 + - -0.9890438921570397 + - -0.147594796975016 + - -0.09023980823170341 + - - -0.46940722687603104 + - 0.13163336505357007 + - -0.8731148335478142 + - 0.9763618426779416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9273828020833428 + - 0.061562630545057534 + - -0.3690137950272594 + - 0.012601101307297777 + - - 0.020965999788489814 + - -0.9933699368614107 + - -0.11303360293659596 + - -0.09403444992135851 + - - -0.37352585620398027 + - 0.097088676272425 + - -0.9225249176508751 + - 0.9763664592531651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953930392366837 + - -0.007235558143012064 + - 0.09560514702418975 + - 0.054035396890504676 + - - 0.007573998674419352 + - -0.9880982312561187 + - -0.15363762538066558 + - -0.09372497738440111 + - - 0.09557893064497917 + - 0.15365393612559666 + - -0.9834912993666357 + - 0.9724940929473955 + - - 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: + - - 0.9940036307047464 + - -0.0006907032005762414 + - -0.10934489048360133 + - 0.023664842847344617 + - - -0.008963117176852057 + - -0.9971296257366236 + - -0.07518092849130625 + - -0.03482660054688537 + - - -0.10897910201619426 + - 0.0757101869462069 + - -0.99115665911919 + - 0.970685738043348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986237678757471 + - -0.01233769750325538 + - -0.050974027248826215 + - 0.09154845854183283 + - - -0.012371185101741705 + - -0.9999234156511065 + - -0.0003414847051302601 + - -0.03397467828569387 + - - -0.05096591030114497 + - 0.0009716238693855731 + - -0.998699920864237 + - 0.9681736441841895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.86614747996312 + - 0.05972050861274128 + - -0.4962076216711833 + - 0.10001464213445907 + - - 0.0015740399033686292 + - -0.9931562479853732 + - -0.11678265918362746 + - -0.09014886222116467 + - - -0.4997860195642924 + - 0.10036995535842475 + - -0.8603137838657644 + - 0.9755297857009162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9222788797283248 + - 0.05917340706381877 + - -0.3819688153547694 + - 0.012602023270480763 + - - 0.017127461170629504 + - -0.9934979134960175 + - -0.1125546354128018 + - -0.09386089080861455 + - - -0.38614546233371033 + - 0.09726460700336872 + - -0.9172956329033545 + - 0.9749041843305983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9887117084196942 + - -0.014797818285482572 + - 0.14909789471283436 + - 0.0539792880282026 + - - -0.003434984830356989 + - -0.9970880417005685 + - -0.076181611803248 + - -0.09345881392942951 + - - 0.1497910495090572 + - 0.07480950254957852 + - -0.9858834514359495 + - 0.9712093125502411 + - - 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: + - - 0.9977577989556113 + - -0.0029857901840502983 + - -0.06686149624582635 + - 0.023679548939208858 + - - -0.008171494531947002 + - -0.9969650485214694 + - -0.07742040237365683 + - -0.034757392390091096 + - - -0.06642741377148581 + - 0.07779316861756819 + - -0.994754050816618 + - 0.970254992187381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994083200897613 + - -0.010757093253844288 + - -0.032669476275100744 + - 0.09164511931192534 + - - -0.012115167044840228 + - -0.9990583590694867 + - -0.041660747723244296 + - -0.034010002421711205 + - - -0.03219056481077786 + - 0.042031894058111224 + - -0.9985975602909565 + - 0.9687775463259537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8763536784599042 + - 0.040769400529640315 + - -0.47993966936506577 + - 0.10011561054023217 + - - 0.007651912019201127 + - -0.9974640641112698 + - -0.07075937428411422 + - -0.09021369497224248 + - - -0.48160739040451334 + - 0.05833778181489868 + - -0.8744432655814054 + - 0.9761785661298434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9204636418023875 + - 0.04282108605418071 + - -0.3884752742569682 + - 0.012647677520732082 + - - 0.04122502101729611 + - -0.9990723585430062 + - -0.012446687809954681 + - -0.09385107959655346 + - - -0.38864788917735 + - -0.0045581777560151195 + - -0.9213750817411631 + - 0.9748994182126806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9829269308118151 + - -0.024576261878333776 + - 0.18234762416042805 + - 0.05411824957708519 + - - 0.014564733363343949 + - -0.9775371648482087 + - -0.21025926824418695 + - -0.09366492893639454 + - - 0.18341896637730748 + - 0.20932534173533274 + - -0.9604896584974076 + - 0.9732956581865607 + - - 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: + - - 0.9955877391021922 + - 0.0003658243084585051 + - -0.09383453480441292 + - 0.023694890869280283 + - - -0.009962813682623348 + - -0.9939279666216561 + - -0.10958074425219752 + - -0.0348241141762403 + - - -0.09330485567702557 + - 0.11003210140643288 + - -0.989538852479868 + - 0.9709915806264513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991565940818817 + - -0.011848646254168241 + - -0.03931551964094299 + - 0.09156434331831688 + - - -0.011893285502214005 + - -0.9999288658088565 + - -0.0009017106948739238 + - -0.03394142752725908 + - - -0.03930203891220677 + - 0.0013685408864950739 + - -0.9992264392184517 + - 0.9681860257832581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8763060136644494 + - 0.05253520653395816 + - -0.4788818460643044 + - 0.10006464655459707 + - - 0.005736017451167967 + - -0.9951036368774688 + - -0.09867041084861478 + - -0.09018189675003165 + - - -0.481720737065908 + - 0.08371859977131069 + - -0.8723166440765701 + - 0.9760418731396769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9181523329427924 + - 0.03281103413735738 + - -0.3948667237822717 + - 0.012649889877575095 + - - 0.05267936009875272 + - -0.9978268812343861 + - 0.03957777287373089 + - -0.09387763724177187 + - - -0.3927100438380634 + - -0.057139750829836994 + - -0.9178855431609165 + - 0.9755326308402343 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9888870425632452 + - -0.021317236335884605 + - 0.14713256772556685 + - 0.05417079132993825 + - - 0.014389992397296726 + - -0.9712952018791886 + - -0.23744169584399308 + - -0.09371416841514028 + - - 0.1479707578183075 + - 0.23692025291533356 + - -0.9601944847733762 + - 0.9739964158810881 + - - 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: + - - 0.9971092659949966 + - -0.003299765877205815 + - -0.07590930912658071 + - 0.02363613267638337 + - - -0.007252579073390369 + - -0.9986282222215744 + - -0.05185628100202411 + - -0.03478261399084415 + - - -0.07563406483657599 + - 0.05225691655400551 + - -0.9957653854741906 + - 0.9701164904038615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991887040956308 + - -0.014016792687249771 + - -0.03775530599076919 + - 0.09157280298784871 + - - -0.013692856271288894 + - -0.9998673049332787 + - 0.0088248633189064 + - -0.033961383311921375 + - - -0.03787399232755606 + - -0.008300725765029018 + - -0.9992480466115247 + - 0.9681273437898149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8804436987427103 + - 0.03462220810283506 + - -0.4728849712671566 + - 0.10001580154354933 + - - 0.015149236958304602 + - -0.998875407994829 + - -0.044926828540929165 + - -0.09014650875636657 + - - -0.47390863461624827 + - 0.032391696609608014 + - -0.8799780588326708 + - 0.9756105057688579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9245142107991053 + - 0.062276537794497946 + - -0.37602540721450955 + - 0.012619594006192657 + - - 0.023789226558166208 + - -0.9940659670650038 + - -0.10614577628376692 + - -0.09391402986045777 + - - -0.38040445151216556 + - 0.08918792498679251 + - -0.9205096236902031 + - 0.9757730116430225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9886285039780571 + - -0.023849463542578678 + - 0.14847519729180333 + - 0.054055343976242835 + - - 0.016844474382748907 + - -0.9635668423890406 + - -0.2669367039790209 + - -0.09360987438723642 + - - 0.14943207421727647 + - 0.26640222096886834 + - -0.9522079141962522 + - 0.972349425450535 + - - 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: + - - 0.9960224770665618 + - -0.004837108662196112 + - -0.08897093659156755 + - 0.023664056551344247 + - - -0.00824877083722575 + - -0.9992430008887034 + - -0.03801819241645492 + - -0.034770199664176694 + - - -0.08871968754377779 + - 0.03860087505134778 + - -0.99530838913746 + - 0.9700794391452308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998408347880572 + - -0.009830676084396434 + - -0.05553493216085216 + - 0.09159579601646989 + - - -0.01212361582275832 + - -0.9990813425148535 + - -0.0411033937540406 + - -0.03400828151164914 + - - -0.05507984042977013 + - 0.04171125563251742 + - -0.997610335918684 + - 0.9686029051478195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8562753891973491 + - 0.019295537026254778 + - -0.5161590259850124 + - 0.09993941632631895 + - - 0.028078694841146022 + - -0.9995632474521007 + - 0.009214186834928155 + - -0.09005652633785896 + - - -0.5157557995320519 + - -0.02238295319835152 + - -0.85644320223537 + - 0.9747588432411687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9294115948386142 + - 0.022374831664074644 + - -0.368365924438659 + - 0.012602888924485568 + - - 0.05588969521918752 + - -0.9951811748502156 + - 0.08056532251565932 + - -0.09378066478101581 + - - -0.36478819792840045 + - -0.09546620413397716 + - -0.9261834453931905 + - 0.9742387317312023 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99313855316202 + - -0.010547692419971118 + - 0.11646699278277625 + - 0.054095516088493625 + - - -0.003936797475564587 + - -0.9983751549022052 + - -0.0568467386895087 + - -0.09363678809776556 + - - 0.1168773538752737 + - 0.055998180850904265 + - -0.9915663809813756 + - 0.973035568722493 + - - 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: + - - 0.9955974888582811 + - -0.0013563109448348864 + - -0.09372193233019535 + - 0.023664332476639523 + - - -0.008488218124173776 + - -0.997091484961246 + - -0.07573982288633588 + - -0.034820986255518466 + - - -0.0933466139298113 + - 0.07620190967684473 + - -0.992713291252535 + - 0.9702261591268566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9980407461515167 + - -0.01203159130589327 + - -0.06139959146420911 + - 0.09159204798300023 + - - -0.013165526172655151 + - -0.9997495508743938 + - -0.018097083937614174 + - -0.033991470648434836 + - - -0.0611664772724485 + - 0.018869985084675453 + - -0.9979491899495601 + - 0.9682014058444869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8757038625112338 + - 0.04060480822172026 + - -0.48113822830054115 + - 0.10007895824045157 + - - 0.010573352750586839 + - -0.9978314598285837 + - -0.0649660064031145 + - -0.09018181829422445 + - - -0.4827327929553968 + - 0.051803738529522914 + - -0.8742341924678119 + - 0.9757951630891117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9131335114185981 + - 0.04541774386377318 + - -0.4051227207484983 + - 0.012590463283728105 + - - 0.041772239225833875 + - -0.998967881338241 + - -0.017839621202434805 + - -0.0939115048849148 + - - -0.40551482137451 + - -0.0006329272559699988 + - -0.9140882501425607 + - 0.9756381449166853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990070949372446 + - -0.014327903702574522 + - 0.13983642724352283 + - 0.05403184128350414 + - - 0.0036387977091947724 + - -0.9918460481873055 + - -0.12738985770639874 + - -0.09353169742702483 + - - 0.14052143736802178 + - 0.12663383383091073 + - -0.981945822216944 + - 0.9718656801230188 + - - 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: + - - 0.9968329529102153 + - -0.003395873562034455 + - -0.07945144451204834 + - 0.02367019948554284 + - - -0.0077403137893692865 + - -0.9984872299071476 + - -0.05443656174661586 + - -0.03478098900438268 + - - -0.0791463930621132 + - 0.05487913770370027 + - -0.9953512589584422 + - 0.9700145879169376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8588316818628462 + - -0.008404502445267002 + - -0.5121889363967973 + - 0.09992908151184043 + - - 0.045416575190086406 + - -0.9946786417937097 + - 0.09247558735917001 + - -0.08993463559981651 + - - -0.5102406068970189 + - -0.10268283156432607 + - -0.8538798271275024 + - 0.9739831843953897 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9435956752402529 + - 0.05705284324341401 + - -0.3261474739220493 + - 0.012631781390210857 + - - 0.019092035188474528 + - -0.9927788247154885 + - -0.11843014560868863 + - -0.09396369380344827 + - - -0.33054908237696473 + - 0.10552335416568016 + - -0.9378710603624417 + - 0.9760307799314613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997058921644801 + - 0.007394082428619646 + - -0.023096681940477867 + - 0.0540262548970128 + - - 0.0019170578836167707 + - -0.9735007608337337 + - -0.2286757388644732 + - -0.09355341774212317 + - - -0.024175484704379375 + - 0.2285642058616805 + - -0.9732286215160998 + - 0.971876857053117 + - - 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: + - - 0.9979965923452329 + - -0.005138841619555981 + - -0.06305865502936368 + - 0.023664705496707208 + - - -0.007860649102242503 + - -0.9990445255070586 + - -0.04299123457251068 + - -0.03476294496919484 + - - -0.0627774789474266 + - 0.04340078756412541 + - -0.9970834266879679 + - 0.9698199770459798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987029883709159 + - -0.012581230353730077 + - -0.0493361293758305 + - 0.09157047784685038 + - - -0.013397679952099622 + - -0.9997781452373575 + - -0.016253075944292317 + - -0.034002285275710725 + - - -0.0491207002281463 + - 0.01689298518723694 + - -0.9986499806541634 + - 0.9683020287603595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8777282165029878 + - 0.06648316576609113 + - -0.47452414756701544 + - 0.10008640441070314 + - - -0.004851028265970406 + - -0.9890437679475428 + - -0.14754285007715856 + - -0.0901750711420528 + - - -0.47913426665105785 + - 0.1318044527087252 + - -0.8677891107676492 + - 0.9760183784630625 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9424651119542086 + - 0.07275714881449791 + - -0.3262911430693855 + - 0.012662176973153626 + - - 0.007738355774861039 + - -0.980516124885454 + - -0.19628613473578255 + - -0.09410964411365247 + - - -0.33421494670203317 + - 0.18246787699756117 + - -0.9246652601157672 + - 0.9774907870903863 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976585369023175 + - -0.008377708873526925 + - 0.06787678351216649 + - 0.05412786631409923 + - - 0.0105645871985874 + - -0.9616788931774991 + - -0.2739746264058467 + - -0.09374147424275218 + - - 0.06757094969919049 + - 0.27405021512659 + - -0.9593386505013851 + - 0.9735649526651033 + - - 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: + - - 0.9960399383433091 + - -0.0030048821832353084 + - -0.08885613039133469 + - 0.02367082968494558 + - - -0.007836626803595547 + - -0.9985059389034653 + - -0.05407843613540676 + - -0.034814972486731294 + - - -0.08856087457448783 + - 0.05456061452710165 + - -0.9945753419610943 + - 0.9706411709550495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9985084845516994 + - -0.010824154487659061 + - -0.053513026058109314 + - 0.09157237866425592 + - - -0.011754954592596886 + - -0.9997845138156741 + - -0.017109850288110188 + - -0.03391549894924186 + - - -0.05331629507753312 + - 0.017713373873512888 + - -0.9984205572128521 + - 0.9681738843848936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8668522788537294 + - 0.033830905174859725 + - -0.4974159190266691 + - 0.09999344829592541 + - - 0.013740135276342456 + - -0.9989372180615375 + - -0.04399594360921273 + - -0.09006388325474944 + - - -0.4983756969683453 + - 0.031303421961933586 + - -0.8663958451220724 + - 0.975018173463672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9581769157623183 + - 0.05134724289329373 + - -0.2815323405001067 + - 0.012671855158485172 + - - 0.025260616354300075 + - -0.9951069815125683 + - -0.09551961372590365 + - -0.09398560379785845 + - - -0.2850594663602874 + - 0.084413008429993 + - -0.9547856014028416 + - 0.9762946066492829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932027515872961 + - -0.016408992954351484 + - 0.11523471347492445 + - 0.0541345754458156 + - - 0.005710940945841368 + - -0.9819511411506241 + - -0.1890485163827017 + - -0.09375036911862354 + - - 0.11625695417022158 + - 0.1884216052983616 + - -0.9751828645253422 + - 0.9737517518044152 + - - 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: + - - 0.9964832575339903 + - -0.0022866311281222315 + - -0.0837609024099628 + - 0.02368178342133124 + - - -0.0079704015808707 + - -0.9976816333928697 + - -0.06758573140222984 + - -0.03481043813375912 + - - -0.08341217029359123 + - 0.06801565781949481 + - -0.9941912693935174 + - 0.9703953989444754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999583056184952 + - -0.013983253944512707 + - -0.025262272207274155 + - 0.09160108927354031 + - - -0.01360515886134995 + - -0.9997937678531599 + - 0.01507718190972091 + - -0.03401188417645939 + - - -0.025467890378054036 + - -0.014727198345396668 + - -0.9995671544166437 + - 0.9683122090728361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.865179092710946 + - 0.045966039992228765 + - -0.49935184059267995 + - 0.1000532724489362 + - - 0.005631469268329095 + - -0.9966178203264582 + - -0.08198296628946364 + - -0.09019483329782328 + - - -0.5014313752546248 + - 0.06811786384768898 + - -0.8625117579112087 + - 0.9756839480879148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9260190799304687 + - 0.08086089437449795 + - -0.3687142245231182 + - 0.012647405590890587 + - - 0.00587550575367906 + - -0.9797559798914329 + - -0.2001092159274958 + - -0.09406212338846276 + - - -0.3774309765200342 + - 0.18313856947113827 + - -0.9077478297055845 + - 0.9766815886155488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9795593657569073 + - -0.027880056150549 + - 0.19921383342270133 + - 0.05409556782669126 + - - 0.011593032747095337 + - -0.9808778765953202 + - -0.19427864730222186 + - -0.09369302208354557 + - - 0.2008209415117117 + - 0.19261696102601808 + - -0.9605048962787496 + - 0.972623567533053 + - - 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: + - - 0.9973487181806356 + - -0.00470300323395892 + - -0.07261829042344903 + - 0.023681415039647213 + - - -0.007758316081758324 + - -0.999093822971226 + - -0.04184903143820777 + - -0.034764745119845335 + - - -0.07235566926660653 + - 0.04230147351241968 + - -0.9964814310681658 + - 0.9699583822346433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9985707497138622 + - -0.010369544500113355 + - -0.05243024282563883 + - 0.09158683963350576 + - - -0.01214722379855257 + - -0.9993581234853877 + - -0.03370142397218004 + - -0.03398452022124408 + - - -0.05204712066851692 + - 0.03429013809574004 + - -0.9980557517791738 + - 0.9682070847429349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8726363143022697 + - 0.03727139898765483 + - -0.4869463068742315 + - 0.10002766857898 + - - 0.013479817259528407 + - -0.9985418584610701 + - -0.052272855553924955 + - -0.0901066823549646 + - - -0.4881845526925242 + - 0.03905124477676512 + - -0.8718662986913676 + - 0.9754376770638613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9338658139615674 + - 0.06835324864163604 + - -0.35103058971268275 + - 0.01263693942416812 + - - 0.011954828042744812 + - -0.9869824984811015 + - -0.16038276022837258 + - -0.09388127692006377 + - - -0.35742373116563975 + - 0.14557946658831364 + - -0.9225263656435492 + - 0.9754080638568718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889279748199146 + - -0.02143937471588457 + - 0.14683941511179577 + - 0.05407981317071365 + - - 0.01751702898731418 + - -0.9657253694339739 + - -0.25897425456417916 + - -0.09354590246148484 + - - 0.14735879449167594 + - 0.2586790753876443 + - -0.9546572796781856 + - 0.9721791776371356 + - - 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: + - - 0.9987826203005766 + - -0.005686309073912435 + - -0.04899942116627803 + - 0.023695175020366683 + - - -0.0074991677984021675 + - -0.9992910644199209 + - -0.03689350963017762 + - -0.034744546326003566 + - - -0.04875489583463143 + - 0.037216051101863865 + - -0.9981171903501797 + - 0.9698107857815405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8594718111817581 + - 0.0339311856195946 + - -0.5100557620754784 + - 0.10005135923666432 + - - 0.019431241325546703 + - -0.9992420246427178 + - -0.03373133629834011 + - -0.09009980343236734 + - - -0.5108136966101211 + - 0.019080116099541102 + - -0.8594796777848399 + - 0.9757072019093165 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9558143769862877 + - 0.04914141250725876 + - -0.28983443260438563 + - 0.012641170599083693 + - - 0.028390648073607815 + - -0.9967511944796504 + - -0.07537259054424866 + - -0.09399061385389373 + - - -0.2925967324634287 + - 0.06381361829720869 + - -0.9541042785102388 + - 0.9768416873687384 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999812031727187 + - 0.0031382564556058524 + - 0.005267318830375312 + - 0.05414057561586216 + - - 0.004011535991930138 + - -0.9845648953837265 + - -0.17497392479171694 + - -0.09366274244071146 + - - 0.004636904164140903 + - 0.17499176587614293 + - -0.9845589779161643 + - 0.9733202690065184 + - - 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: + - - 0.9988780449750713 + - -0.004141273127162312 + - -0.04717521726145868 + - 0.023694647863082927 + - - -0.00800140499939938 + - -0.996605712537312 + - -0.08193309011645832 + - -0.03475995428550026 + - - -0.046675783708633886 + - 0.0822186328935378 + - -0.9955207017537616 + - 0.9702553811820676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989308924749486 + - -0.01154147013707878 + - -0.04476456775483779 + - 0.09163202784165472 + - - -0.012189803463025416 + - -0.9998243379466967 + - -0.014237343185536776 + - -0.03395237194121878 + - - -0.044592384447743515 + - 0.014767793217839137 + - -0.9988961064759138 + - 0.968740024453506 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8673599272989287 + - 0.033504220526976686 + - -0.4965523373450946 + - 0.10002921355941767 + - - 0.01960661431116168 + - -0.9992572095542549 + - -0.033175440149264886 + - -0.09005185413033245 + - - -0.4972950202759427 + - 0.01903933719234524 + - -0.8673725649615776 + - 0.9753557355764667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9586974324660829 + - 0.06992146901428749 + - -0.2756995124294285 + - 0.012645423404790967 + - - 0.004716207505364958 + - -0.973087074353668 + - -0.23038945963864169 + - -0.09423624483715956 + - - -0.284388801414027 + - 0.21957352731306887 + - -0.9332258439057451 + - 0.9785036827222519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989991235095033 + - 0.013044297527109942 + - -0.04278548269294613 + - 0.05414690946877068 + - - 0.0008091083489381807 + - -0.9616462107396866 + - -0.2742916526503905 + - -0.09372081665581163 + - - -0.04472243923271446 + - 0.2739825024924531 + - -0.9606942759052173 + - 0.9744652319171279 + - - 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: + - - 0.9964114989835972 + - -0.0011916754055331163 + - -0.08463276317708564 + - 0.02369384833363242 + - - -0.009272977304466471 + - -0.9954189901788444 + - -0.09515800483007343 + - -0.03479990070864596 + - - -0.08413166220378428 + - 0.09560132792517724 + - -0.9918579784998308 + - 0.9707705102135946 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8570685721057095 + - 0.026996910789699655 + - -0.5144945378879091 + - 0.10000958075818106 + - - 0.0229743094698226 + - -0.9996354609457762 + - -0.014181901286865632 + - -0.09007568300975645 + - - -0.514689852059534 + - 0.0003347051517078618 + - -0.857376372522241 + - 0.9753488915966056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9307524380464397 + - 0.05268798780116283 + - -0.3618340434675447 + - 0.012625378626599862 + - - 0.030997866472602727 + - -0.9973713447037502 + - -0.06549452677880277 + - -0.0939589670547947 + - - -0.36433368132078486 + - 0.049743107113419616 + - -0.929939025931242 + - 0.9762113557765492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9807207876113826 + - -0.013068297512306792 + - 0.1949768097673139 + - 0.054028055994105637 + - - -0.010416383121381942 + - -0.9998388592547716 + - -0.0146203449612553 + - -0.0935484886728626 + - - 0.19513645407657193 + - 0.012307523075231261 + - -0.9806988779264383 + - 0.9719960906573529 + - - 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: + - - 0.9975874823923068 + - -0.003352904472743919 + - -0.06933954864127512 + - 0.023684058353265484 + - - -0.008315070879325096 + - -0.9974131700895003 + - -0.0713990737214826 + - -0.03480874697568569 + - - -0.06892078474923877 + - 0.07180338546064916 + - -0.9950347728928567 + - 0.9704690139221702 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990455316021728 + - -0.012017790455224962 + - -0.04199521994591881 + - 0.09159181092061829 + - - -0.013152834241005301 + - -0.9995527527975411 + - -0.026856979098305464 + - -0.0339765978115658 + - - -0.04165367615421755 + - 0.02738370112735826 + - -0.9987567792888354 + - 0.9681822264553668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8737625200188628 + - 0.06261204949396582 + - -0.4823057016752461 + - 0.10010578747299458 + - - -0.0042840881931311935 + - -0.9906493302990376 + - -0.13636550504589728 + - -0.09014816293667417 + - - -0.48633394411519315 + - 0.12121730749457495 + - -0.8653240197551011 + - 0.9759395361103324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9252372600938563 + - 0.07633328816712792 + - -0.37163051765376853 + - 0.01265997055895796 + - - 0.005709797846670854 + - -0.9822408000632866 + - -0.18753775326473343 + - -0.09404751366669119 + - - -0.37934603035034375 + - 0.17139498186536295 + - -0.9092416342473585 + - 0.9768310027600827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985919817508743 + - -0.00567267669506566 + - 0.05274348037411701 + - 0.05409826219049896 + - - 0.00935655108089356 + - -0.9598432588789424 + - -0.28038076491892505 + - -0.09368816182565483 + - - 0.0522159835178103 + - 0.2804794807535199 + - -0.9584387053648777 + - 0.9731782766302332 + - - 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: + - - 0.9946589105832234 + - -0.0024708739411417814 + - -0.10318694868713874 + - 0.023673087047602345 + - - -0.009595736533312041 + - -0.9975974815125245 + - -0.06860894052710974 + - -0.03476870993620363 + - - -0.10276951609197388 + - 0.0692326488142423 + - -0.9922929340171611 + - 0.970935215289339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998595114649502 + - -0.007901948948384653 + - -0.052396146814102734 + - 0.09164478920367831 + - - -0.01080824795051827 + - -0.9984047083641933 + - -0.05541858977320375 + - -0.033955706986338444 + - - -0.05187464481216236 + - 0.055907043554704695 + - -0.9970874704390708 + - 0.9689338178806349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8588704535369296 + - 0.015459201044995588 + - -0.5119595268615668 + - 0.09999847752733637 + - - 0.031681280794660406 + - -0.9992339075617412 + - 0.02297595321426248 + - -0.09000244274292217 + - - -0.5112121286594037 + - -0.03595290088357967 + - -0.8587022466661988 + - 0.974690147384742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9738756262071869 + - 0.030376459775131856 + - -0.22504118594401637 + - 0.012628240515466486 + - - 0.036073369837953784 + - -0.9991232827462729 + - 0.021245655152165074 + - -0.09394691965201474 + - - -0.22419852066437404 + - -0.028808619644826942 + - -0.9741175939105429 + - 0.976192580253299 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995788768131406 + - -0.00370367256887371 + - 0.028781102106813894 + - 0.054064074613984915 + - - -0.0006263987017107581 + - -0.9943444498325476 + - -0.1062013310268523 + - -0.09356493485814271 + - - 0.029011664096476264 + - 0.10613857873888803 + - -0.9939280283046867 + - 0.9723044120763727 + - - 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: null + base_right_marker_pose: + - - 0.9995712555939613 + - -0.011642228987199636 + - -0.026865656413370503 + - 0.09160795647395673 + - - -0.011769246907856079 + - -0.9999202756749069 + - -0.004574617081339426 + - -0.03392182311355949 + - - -0.026810255827455044 + - 0.004888844283526617 + - -0.9996285857177348 + - 0.9684141921231773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.867498179634738 + - 0.03751563988566248 + - -0.4960236739253332 + - 0.10005876861614377 + - - 0.014149268192140123 + - -0.9986095330913967 + - -0.05078187303171512 + - -0.09009222576114158 + - - -0.4972390838822335 + - 0.037034810421435055 + - -0.8668227709728241 + - 0.9757711908213743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9507505444134605 + - 0.03366991605770124 + - -0.3081229284720236 + - 0.012649896323599145 + - - 0.04597082380966214 + - -0.9984058408808604 + - 0.03274843894361647 + - -0.09391589232493416 + - - -0.30652909430553155 + - -0.04530026101083885 + - -0.9507827305418316 + - 0.9760809453103791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939036909868766 + - -0.012136755947934223 + - 0.1095817147051626 + - 0.054122758319395656 + - - 0.0025427971373533182 + - -0.9911346976420689 + - -0.13283653606099224 + - -0.09368001974074436 + - - 0.110222444290542 + - 0.13230536755939007 + - -0.9850615729433331 + - 0.9733122492597919 + - - 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: + - - 0.9971712668027333 + - -0.002805605060622593 + - -0.0751105401609915 + - 0.023691995174740528 + - - -0.008238352443874306 + - -0.9973620609803298 + - -0.07211829772034273 + - -0.03476559996643459 + - - -0.07471006767526461 + - 0.07253308139954687 + - -0.9945639033720481 + - 0.9702770945183927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996178834366207 + - -0.012179700000270688 + - -0.024814149624635927 + - 0.09159810770515649 + - - -0.012593780830836118 + - -0.9997828961705928 + - -0.016599915937338207 + - -0.03394508288345123 + - - -0.024606580381582442 + - 0.01690607679638409 + - -0.9995542510385715 + - 0.968487778675846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8729206912227964 + - 0.04198055843036364 + - -0.48605256870938374 + - 0.10009031566151691 + - - 0.012442699065055999 + - -0.9978824988532047 + - -0.06384119142419674 + - -0.09014379143847273 + - - -0.48770344070458616 + - 0.04968049110424836 + - -0.8715946321132028 + - 0.976125573232358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9551188898281243 + - 0.04931182176460969 + - -0.2920894563789434 + - 0.012657612971421683 + - - 0.029707078340370674 + - -0.9970209622821595 + - -0.071180687454093 + - -0.09399902201216928 + - - -0.2947293602442254 + - 0.05930889481531046 + - -0.9537384647825721 + - 0.9762679230782942 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963368033260076 + - -0.010443806868514201 + - 0.08487579888404884 + - 0.054111277569026464 + - - 0.012711619857119733 + - -0.9634008562725856 + - -0.26776333739677244 + - -0.09371076406900491 + - - 0.08456588590395309 + - 0.2678613765202869 + - -0.9597389717573929 + - 0.9734557123589537 + - - 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: + - - 0.9961857943509659 + - -0.0022352497636784143 + - -0.08722881858553966 + - 0.02367332961788061 + - - -0.009235688333200378 + - -0.996757453104359 + - -0.07993298281637863 + - -0.034787395147161906 + - - -0.08676730486967427 + - 0.08043372016390558 + - -0.9929762592661758 + - 0.9702506490343035 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8723677070019925 + - 0.044794308134630464 + - -0.48679364595157326 + - 0.0999931798089493 + - - 0.01221867279191537 + - -0.9974798365193567 + - -0.06989048413426212 + - -0.09008994428685925 + - - -0.4886975422644255 + - 0.0550222291083996 + - -0.8707165247591507 + - 0.9753474757356086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9254240367738724 + - 0.05453800831516035 + - -0.3749879435530772 + - 0.012621879224768512 + - - 0.029073719390536094 + - -0.9968907115116532 + - -0.07323679500490587 + - -0.0939209795344954 + - - -0.3778161867918719 + - 0.05687279622812422 + - -0.9241322492193658 + - 0.975908906796109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912452844836621 + - -0.019290418027928413 + - 0.13061648349734306 + - 0.05404520451430538 + - - 0.006535719858204945 + - -0.9808878305045995 + - -0.1944642597854816 + - -0.09356279784230712 + - - 0.13187141598860225 + - 0.19361545325796697 + - -0.9721743598269156 + - 0.9717775100776622 + - - 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: + - - 0.9960676382939503 + - -0.002744084747186507 + - -0.0885535427998928 + - 0.023670324979399956 + - - -0.008446315091417123 + - -0.9979088438865192 + - -0.06408275161419917 + - -0.0347874524631799 + - - -0.08819251501623415 + - 0.06457870618068239 + - -0.994007882767104 + - 0.9704560587576707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8724985647066221 + - 0.05371312138202988 + - -0.48565538726167107 + - 0.10012571358193502 + - - -0.0020873052811990964 + - -0.9935206509577624 + - -0.11363256257397189 + - -0.09016926715430232 + - - -0.48861221611984634 + - 0.10015795880439998 + - -0.8667332262851063 + - 0.9761757552564019 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.92743509115115 + - 0.06970457939927396 + - -0.3674308415365106 + - 0.012627923843378902 + - - 0.013194352099738765 + - -0.987963923324436 + - -0.15412071658948565 + - -0.09403573302780374 + - - -0.37375133548139483 + - 0.13808894894291415 + - -0.9171921180460044 + - 0.97693408787325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9887640138143587 + - -0.017290555152174186 + - 0.14848151968594694 + - 0.05410490213387852 + - - 0.003190193641107268 + - -0.9906210012001136 + - -0.13660107849433942 + - -0.09373781991746286 + - - 0.14945082017255998 + - 0.1355399154633574 + - -0.9794352370963254 + - 0.9738826939240693 + - - 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: + - - 0.9954643813294812 + - -0.00262770957516705 + - -0.09509868898518922 + - 0.023661364150721547 + - - -0.008591504893616037 + - -0.9980169490762785 + - -0.06235667887355953 + - -0.0347747431617644 + - - -0.09474624820000074 + - 0.06289089360842179 + - -0.993512900748228 + - 0.9700820524497495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999425563758044 + - -0.011703375917583823 + - -0.03180524326345609 + - 0.0916192119030836 + - - -0.012519407761673405 + - -0.99959437426043 + - -0.025580292730862122 + - -0.03395725111819231 + - - -0.03149296645622403 + - 0.025963781293012096 + - -0.9991666903598998 + - 0.9684223799940723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.869189458998188 + - 0.03502893619929726 + - -0.4932369187268759 + - 0.10002361530743888 + - - 0.015866657594392132 + - -0.9989497852943354 + - -0.04298343445077272 + - -0.09004810900219842 + - - -0.49422457804445497 + - 0.029534726833798854 + - -0.8688324155829096 + - 0.9751147302528727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9368242320673659 + - 0.07359655596074771 + - -0.3419706203200895 + - 0.01266530185777711 + - - 0.006349007196633442 + - -0.9810327469997518 + - -0.19373806910811062 + - -0.09412078774566603 + - - -0.34974283169066867 + - 0.17932734388497054 + - -0.9195225149044232 + - 0.9772743130484876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991274366780161 + - -0.0010727677417937459 + - 0.041751819679975974 + - 0.05410642283502197 + - - 0.009990691534402431 + - -0.9645090298517364 + - -0.2638607917389894 + - -0.0936360055687343 + - - 0.040553068439780016 + - 0.264047686041431 + - -0.9636567169569691 + - 0.9731197911189579 + - - 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: + - - 0.9961777217124398 + - -0.002992863080939259 + - -0.08729827910326604 + - 0.02367485555694094 + - - -0.006473071657130444 + - -0.9991942520226954 + - -0.03960992385916075 + - -0.03476886224494638 + - - -0.08710939161269948 + - 0.040023611723401575 + - -0.995394426545317 + - 0.9700376382990561 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8640650022975689 + - 0.0350648284869304 + - -0.5021574749096985 + - 0.10011292636930666 + - - 0.013620372513829858 + - -0.9988342412092682 + - -0.04631030166702585 + - -0.09013791629340387 + - - -0.503195943204123 + - 0.03317553904744554 + - -0.8635353069515025 + - 0.9756976669656937 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9405901068489303 + - 0.07139775456411365 + - -0.33195272485870686 + - 0.012651123792653391 + - - 0.007574542437560415 + - -0.9818110586758843 + - -0.1897094393239318 + - -0.09400874628834976 + - - -0.3394596842112173 + - 0.1759244318022416 + - -0.9240225739073038 + - 0.9765402990345302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939776892686917 + - -0.012569899123284121 + - 0.10885931688239955 + - 0.054050872744520875 + - - 0.0031078984447682817 + - -0.9897661171262165 + - -0.14266525279881367 + - -0.09357127895214724 + - - 0.10953855121978393 + - 0.1421444020175359 + - -0.9837663720476257 + - 0.9719741047239645 + - - 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: + - - 0.9960722234130837 + - -0.004548612094910474 + - -0.08842757416624049 + - 0.023670040110353438 + - - -0.008155183905281653 + - -0.9991475855672027 + - -0.04046721179795826 + - -0.03474977189549749 + - - -0.08816812757673241 + - 0.041029408760544075 + - -0.9952602518418856 + - 0.9702347044320545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994550095326505 + - -0.011387553884434949 + - -0.03098398839108064 + - 0.0915855087013614 + - - -0.012056734520043627 + - -0.99969620641849 + - -0.021497209707153922 + - -0.03393331724037293 + - - -0.03072977502037263 + - 0.021859059655192283 + - -0.9992886782297637 + - 0.9684671269593242 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.881852187729962 + - 0.03868553414913305 + - -0.4699363238178936 + - 0.10007604008891823 + - - 0.012546974064796575 + - -0.99820105520165 + - -0.05862786740219857 + - -0.09009809650265288 + - - -0.47135898467908427 + - 0.04580483426352198 + - -0.8807511707175836 + - 0.9756180380428099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9465259773305958 + - 0.06108291873950923 + - -0.3167924419499663 + - 0.01267618155748247 + - - 0.017936493648131338 + - -0.9903579107431282 + - -0.13736626523319653 + - -0.09402177957916816 + - - -0.32212863336557157 + - 0.12433859282929363 + - -0.938495102757207 + - 0.976808782755135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997787858283586 + - -0.0010614516603695777 + - 0.021006016470189542 + - 0.054033911385502675 + - - 0.0023755152177156783 + - -0.9866367626729242 + - -0.16291794090812356 + - -0.093515734194878 + - - 0.02089823760568285 + - 0.16293180126256857 + - -0.9864159831441864 + - 0.9720844210130495 + - - 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: + - - 0.9970903929857061 + - -0.005090770862694998 + - -0.07605808482754205 + - 0.023660904842296646 + - - -0.007986481902707558 + - -0.9992527716575282 + - -0.037816853935309605 + - -0.03472548277063468 + - - -0.07580873513275214 + - 0.03831425826987066 + - -0.9963859961334267 + - 0.9697051503490556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989665756592083 + - -0.011710584864733645 + - -0.04391631721628099 + - 0.0915900604995412 + - - -0.01184714913575443 + - -0.9999257566360267 + - -0.0028506618925448588 + - -0.03388730405030328 + - - -0.04387967380314421 + - 0.003367999108712116 + - -0.9990311460654939 + - 0.9683402845368319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8925582259797579 + - 0.05936031300302811 + - -0.44700801612057245 + - 0.10013109915455412 + - - -0.001668073896201154 + - -0.9908562876987953 + - -0.1349112102726785 + - -0.09015344081453323 + - - -0.45092907509423724 + - 0.1211617529088474 + - -0.8842979129607347 + - 0.9759899150905675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9332865263675393 + - 0.07051085744044033 + - -0.35214269647946184 + - 0.01264129611606767 + - - 0.012295434153687633 + - -0.9862351721832553 + - -0.16489089558747166 + - -0.09402033838005133 + - - -0.3589221113274923 + - 0.14956070383519882 + - -0.9213069596331813 + - 0.97711430028537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975011941581744 + - -0.008183751539388773 + - 0.07017402556329275 + - 0.05408091013779387 + - - 0.014692960071441195 + - -0.9475207888741005 + - -0.31935633949514997 + - -0.09355789053036404 + - - 0.06910488099515943 + - 0.3195893941640492 + - -0.9450328748570079 + - 0.9731238061551235 + - - 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: + - - 0.9972458435896133 + - -0.004516331362223423 + - -0.07402925228764097 + - 0.02368821633578243 + - - -0.0077981587697152095 + - -0.9989965716366636 + - -0.04410259151110064 + - -0.034754467599348644 + - - -0.07375578731898204 + - 0.044558417938917995 + - -0.9962803978939553 + - 0.9701599591651227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991084876524873 + - -0.013300908456797064 + - -0.04006639158925597 + - 0.09158443732299257 + - - -0.013215908705460145 + - -0.9999098202662334 + - 0.002385601022617937 + - -0.03392991124697655 + - - -0.04009450907354571 + - -0.0018539604564492113 + - -0.9991941719069315 + - 0.9682286253767663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8780163263707516 + - 0.05960072972111559 + - -0.47490534177151594 + - 0.1001354064135537 + - - -0.004387136482111826 + - -0.9911728334438319 + - -0.13250346137522276 + - -0.09021827739911001 + - - -0.47861057620982134 + - 0.11842367693851748 + - -0.8700044534831223 + - 0.9763216370571415 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9300144896988984 + - 0.0892040773643846 + - -0.3565328617836878 + - 0.01265170750890058 + - - -0.005444377949798879 + - -0.9666467629638562 + - -0.2560554518072946 + - -0.09401031683948662 + - - -0.36748252706603224 + - 0.24007637999825582 + - -0.898509835265088 + - 0.9768568414330783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940848705951594 + - -0.014547513540624824 + - 0.10762731950388059 + - 0.05402462482071742 + - - 0.009342674724198464 + - -0.9758604455181452 + - -0.2181951083368397 + - -0.09353172045018726 + - - 0.10820344025400892 + - 0.21790998307308623 + - -0.9699521920147841 + - 0.9716766229021646 + - - 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: + - - 0.9972505896179801 + - -0.004191660548208821 + - -0.07398440030465647 + - 0.023683441999818748 + - - -0.008741657748996018 + - -0.9980821364566299 + - -0.0612832139004616 + - -0.03476246769541794 + - - -0.07358562989056003 + - 0.06176146750214814 + - -0.9953746411304599 + - 0.9702559822010597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992208898867291 + - -0.012718675603136866 + - -0.03736105599251028 + - 0.09159235681632882 + - - -0.01299733955857887 + - -0.9998894261606613 + - -0.007225276223272678 + - -0.03395833836783258 + - - -0.03726502889268057 + - 0.007705241268497685 + - -0.9992757111421362 + - 0.9682244198406338 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8655100690128189 + - 0.04720215402944201 + - -0.49866248815446934 + - 0.10000257859497597 + - - 0.009531333054996982 + - -0.9969216332324986 + - -0.07782294573737304 + - -0.0900766537985551 + - - -0.5008008327944555 + - 0.06260362487930086 + - -0.8632956110303999 + - 0.9753716201923999 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9421293616032383 + - 0.07104002455696733 + - -0.32763635469224106 + - 0.012622666903069965 + - - 0.004459151513679996 + - -0.9798598813483159 + - -0.19963649188422916 + - -0.09397745796697833 + - - -0.3352199009200566 + - 0.1866224205046364 + - -0.9234715427083487 + - 0.9760726248132394 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939162961377069 + - -0.00846789943936424 + - 0.10981207106227807 + - 0.0540374179889902 + - - 0.0039074477090576525 + - -0.9937012567313375 + - -0.11199350080679603 + - -0.09349464357092432 + - - 0.11006874272155094 + - 0.11174125043888518 + - -0.9876227846835307 + - 0.9717922971984249 + - - 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: + - - 0.9967686952666287 + - -0.0042722883042218066 + - -0.08021169296996779 + - 0.023673478733396123 + - - -0.009136920004943013 + - -0.9981337208340607 + - -0.06037873820126402 + - -0.03476459352290641 + - - -0.07980404018147229 + - 0.06091652392084693 + - -0.9949474821738657 + - 0.970273743142243 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995765396101538 + - -0.011639260000060662 + - -0.026669628562123775 + - 0.09160334220921136 + - - -0.012200284143645376 + - -0.9997056456493443 + - -0.02097081599849287 + - -0.033970728659289115 + - - -0.026417693461106246 + - 0.021287312735038144 + - -0.9994243121861287 + - 0.9684986180854 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.863241381702796 + - 0.02467418720146381 + - -0.5041879623729576 + - 0.10002660151245883 + - - 0.02357292558455075 + - -0.9996854476610475 + - -0.008562880012969187 + - -0.09006007945453706 + - - -0.5042406509745451 + - -0.004493352943893223 + - -0.8635514898858602 + - 0.9751148076196481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9280067714931228 + - 0.04731124179830845 + - -0.36954712617258006 + - 0.012642215407346143 + - - 0.033436022692402104 + - -0.9984777667742182 + - -0.04386549491436961 + - -0.09392750315329094 + - - -0.3710599202951243 + - 0.028351290218813774 + - -0.9281760285061795 + - 0.9756856684347173 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9904924032601662 + - -0.02724771891511716 + - 0.13484198492243812 + - 0.05415039142995692 + - - 0.0040710575802626655 + - -0.9739532308261363 + - -0.22671244044716424 + - -0.09362054028187497 + - - 0.13750718371808232 + - 0.2251058994723452 + - -0.9645823492313489 + - 0.9728855108172997 + - - 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: + - - 0.9946493754873522 + - -0.0031419876909094253 + - -0.10326058181111628 + - 0.023671866930612642 + - - -0.0084525128026487 + - -0.998661292877778 + - -0.051031138876233124 + - -0.03475884207012613 + - - -0.10296200692459875 + - 0.05163090180342104 + - -0.993344388975457 + - 0.9704285873555396 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992357573922714 + - -0.011150483182650448 + - -0.03746422124490288 + - 0.09157821747594597 + - - -0.011775033576807892 + - -0.9997946685345905 + - -0.016491493385214762 + - -0.033922357350546106 + - - -0.03727264054180558 + - 0.0169200323463924 + - -0.9991618801637899 + - 0.9682702309066421 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8568894385016861 + - 0.0068750763318278195 + - -0.5154543854791582 + - 0.09994223820657058 + - - 0.03685398585751673 + - -0.9981694978463206 + - 0.047952448275755954 + - -0.08999355244183696 + - - -0.514181168374221 + - -0.06008649511043754 + - -0.8555742745049463 + - 0.9746366433397745 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9385104106163065 + - 0.05100610648787561 + - -0.34146242291906637 + - 0.012645629709346556 + - - 0.029081720336359113 + - -0.997190978755244 + - -0.0690246726282392 + - -0.0938877713325809 + - - -0.3440239275211677 + - 0.05485005916227703 + - -0.9373574602587875 + - 0.9755272941502481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9920836727676902 + - -0.01683943549715164 + - 0.12444444398970983 + - 0.05403687095970472 + - - 0.006395188224259152 + - -0.98290784936924 + - -0.18398712241869408 + - -0.09347778167748841 + - - 0.1254156600881527 + - 0.18332646579387413 + - -0.9750191378348326 + - 0.972345447693529 + - - 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: + - - 0.9959086439007286 + - -0.005978500412442173 + - -0.09016779101558439 + - 0.023668198749298916 + - - -0.008962095558309253 + - -0.9994243467046661 + - -0.03272088105713916 + - -0.034694030753529476 + - - -0.0899202638286577 + - 0.03339510064021582 + - -0.9953889257000073 + - 0.9699684212347269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993371442228433 + - -0.0105725693693191 + - -0.03483522575588169 + - 0.09159100137961099 + - - -0.011978935830928607 + - -0.9991112211474967 + - -0.040413770840114764 + - -0.0339400706921712 + - - -0.03437698754822478 + - 0.040804271272622324 + - -0.99857560263258 + - 0.9681812220889339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8838589423051989 + - 0.04038392428801551 + - -0.4660069836024295 + - 0.10006437042770638 + - - 0.01484976597649808 + - -0.9981864775726713 + - -0.05833729888765251 + - -0.09008848951866712 + - - -0.4675177585478207 + - 0.04464184864187295 + - -0.8828557361156231 + - 0.9755818884198572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9421283064584841 + - 0.08725088264310499 + - -0.323699764670393 + - 0.0126834130037926 + - - -0.001876163069340249 + - -0.9641528454537053 + - -0.2653408574186413 + - -0.09411928164613192 + - - -0.33524727319070907 + - 0.25059244617809534 + - -0.9081919905706455 + - 0.9778569369935133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984951678019073 + - -0.013931851411484706 + - 0.05304058250518392 + - 0.054170742424171275 + - - 0.0034064255935412693 + - -0.9495676929338461 + - -0.3135436059003121 + - -0.09367890172409657 + - - 0.05473386648973904 + - 0.31325245418438924 + - -0.9480912950800372 + - 0.9733261616954774 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8748263920103614 + - 0.044009772942928106 + - -0.48243333604514255 + - 0.10010282213201405 + - - 0.008385173108910002 + - -0.9970912899934088 + - -0.07575386650998647 + - -0.09015910359719562 + - - -0.48436398783772844 + - 0.06222619468351853 + - -0.872650805294501 + - 0.9760437988170715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9480513816789236 + - 0.05982583120385424 + - -0.3124411106391922 + - 0.012658902027314638 + - - 0.01413972446491956 + - -0.989111223772644 + - -0.14648909583664882 + - -0.0940023502496426 + - - -0.317802841221944 + - 0.13446135849287955 + - -0.9385741831008934 + - 0.9767074137321025 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978713562451371 + - -0.003736843231226283 + - 0.06510600884830754 + - 0.05403044751977065 + - - 0.003307826587786146 + - -0.9941713934100653 + - -0.10776037680128 + - -0.09348905962581101 + - - 0.06512921517073421 + - 0.10774635273527336 + - -0.9920427958528251 + - 0.9716531923290144 + - - 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: + - - 0.9970876738539316 + - -0.002245391920017937 + - -0.0762307606132946 + - 0.023678499821015567 + - - -0.008785335132336439 + - -0.9962938631732432 + - -0.08556492324514935 + - -0.03479150353805797 + - - -0.07575611219676236 + - 0.08598544306137686 + - -0.993412057026877 + - 0.9703797581603824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994089352686718 + - -0.012491456569355302 + - -0.03202723244234235 + - 0.09160756154745787 + - - -0.01273246187350977 + - -0.9998920562847682 + - -0.007332134290765261 + - -0.033982514100879574 + - - -0.03193218626683015 + - 0.007735586040766787 + - -0.9994601023496769 + - 0.9684278813036951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.864399735263985 + - 0.040098794618330796 + - -0.5012037353668761 + - 0.10011079858727177 + - - 0.010590951251976708 + - -0.998045774974737 + - -0.06158297497405722 + - -0.0901269906089136 + - - -0.5026936735499372 + - 0.04792408293576446 + - -0.8631351880485673 + - 0.9757025352020626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9339771615414074 + - 0.03672738061129701 + - -0.35544023580974715 + - 0.012652744437560943 + - - 0.041290712987411445 + - -0.9991333377865576 + - 0.005258359486013317 + - -0.09401317538027391 + - - -0.35493906341799986 + - -0.019587568428109162 + - -0.9346842185588818 + - 0.9768165147290468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979926035649386 + - -0.006379400617508193 + - 0.06300846353813556 + - 0.054111562991379564 + - - 0.006319295280994545 + - -0.9799171559919678 + - -0.1993048767586089 + - -0.09370569094827227 + - - 0.0630145200475797 + - 0.19930296194581257 + - -0.9779097604701563 + - 0.9733888763126427 + - - 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: + - - 0.9962795211221864 + - -0.0030773189495618605 + - -0.08612575631383224 + - 0.023659112312826115 + - - -0.008386975208914564 + - -0.9980806887546083 + - -0.0613563149314957 + - -0.034797923736647814 + - - -0.08577164123060721 + - 0.06185037464082572 + - -0.994393160031483 + - 0.9702931076566121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8807484299628919 + - 0.05162520143824961 + - -0.4707621922949644 + - 0.10005327833264131 + - - 0.005776704067561669 + - -0.995137868127898 + - -0.09832219031316405 + - -0.09012634788618867 + - - -0.4735491873163935 + - 0.08387766087774734 + - -0.8767643384614024 + - 0.9757549192790935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9543740022501285 + - 0.04936814587022591 + - -0.29450475378575425 + - 0.012683369733398096 + - - 0.028798145561549013 + - -0.9968585803822853 + - -0.07378101063573643 + - -0.09411301501014444 + - - -0.2972220224702191 + - 0.06193348764239677 + - -0.9527976240876976 + - 0.9780637183611982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999002421906841 + - 0.003478467350475174 + - 0.013689628625460531 + - 0.054241031416889206 + - - 0.007733582747642369 + - -0.9458429818489411 + - -0.32453234874968867 + - -0.09386189157431375 + - - 0.011819363980211392 + - 0.32460584398928477 + - -0.9457755276402048 + - 0.9751487553916444 + - - 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: + - - 0.991717288606021 + - 0.000928109387493826 + - -0.12843659172092173 + - 0.02366220865440521 + - - -0.010240547474964591 + - -0.9962190919909567 + - -0.08627080583909302 + - -0.034807370404175475 + - - -0.12803105352739583 + - 0.08687151066764257 + - -0.9879581924185793 + - 0.970865974377262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991542388454139 + - -0.01220130422792824 + - -0.039267482378926216 + - 0.09158920899744581 + - - -0.012264988683276265 + - -0.9999238281153461 + - -0.0013813108814345278 + - -0.03392097881591783 + - - -0.03924763750649006 + - 0.0018617578493468833 + - -0.9992277802422578 + - 0.96833760223682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8632961492712397 + - 0.02532853188098526 + - -0.5040617265040102 + - 0.10006393604706768 + - - 0.020163811752129952 + - -0.9996734384873142 + - -0.01569831451385383 + - -0.09006804830848693 + - - -0.5042947346037576 + - 0.0033884887051783517 + - -0.8635249497236438 + - 0.9752716310797662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9377727783339077 + - 0.07376047137811015 + - -0.33932522611498045 + - 0.012646861475198464 + - - 0.010581579781168686 + - -0.9827960795550842 + - -0.18439060762547568 + - -0.09406129699063415 + - - -0.34708824005609634 + - 0.16932589545972102 + - -0.9224199123726275 + - 0.9772883614817353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926798493004961 + - -0.015462784419569015 + - 0.11978154737161371 + - 0.054037543155921415 + - - 0.011001173299874472 + - -0.9760709505651808 + - -0.2171738327902582 + - -0.0935941127314353 + - - 0.12027340096118648 + - 0.2169018251670069 + - -0.9687558553425374 + - 0.9725257009956726 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.89455720524673 + - 0.04190806806925096 + - -0.4449844046389297 + - 0.10009808195088213 + - - 0.009818850840056147 + - -0.9971968423881962 + - -0.07417578917134005 + - -0.09014657767502317 + - - -0.44684560723961514 + - 0.06198525116278378 + - -0.8924611094770156 + - 0.9760502487911568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9352788984670547 + - 0.07695302723360606 + - -0.34544408184514713 + - 0.01264149402503309 + - - 0.006953604855640762 + - -0.9798818629173193 + - -0.19945721873423425 + - -0.09398288745119224 + - - -0.35384322723738043 + - 0.1841460461841862 + - -0.9169979303209836 + - 0.9764071160886387 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928831931574117 + - -0.011647772628730492 + - 0.11852128137314057 + - 0.05401762265918868 + - - 0.008815003793084464 + - -0.9852878624317375 + - -0.17067549283017971 + - -0.09347929278850023 + - - 0.11876556931059466 + - 0.17050559385980926 + - -0.9781730838705609 + - 0.971760988480799 + - - 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: + - - 0.995342785765888 + - -0.003736882438783651 + - -0.09632639582918145 + - 0.023672250690831887 + - - -0.00837486356569933 + - -0.9988223251037399 + - -0.04778937679668303 + - -0.03471986931974141 + - - -0.09603437136805426 + - 0.048373531853671124 + - -0.9942018914345039 + - 0.970402327361119 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991426601481348 + - -0.010068764681529821 + - -0.04015675098780859 + - 0.09157650825304675 + - - -0.01126104035404679 + - -0.9994991076692491 + - -0.029575711969767236 + - -0.03391077809334589 + - - -0.039838845895098646 + - 0.03000256232660939 + - -0.9987555820177346 + - 0.9683959270307635 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8719288146323013 + - 0.030048392016302557 + - -0.48870976698971813 + - 0.10000116357098904 + - - 0.019994158518578914 + - -0.9994676722083773 + - -0.02577995026182671 + - -0.09001008106746528 + - - -0.4892242592503401 + - 0.01270694092230406 + - -0.8720654550051582 + - 0.9752129532718006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9428714109546754 + - 0.07139678223422119 + - -0.32541665890199734 + - 0.01261542733085872 + - - 0.008626632524346797 + - -0.9816716369718541 + - -0.19038481655922473 + - -0.09396346699623156 + - - -0.33304516753081637 + - 0.176701150679895 + - -0.9262060352495933 + - 0.9760569582283036 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979436901039505 + - -0.006093175729799244 + - 0.0638064619865127 + - 0.05399891103211343 + - - 0.010042153707781366 + - -0.9683150332630046 + - -0.24952986095009902 + - -0.09339838418173078 + - - 0.063305185653466 + - 0.24965750452648575 + - -0.9662626888703651 + - 0.971762303917513 + - - 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: null + base_right_marker_pose: + - - 0.9990578040484016 + - -0.010641267360544444 + - -0.042074548113402985 + - 0.0915940546302568 + - - -0.011744246460654768 + - -0.9995915163478112 + - -0.026055193734728442 + - -0.033924031476601405 + - - -0.04178010106566342 + - 0.026524778499437948 + - -0.9987746789343921 + - 0.9684151449538032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8785585001497366 + - 0.015149423645674131 + - -0.47739444569229045 + - 0.10000185370276285 + - - 0.024918137876862267 + - -0.9995895342053434 + - 0.01413681406446789 + - -0.08999159564237522 + - - -0.4769843270165122 + - -0.024315798780783344 + - -0.8785753773639781 + - 0.9749231054871412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9470811108328587 + - 0.046446028016197155 + - -0.31761633456911015 + - 0.012649084337062726 + - - 0.03427133960694942 + - -0.9984516596870767 + - -0.04381504935142632 + - -0.09380613504136986 + - - -0.31915959140396116 + - 0.030611268344212926 + - -0.9472064745688851 + - 0.9750127587550158 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952851570617169 + - -0.010108145072345209 + - 0.0964638872108612 + - 0.05394847174932654 + - - -0.0028214619152254865 + - -0.9971510917938654 + - -0.07537731414002424 + - -0.09328306561678883 + - - 0.09695099527748159 + - 0.07474975275878437 + - -0.9924782007566751 + - 0.9707608732378789 + - - 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: + - - 0.9979594274629302 + - -0.003796007028340156 + - -0.06373830456249463 + - 0.02368221895829437 + - - -0.007985857476899953 + - -0.9978134019213629 + - -0.06560976319478162 + - -0.03477404708322021 + - - -0.06334987938598757 + - 0.06598488672989802 + - -0.9958076056673917 + - 0.9703599984492699 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992205756577304 + - -0.013420009469482505 + - -0.03712336902913007 + - 0.09160385864304361 + - - -0.013096132964270348 + - -0.9998741524999418 + - 0.008953796061203119 + - -0.033938398800124794 + - - -0.03723885717387317 + - -0.008460644677710134 + - -0.9992705764746713 + - 0.9683497349264993 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8726264323711403 + - 0.036946632488913514 + - -0.4869887636023493 + - 0.10006546168165044 + - - 0.012651273036209216 + - -0.9985098599806582 + - -0.053084883083320294 + - -0.09006550470016793 + - - -0.4882243898227319 + - 0.040162244323937626 + - -0.8717935187377145 + - 0.9753646274048872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9423236979916966 + - 0.03882796120709845 + - -0.3324431344331745 + - 0.012667687661809502 + - - 0.037399776776805456 + - -0.9992431375947207 + - -0.010696198712801596 + - -0.0938899436012255 + - - -0.3326068323115128 + - -0.0023540174932810244 + - -0.943062645692927 + - 0.9756466556120945 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997959013645433 + - -0.009367564233284834 + - 0.06316688866937882 + - 0.05396835206573286 + - - -0.008089268276380148 + - -0.9997579002429071 + - -0.020462273594240833 + - -0.09334441872494693 + - - 0.06334327764322877 + - 0.01990953646442073 + - -0.9977931847508201 + - 0.9713151930081684 + - - 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: + - - 0.9969303120405054 + - -0.00227760954339903 + - -0.07826088058275654 + - 0.023676584052496574 + - - -0.00861506067698168 + - -0.9966982316615413 + - -0.08073670622640748 + - -0.034775374751034496 + - - -0.07781859459250459 + - 0.08116309196626949 + - -0.9936583008449751 + - 0.9704770364852492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994974949782167 + - -0.012198784341310555 + - -0.029256575207356778 + - 0.09157855531315534 + - - -0.012494616020240991 + - -0.9998724307426922 + - -0.009950216641224986 + - -0.033914396807730944 + - - -0.029131462420830576 + - 0.010310766280678165 + - -0.9995224089513598 + - 0.9681257145846351 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8453111668548187 + - 0.017329480078362186 + - -0.533993183768069 + - 0.10000937096681174 + - - 0.029659042426357946 + - -0.9994546744377087 + - 0.014515334889917887 + - -0.09003800025781533 + - - -0.533450440428065 + - -0.028107701165848056 + - -0.8453641728523134 + - 0.9751353142867608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9274324293216782 + - 0.026169296948144658 + - -0.3730740636116777 + - 0.012578359363232676 + - - 0.057804819890289655 + - -0.995591761538245 + - 0.0738623527558191 + - -0.09377986061564074 + - - -0.3694965383328259 + - -0.09006782030455554 + - -0.9248567975128066 + - 0.9747607980594669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890077694889303 + - -0.012081384190554437 + - 0.14736916925385377 + - 0.05402315880306823 + - - -0.0018002607185782279 + - -0.9975664299833019 + - -0.06969918817113707 + - -0.09350230537829557 + - - 0.14785259873223708 + - 0.0686677357017883 + - -0.986622699476205 + - 0.9720208907269059 + - - 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: null + base_right_marker_pose: + - - 0.9994698061446949 + - -0.01186960475174898 + - -0.030318626092277052 + - 0.09158800548885533 + - - -0.012484827701303035 + - -0.9997183307886539 + - -0.020183858957499887 + - -0.03395427823728746 + - - -0.030070511840585974 + - 0.020551680422406588 + - -0.999336476242842 + - 0.9683914794658542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8705201495843324 + - 0.007099934056451509 + - -0.4920815583864788 + - 0.09993590395622504 + - - 0.03313271519485968 + - -0.998472802014327 + - 0.04420731637948737 + - -0.0900034612083167 + - - -0.4910161833906168 + - -0.054787357794055164 + - -0.8694259330583942 + - 0.9747129378649113 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9621821054254415 + - 0.046259588609704055 + - -0.2684504543872587 + - 0.012666783561724428 + - - 0.02572472605188801 + - -0.9965016681638165 + - -0.07951517978528258 + - -0.09406469544764837 + - - -0.2711896651213317 + - 0.0696022687014686 + - -0.9600060883780832 + - 0.9771657392425982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994752123937262 + - -0.008417175580543928 + - 0.03128020085872865 + - 0.054104650034019104 + - - -0.002216695139694895 + - -0.9811586662082469 + - -0.19319098836931264 + - -0.0935835125094613 + - - 0.03231696262295958 + - 0.1930202654637604 + - -0.9806624246126319 + - 0.9727393127313365 + - - 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: null + base_right_marker_pose: + - - 0.9995508141233443 + - -0.010911513133825093 + - -0.027912521679163752 + - 0.09158592236300947 + - - -0.011247853102736035 + - -0.9998656752958156 + - -0.011921290442804891 + - -0.03390557417834936 + - - -0.02777869302070735 + - 0.012229891511080643 + - -0.9995392808527779 + - 0.9681902966122192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.871896781908762 + - 0.04453338963441761 + - -0.4876605160404252 + - 0.1000410374631848 + - - 0.009207766640881968 + - -0.9971710712693513 + - -0.07459940788653084 + - -0.09009477964104967 + - - -0.48960312369370335 + - 0.06055271943689304 + - -0.8698403011117413 + - 0.975512206561853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9585378699085965 + - 0.07340886481331439 + - -0.27534758128211545 + - 0.012672536084874822 + - - 0.0036796382852617576 + - -0.969357817981851 + - -0.24562548927086977 + - -0.09399439920147833 + - - -0.2849414189148013 + - 0.23442815377911644 + - -0.9294362960970132 + - 0.9763602076830489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996200968819671 + - -0.00442430227299724 + - 0.027204548499908856 + - 0.05412737020776332 + - - 0.003180237738736923 + - -0.9619249174297373 + - -0.27329533350519936 + - -0.0935320876846096 + - - 0.027377874234714706 + - 0.27327802468766155 + - -0.9615454088212361 + - 0.9724675624795049 + - - 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: + - - 0.9963180771687248 + - -0.003972395117968223 + - -0.08564174907042527 + - 0.023661351165939714 + - - -0.00793905146999523 + - -0.9989086867294935 + - -0.04602615602149239 + - -0.03473241505951487 + - - -0.08536545301567672 + - 0.046536605520651544 + - -0.9952623190787658 + - 0.9699973113716882 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992621956496417 + - -0.012429279926993298 + - -0.03633974884274101 + - 0.09157369708652287 + - - -0.012526212399257474 + - -0.9999185646174303 + - -0.0024409294024644616 + - -0.03388106594625786 + - - -0.036306450506566224 + - 0.0028943278866722507 + - -0.999336512150787 + - 0.9681645567875832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8765989154040816 + - 0.05745392864418464 + - -0.47777964334590145 + - 0.10011217973419714 + - - -0.0018041647536009807 + - -0.9924478601518878 + - -0.12265394355454155 + - -0.09011993468926131 + - - -0.4812183355836826 + - 0.10838030708245729 + - -0.8698750614512306 + - 0.9760651885154781 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9229116400881623 + - 0.05741733696875423 + - -0.3807063881854295 + - 0.012641975198877055 + - - 0.02480945082941069 + - -0.9956312862926532 + - -0.09001573698403477 + - -0.09382741173689796 + - - -0.3842116548717926 + - 0.07363145503555123 + - -0.9203041959537211 + - 0.9749189887674481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918326161573534 + - -0.011655066174685712 + - 0.12701268030761229 + - 0.05398537727166979 + - - 0.003670703143022565 + - -0.9927953452078241 + - -0.11976614075820374 + - -0.09332866606711951 + - - 0.12749348008779046 + - 0.11925419056008793 + - -0.9846440222582794 + - 0.9712558164167951 + - - 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: + - - 0.997998800426162 + - -0.004146800820463044 + - -0.06309673835387258 + - 0.02368596508524573 + - - -0.008794751066455936 + - -0.9972516031085634 + - -0.07356556566138525 + - -0.034774790585787384 + - - -0.06261826172627855 + - 0.07397326638966215 + - -0.9952923737063515 + - 0.9708399455827075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994433663343418 + - -0.010264896321642224 + - -0.03174254863404139 + - 0.09162826840085003 + - - -0.01175356346190254 + - -0.9988223047090774 + - -0.04707289412808371 + - -0.03395234752482808 + - - -0.031221967206208782 + - 0.04741977983028479 + - -0.9983869756986123 + - 0.9685959861529535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.863160527222843 + - 0.03752756511690084 + - -0.5035331032819794 + - 0.10013228075642411 + - - 0.013043651426475032 + - -0.9985586906658488 + - -0.05206154485962846 + - -0.09011336976658019 + - - -0.5047610993349709 + - 0.03836956022817121 + - -0.8624059423763552 + - 0.9761481542954262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.94630778896488 + - 0.05259450727167357 + - -0.3189598506853958 + - 0.012613041755757342 + - - 0.025065847240737182 + - -0.9956435592647609 + - -0.08980872004823637 + - -0.09386772609988983 + - - -0.32229376637860085 + - 0.07699169240540399 + - -0.943503581049933 + - 0.9759209707110087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930134160623734 + - -0.013711354438413967 + - 0.11720219400506053 + - 0.053986711088429104 + - - 0.006973576564561091 + - -0.9846713900059423 + - -0.17428029990123386 + - -0.09333226751110796 + - - 0.11779526624628796 + - 0.17387999443072802 + - -0.9776962835087062 + - 0.9712295119282657 + - - 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: + - - 0.9951464599546103 + - -0.002919068232944661 + - -0.09836158945675207 + - 0.023659590383804472 + - - -0.008887071451501439 + - -0.9981412946151739 + - -0.06029076168834558 + - -0.03474103651716552 + - - -0.09800277139358425 + - 0.06087228453570955 + - -0.9933227178387599 + - 0.9702043482217617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997419022224123 + - -0.012214410914957273 + - -0.01915560248890913 + - 0.09162316011257862 + - - -0.012597696859290219 + - -0.9997202553990927 + - -0.020017716618392734 + - -0.03395875430529482 + - - -0.018905739196179515 + - 0.02025386656353349 + - -0.9996161032689863 + - 0.9684389989312261 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8794490987111488 + - 0.057575256770822425 + - -0.4724980133121426 + - 0.10008806559742828 + - - -0.0003213615468448047 + - -0.9925855544620705 + - -0.12154757833861146 + - -0.09015311858660266 + - - -0.4759928355583769 + - 0.1070467509128537 + - -0.8729099687917982 + - 0.9762198916862428 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9107214007171224 + - 0.07387885306226953 + - -0.4063599947657818 + - 0.012608195976686812 + - - 0.0117563174332419 + - -0.988110243781575 + - -0.1532968855989134 + - -0.0939201903269029 + - - -0.4128538715771616 + - 0.13483345728757784 + - -0.9007616885278972 + - 0.9758457083048782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.984574300242473 + - -0.025832111638630646 + - 0.1730495573826575 + - 0.05404925245128632 + - - -0.009183090870608328 + - -0.9953073182184832 + - -0.09632763436726509 + - -0.09340112896577485 + - - 0.1747258370822887 + - 0.09325258339059934 + - -0.9801912249897329 + - 0.9707561836089924 + - - 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: + - - 0.9965092024697981 + - -0.00358371514664278 + - -0.08340603322754656 + - 0.023674433466046054 + - - -0.008261722019320968 + - -0.9984072360674643 + - -0.05580981022546238 + - -0.0347358639427868 + - - -0.0830731806438296 + - 0.056304066939026544 + - -0.9949516062120023 + - 0.9700100633749816 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990006494692696 + - -0.009118609459891432 + - -0.04375560902896412 + - 0.09162970938798028 + - - -0.011545152623188741 + - -0.9983903521843437 + - -0.05552849823405645 + - -0.03398127884800188 + - - -0.04317883521917729 + - 0.05597817098423555 + - -0.9974978859939377 + - 0.9686291242573158 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.845876693725586 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8534694933383317 + - 0.014965085700464887 + - -0.5209278934274774 + - 0.09999716966405797 + - - 0.030473443117508017 + - -0.9993103311482601 + - 0.021218655115689655 + - -0.09003052694367804 + - - -0.520251086693123 + - -0.033983941359593955 + - -0.8533369197007078 + - 0.9750646631866151 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9232471634019297 + - 0.06897156133095367 + - -0.3779650764261972 + - 0.012639795349146443 + - - 0.013443309005934868 + - -0.9889516648562224 + - -0.14762751105765196 + - -0.093958975142931 + - - -0.3839712915222459 + - 0.13121557950821502 + - -0.913974025331717 + - 0.9759868467687667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9903239723527905 + - -0.019737673072958352 + - 0.13736394739906946 + - 0.054151231935418986 + - - 0.022337574421044275 + - -0.9542550114494527 + - -0.2981583570732005 + - -0.09372382401218952 + - - 0.1369651873739222 + - 0.29834174596470875 + - -0.9445807218350142 + - 0.9741123264753307 + - - 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: + - - 0.9975966458944145 + - -0.0034942808031135607 + - -0.06920059321915657 + - 0.02369468121247239 + - - -0.008888495987021868 + - -0.9969296159572364 + - -0.07779675742886426 + - -0.034733576415240254 + - - -0.06871627710595855 + - 0.07822487346762437 + - -0.9945646999726417 + - 0.9704508150590136 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994962416647803 + - -0.011002348545123393 + - -0.029769300033265382 + - 0.09158997942485866 + - - -0.011654501246896532 + - -0.9996939223478828 + - -0.021822791329043988 + - -0.03391804747839136 + - - -0.029520086359376398 + - 0.02215874426037115 + - -0.9993185450866696 + - 0.9683140205639493 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8669192503871668 + - 0.039211466491195016 + - -0.4969038882960795 + - 0.10005906616094737 + - - 0.01072040797850393 + - -0.9981371215417327 + - -0.06006129746483156 + - -0.09011630345750896 + - - -0.4983333082997034 + - 0.046741282566853504 + - -0.8657246481087844 + - 0.9756281748742952 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9555775660620079 + - 0.07005102807130029 + - -0.2862941995660456 + - 0.012672337661808603 + - - 0.006587780103893846 + - -0.9761793442089407 + - -0.2168651403363498 + - -0.09408649032518956 + - - -0.29466611001659426 + - 0.2053454197345435 + - -0.933276562548172 + - 0.9773469410994604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996182615729147 + - 0.0002652533876421879 + - 0.0276271744951293 + - 0.05408646643832023 + - - 0.004965055186966107 + - -0.9853993174329905 + - -0.17018676044154177 + - -0.09361488558539673 + - - 0.02717865627536357 + - 0.17025896406132832 + - -0.9850244696452107 + - 0.9724341720704228 + - - 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: + - - 0.9965096590229513 + - -0.00309968880059445 + - -0.08341997005094766 + - 0.023697528642121293 + - - -0.009562629929398388 + - -0.9969707578998034 + - -0.07718720102144325 + - -0.03476456871120641 + - - -0.0829280144631168 + - 0.07771550567313312 + - -0.9935206311874827 + - 0.9703177426094041 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995129240014113 + - -0.013561383333941947 + - -0.02810700333046271 + - 0.09160727717561336 + - - -0.013504088763227763 + - -0.9999063350428089 + - 0.002227269165200515 + - -0.03392472831128098 + - - -0.028134575540136125 + - -0.001846624848004843 + - -0.9996024387904666 + - 0.9682350755696836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8692685977325354 + - 0.031708528254157306 + - -0.4933220796113497 + - 0.10002143457423217 + - - 0.0194004696511453 + - -0.9993601237290842 + - -0.030049373995213895 + - -0.09007027624275532 + - - -0.49395923594303465 + - 0.016550297161820222 + - -0.8693275337238714 + - 0.9754018970961141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9294890761604829 + - 0.061575749748343414 + - -0.3636735958813363 + - 0.01263426246412652 + - - 0.01741095606959472 + - -0.9921925000112668 + - -0.12349454048715973 + - -0.09393515840409303 + - - -0.3684384832059142 + - 0.10845492134671196 + - -0.923304182882653 + - 0.9758440699402662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874342676234074 + - -0.020601126936373615 + - 0.15668171779750323 + - 0.05404774427018129 + - - -0.010065889200470676 + - -0.9976523422086077 + - -0.06773833449593424 + - -0.09340117222470354 + - - 0.15770936876935648 + - 0.06531001190193313 + - -0.9853234785326799 + - 0.9709979999510012 + - - 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: + - - 0.9971390635847968 + - -0.006038062691970327 + - -0.07534739326720219 + - 0.023671109774851738 + - - -0.008088176870043772 + - -0.999604508136343 + - -0.02693341249117398 + - -0.03472016486522436 + - - -0.0751549683530868 + - 0.02746578075403417 + - -0.9967935401172195 + - 0.9702272713419909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997178327136479 + - -0.011617885130053674 + - -0.020719066084930345 + - 0.09158551626987517 + - - -0.011858127076871703 + - -0.9998634396686131 + - -0.011510292623486445 + - -0.03391079439837013 + - - -0.020582511424886794 + - 0.011752734114000962 + - -0.9997190772733557 + - 0.9684293680194689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8666652916495239 + - 0.03838630628991746 + - -0.4974110611350156 + - 0.10006845934900523 + - - 0.014560016745431188 + - -0.9985569221678261 + - -0.051692157075234654 + - -0.09005609921408288 + - - -0.4986775292334901 + - 0.03755748500811272 + - -0.8659735314416064 + - 0.9752453218635135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9851562300690473 + - 0.034945554096294185 + - -0.1680654949864643 + - 0.012649387757248052 + - - 0.03078905102854211 + - -0.9991537014530344 + - -0.027274809063732485 + - -0.09379155712949663 + - - -0.1688763947178649 + - 0.02169537097180434 + - -0.9853984342312972 + - 0.9752267221439153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993156040727539 + - -0.0034302744391862816 + - 0.03683146309853693 + - 0.053976927037899455 + - - -0.0010773350328118169 + - -0.9979675739593482 + - -0.06371468178465156 + - -0.0933222367717087 + - - 0.03697516471814694 + - 0.0636313958904266 + - -0.9972882645710321 + - 0.9713132233275892 + - - 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: + - - 0.9962496913671667 + - -0.004450519372930102 + - -0.08641033114238274 + - 0.02366035516847905 + - - -0.008265535884291584 + - -0.9990042598611707 + - -0.04384255576240612 + - -0.034733014562195776 + - - -0.08612916676347539 + - 0.04439236033987578 + - -0.9952944714887568 + - 0.9699415199404536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9979276246318566 + - -0.010370764344414387 + - -0.06350514344155948 + - 0.09153751396851742 + - - -0.012047506244650678 + - -0.9995873259258743 + - -0.02607748917448098 + - -0.03392686874464768 + - - -0.06320849302036495 + - 0.026788525440432386 + - -0.9976407476215182 + - 0.9681672694242781 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8773796104507539 + - 0.031222536435825315 + - -0.4787798788418296 + - 0.10007416802505342 + - - 0.014735968209387171 + - -0.999163211318029 + - -0.03815400882705312 + - -0.09007510886745426 + - - -0.479570506188835 + - 0.02642026432790704 + - -0.8771055234272712 + - 0.975410163106647 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9437365843871159 + - 0.05509976766440278 + - -0.32607556623069567 + - 0.012658112357965946 + - - 0.022125438576368717 + - -0.9943327494861889 + - -0.10398484633368027 + - -0.09402575247303716 + - - -0.3299571551840379 + - 0.09091973879507462 + - -0.9396072992693767 + - 0.9767544932850488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986051745649727 + - -0.014059303556234257 + - 0.05089244851227182 + - 0.0541500692812618 + - - -0.0001412957327605064 + - -0.9646035667030598 + - -0.2637042645450603 + - -0.09366103105437296 + - - 0.05279853565750175 + - 0.2633292522437431 + - -0.9632600996331023 + - 0.9730901817693917 + - - 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: + - - 0.997479388117501 + - -0.006029748399797815 + - -0.07070015852154064 + - 0.02370796346386598 + - - -0.008352292754645293 + - -0.9994335413995534 + - -0.032601158434762995 + - -0.034697859967079574 + - - -0.0704635330257896 + - 0.03310949198920084 + - -0.9969647195632056 + - 0.9698235216869261 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990819697012738 + - -0.013320144113297919 + - -0.040715986769620766 + - 0.09158612495411929 + - - -0.013333502127179878 + - -0.9999111033115246 + - -5.652746808743373e-05 + - -0.03394087009162309 + - - -0.04071161429920764 + - 0.0005993622703619853 + - -0.9991707587925208 + - 0.9684055906055837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8878450756736128 + - 0.05170128167510783 + - -0.4572287163720887 + - 0.10004182312201576 + - - 0.003795783134673641 + - -0.9944567524486013 + - -0.10507787369268143 + - -0.0901023536955193 + - - -0.4601268451552368 + - 0.09155733167000743 + - -0.8831197774848871 + - 0.9755405588508297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9467072298328851 + - 0.04721839577661155 + - -0.3186155113650746 + - 0.012649486035061913 + - - 0.031144392253663764 + - -0.9979806325482394 + - -0.055359587153152465 + - -0.0938912071978506 + - - -0.32058610046802505 + - 0.04248623493439761 + - -0.9462660683062698 + - 0.9755579154303333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999044384171303 + - -0.0017821635007118709 + - 0.013709045443796829 + - 0.05403695998903206 + - - 0.001988301883891667 + - -0.9628061399988483 + - -0.27018583130159946 + - -0.09361268521709029 + - - 0.013680668453766032 + - 0.27018726963677353 + - -0.9627105892410674 + - 0.9731562278345295 + - - 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: + - - 0.9949511810775442 + - -0.004020493996393922 + - -0.1002795238342541 + - 0.02366532768773817 + - - -0.0081949380591843 + - -0.9991152092280123 + - -0.041250959740024684 + - -0.03477950560993478 + - - -0.1000249482009659 + - 0.04186447560034599 + - -0.9941038051532164 + - 0.9706476746301239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987944194624805 + - -0.01118228801813916 + - -0.04779815985250925 + - 0.09158408042440006 + - - -0.011479915786482704 + - -0.9999163606597687 + - -0.005956779201744953 + - -0.03391535616135421 + - - -0.047727551625260545 + - 0.006498316674528673 + - -0.9988392526809584 + - 0.968227662341226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8613316744091252 + - 0.02285050692916086 + - -0.5075289164103393 + - 0.10006677169837358 + - - 0.02360237084805772 + - -0.9997091497824615 + - -0.004954183240337921 + - -0.09006362679339486 + - - -0.5074945071130558 + - -0.007711690755499826 + - -0.8616204820428587 + - 0.9753998552919859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9441716933980039 + - 0.04420877038933183 + - -0.3264741919457172 + - 0.012648249258864269 + - - 0.030832451830379668 + - -0.9984638203132729 + - -0.04603650116540172 + - -0.09388448354807133 + - - -0.3280078860333589 + - 0.03340036146642807 + - -0.9440843408053325 + - 0.9757700708048584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918966825680399 + - -0.015669803896957782 + - 0.1260770730797156 + - 0.054109416529780234 + - - 0.012298965965969685 + - -0.9758605575060993 + - -0.21804794825921445 + - -0.09353346921592598 + - - 0.12645041141366437 + - 0.21783165414997893 + - -0.9677601272544758 + - 0.9730214073214358 + - - 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: + - - 0.9972732664425452 + - -0.0031086874418056127 + - -0.07373173062803773 + - 0.023683368850868546 + - - -0.009629914568422857 + - -0.9960513035601032 + - -0.08825568209255918 + - -0.034757392253653145 + - - -0.07316622707521028 + - 0.08872506262949131 + - -0.9933652734402237 + - 0.9705137028312326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987748821724842 + - -0.010216728897021401 + - -0.04841852116685282 + - 0.09157445489443466 + - - -0.01066179085855065 + - -0.9999031730404906 + - -0.008942637152801882 + - -0.03388448666600864 + - - -0.04832246844924969 + - 0.009447909514962272 + - -0.9987871024641677 + - 0.9683668681963705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8805913500564252 + - 0.032920330235850954 + - -0.47273155814157874 + - 0.1000518065245829 + - - 0.015685389747659442 + - -0.9990622850398744 + - -0.04035491493447215 + - -0.0900775499877916 + - - -0.47361676781366846 + - 0.02812121028809004 + - -0.8802819745840911 + - 0.9754339341635891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9416045128721005 + - 0.058465647112410035 + - -0.33160625664577187 + - 0.012632691981082892 + - - 0.020767025101237752 + - -0.9930191006953165 + - -0.11611113780645968 + - -0.0940116610417925 + - - -0.3360798595681374 + - 0.10244429589778656 + - -0.9362454241440484 + - 0.976797785391188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995916686455009 + - -0.007853831501905939 + - 0.0899348151230385 + - 0.05396874991988779 + - - -0.0022454063463189923 + - -0.9980553713053795 + - -0.0622931293066996 + - -0.09327431965105049 + - - 0.09024916504220609 + - 0.06183682672340937 + - -0.9939976333321744 + - 0.9709184790084406 + - - 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: + - - 0.995558598113939 + - -0.004294086479458427 + - -0.09404593847006584 + - 0.02367342866522939 + - - -0.009515425874283468 + - -0.9984332252515082 + - -0.05514119498435103 + - -0.034744643454635515 + - - -0.09366180860862924 + - 0.055791177933237214 + - -0.9940396421033633 + - 0.9703328792946202 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992521519155066 + - -0.012486147908478141 + - -0.036595532550253655 + - 0.09155863821017143 + - - -0.012610293969807522 + - -0.9999154827357023 + - -0.0031635219966543687 + - -0.03390663982801919 + - - -0.03655293939239502 + - 0.0036226365862292768 + - -0.9993251518529597 + - 0.9681994348471772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8571539117934538 + - 0.03217601376785289 + - -0.5140543508571744 + - 0.09999960768732867 + - - 0.016243293246546886 + - -0.9992390713353209 + - -0.03546031220158 + - -0.09008855849147017 + - - -0.5148041636600142 + - 0.022045009751365058 + - -0.8570243232390646 + - 0.9753485867048615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9501338977869789 + - 0.08238655879986893 + - -0.3007624165437537 + - 0.012687853052350715 + - - 0.0008463705097278423 + - -0.9651475488193724 + - -0.2617049725643708 + - -0.09420287764734413 + - - -0.3118410812145874 + - 0.24840020921302292 + - -0.9170891320530651 + - 0.9788767124897182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9888847687989387 + - -0.02287653570089779 + - 0.1469135056820682 + - 0.05415170563882718 + - - 0.0166526018690252 + - -0.9648349591290633 + - -0.262328405807323 + - -0.09363632886352775 + - - 0.14774845139107642 + - 0.26185905704547496 + - -0.9537296416463076 + - 0.973901968924295 + - - 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: null + base_right_marker_pose: + - - 0.9992494296295079 + - -0.012917017800966471 + - -0.03652024145912472 + - 0.09161338300184174 + - - -0.012858339301110888 + - -0.9999156330505977 + - 0.0018411657830013414 + - -0.03392905536744157 + - - -0.03654094272895493 + - -0.0013701942024775342 + - -0.9993312174010813 + - 0.9683142660829747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.866065773316913 + - 0.031840253308944036 + - -0.49891509754486246 + - 0.1000501504875475 + - - 0.015663221885249604 + - -0.9992080181828511 + - -0.03657868066609436 + - -0.0900864176956323 + - - -0.4996846403174214 + - 0.0238649254832473 + - -0.8658785859244515 + - 0.9754702506510258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9709922119840197 + - 0.054357610198957726 + - -0.23285054107697187 + - 0.012655403207293537 + - - 0.019043230515475632 + - -0.9883039621988788 + - -0.15130311851885608 + - -0.09402588371450152 + - - -0.23835158828485883 + - 0.14247992320132236 + - -0.9606705948693496 + - 0.9767244317942907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978887366190179 + - -0.014008006892105424 + - 0.06341801851060204 + - 0.054147958385591756 + - - -0.00034057084884503257 + - -0.9775782509254681 + - -0.21057219030299087 + - -0.0936187851126157 + - - 0.06494577230580335 + - 0.21010601862015474 + - -0.9755190964810426 + - 0.9730225242795268 + - - 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: + - - 0.9970783629511267 + - -0.004966038274799791 + - -0.07622385846015992 + - 0.02366835262367543 + - - -0.008613214305580192 + - -0.9988296111988356 + - -0.04759433087783759 + - -0.034704984467326595 + - - -0.07589829164103379 + - 0.04811180994554414 + - -0.995954167153156 + - 0.9700725281277921 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991404839006633 + - -0.01259483789281215 + - -0.039492575114849375 + - 0.09157097500366021 + - - -0.012143742474639134 + - -0.9998584930491352 + - 0.011641451637233232 + - -0.033892775152176244 + - - -0.039633608837171035 + - -0.011151857960276308 + - -0.9991520470451812 + - 0.9682319716162872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8807902197470897 + - 0.03265279602521227 + - -0.47237949120342765 + - 0.09999567733252665 + - - 0.01585844588566354 + - -0.9990940321874566 + - -0.03949208201020138 + - -0.08998622861128211 + - - -0.4732410574875819 + - 0.02729303499328853 + - -0.8805100747571774 + - 0.9747068357988713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.929571896476758 + - 0.058295213187956635 + - -0.3640024140029489 + - 0.012648830054242843 + - - 0.020910289709452384 + - -0.9941657870707822 + - -0.10581657527155246 + - -0.09405302380013143 + - - -0.36804734622718077 + - 0.09075271862211094 + - -0.9253675458961304 + - 0.977071137456681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988297458716899 + - -0.0032327384530385747 + - 0.0482564831291045 + - 0.05403220930831666 + - - 0.008491002034667853 + - -0.970545714095465 + - -0.24076735604182628 + - -0.09343093693366425 + - - 0.04761346076838532 + - 0.24089534294589118 + - -0.9693824797780488 + - 0.972170255501873 + - - 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: + - - 0.997282475124973 + - -0.005925088896728502 + - -0.07343403931538502 + - 0.02366955996697098 + - - -0.007945823395941987 + - -0.9995969015738204 + - -0.027256159938247513 + - -0.03472653746282687 + - - -0.07324294299909138 + - 0.02776558455326832 + - -0.9969275518387722 + - 0.9703338949108256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987723639370235 + - -0.009564639102125797 + - -0.04860331999458433 + - 0.09158392864268669 + - - -0.011594426515919402 + - -0.9990648405576932 + - -0.04165349487375187 + - -0.03393438915959414 + - - -0.048159467495154255 + - 0.04216588716340277 + - -0.9979492490353935 + - 0.9684382617608668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8912932425777678 + - 0.05259850018827335 + - -0.45036624375407275 + - 0.1001733755223646 + - - 0.0005574862222193465 + - -0.9933753432518448 + - -0.1149135180402737 + - -0.09020052464361764 + - - -0.4534270006785224 + - 0.10217056913428876 + - -0.8854180537229042 + - 0.9763663132866514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9525933798883123 + - 0.04531874899658017 + - -0.30085222881399176 + - 0.012677556825503321 + - - 0.02913837323098469 + - -0.9978880481248333 + - -0.05805513426960365 + - -0.0939911410507731 + - - -0.30284782944312694 + - 0.04653659204319584 + - -0.9519020631360094 + - 0.9766506872950221 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999382016156245 + - -0.0053783141562016214 + - 0.03473700505680113 + - 0.05397340221023336 + - - -0.002662027252186458 + - -0.9969674917078051 + - -0.07777360791911427 + - -0.0933438491079017 + - - 0.035049955697370606 + - 0.07763307423182918 + - -0.9963656991240353 + - 0.9712667044292443 + - - 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: null + base_right_marker_pose: + - - 0.999295359497462 + - -0.010424582649107934 + - -0.03605707369476963 + - 0.09160113422969984 + - - -0.011063918792073633 + - -0.9997842895076817 + - -0.0175773762144043 + - -0.033908417018833265 + - - -0.03586605899454986 + - 0.017963923018434025 + - -0.9991951377393644 + - 0.9683600601875412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8763288900919655 + - 0.029507849207958535 + - -0.48080865552244817 + - 0.10001859811650479 + - - 0.017649578111046643 + - -0.9994187133020191 + - -0.029167240086068337 + - -0.09000582429799571 + - - -0.481389830368991 + - 0.017074025209559383 + - -0.8763402928545836 + - 0.9749494264840795 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9375468119694912 + - 0.062088859367287974 + - -0.3422732079907987 + - 0.012634984171692435 + - - 0.017080673595677383 + - -0.9909719610957324 + - -0.13297677583547016 + - -0.09394608521009355 + - - -0.34743952848713305 + - 0.1188256953042905 + - -0.9301431224172393 + - 0.9763241640151831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963361137560293 + - -0.010765478455742716 + - 0.08484369687343722 + - 0.05398249582132096 + - - 0.008546462332692923 + - -0.9745472583450399 + - -0.22401919389588487 + - -0.09337389476357588 + - - 0.08509586598142486 + - 0.22392352651247954 + - -0.9708846212949745 + - 0.9715536986569999 + - - 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: null + base_right_marker_pose: + - - 0.9985537469413445 + - -0.009304179918198978 + - -0.05295136169590949 + - 0.09159834078565969 + - - -0.011011241795061633 + - -0.9994259815683076 + - -0.032038413199727736 + - -0.03390232495474624 + - - -0.05262287547760893 + - 0.03257513779365459 + - -0.9980830092603488 + - 0.9683204454296507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8628738964950577 + - 0.03473175118294124 + - -0.5042244978253263 + - 0.1000109922369767 + - - 0.017686709501878436 + - -0.9991000391608624 + - -0.03855245849176097 + - -0.09005655981502234 + - - -0.5051097099189763 + - 0.02434783786148268 + - -0.8627116341727623 + - 0.9755444120185813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9623376452735679 + - 0.04933942092959387 + - -0.26734224887147395 + - 0.012638757161775866 + - - 0.026068261980071797 + - -0.9956088284082678 + - -0.08990832282305707 + - -0.09392689092887331 + - - -0.2706043277678003 + - 0.07955301589411339 + - -0.9593980484947258 + - 0.9760968513506263 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899085376460834 + - -0.013980457992132283 + - 0.1410164312756597 + - 0.05425563991696282 + - - 0.012576041965437717 + - -0.9825279224204478 + - -0.18568986195439238 + - -0.09381103368659455 + - - 0.14114861056303804 + - 0.18558940826051465 + - -0.9724369600532649 + - 0.9749782016150399 + - - 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: + - - 0.99660112092952 + - -0.00411901325199104 + - -0.0822753881294654 + - 0.02368650430920538 + - - -0.008101457498873168 + - -0.9988082815970404 + - -0.04812881672721178 + - -0.03473703170868679 + - - -0.08197909580141884 + - 0.04863178325948485 + - -0.9954468230440964 + - 0.969925307431891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9979687974903677 + - -0.01124911460827044 + - -0.06270356175018531 + - 0.09160051800363112 + - - -0.012272576531941479 + - -0.9997972939782753 + - -0.015961040661089894 + - -0.03394718333203463 + - - -0.06251130378497112 + - 0.016698154815647216 + - -0.9979045588255697 + - 0.9685626674254175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8642779381368941 + - 0.03775797859025798 + - -0.5015954352888556 + - 0.10002144366442299 + - - 0.015159421508345015 + - -0.9986809848039646 + - -0.04905591228910455 + - -0.09006238028959244 + - - -0.502786075373385 + - 0.034794046096446055 + - -0.8637103315156462 + - 0.9755335222125642 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.923897855379393 + - 0.03261736829836932 + - -0.3812464558663421 + - 0.012591343613413018 + - - 0.0437261943526817 + - -0.9988330060586658 + - 0.0205096546835928 + - -0.09386344450511563 + - - -0.38013257260170397 + - -0.03561928260222608 + - -0.924245905565241 + - 0.9752715728508339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9786460414408222 + - -0.030650726948368883 + - 0.20325466417709853 + - 0.054110145844056594 + - - -0.007399824642269574 + - -0.9934325179514751 + - -0.11418001082438503 + - -0.09346776270719373 + - - 0.20541949315357644 + - 0.11023776673232072 + - -0.9724456111363756 + - 0.9713926106292601 + - - 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: + - - 0.9961776372703933 + - -0.0008350395863777555 + - -0.08734653806113846 + - 0.02366815713552246 + - - -0.01047296432320511 + - -0.9938828925152798 + - -0.10994140704823414 + - -0.03479708703101725 + - - -0.08672042447233294 + - 0.11043594828836224 + - -0.9900926569291323 + - 0.9708769125040684 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9978179766292024 + - -0.00993023322101716 + - -0.06527385375309722 + - 0.09157529044488785 + - - -0.010898310891755407 + - -0.9998355950388865 + - -0.014491711870648984 + - -0.03390907000265181 + - - -0.0651192163290619 + - 0.015171465367968592 + - -0.9977621531724267 + - 0.9684995760537802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8703873914763436 + - 0.03793222569585873 + - -0.49090420146171543 + - 0.1000690047309582 + - - 0.018229039618116977 + - -0.998827004230403 + - -0.04485886461693223 + - -0.09008160691401262 + - - -0.49202996948723277 + - 0.030095878021376414 + - -0.8700578987932446 + - 0.9755573886120705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9369394107358512 + - 0.03298772916323244 + - -0.347931531101464 + - 0.012625042184809147 + - - 0.04830044956153972 + - -0.9982043923233316 + - 0.03542679379455295 + - -0.09381607923948332 + - - -0.34613813309444674 + - -0.0499980086709645 + - -0.9368503572859592 + - 0.9753419533769542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9598993025947022 + - -0.012297953865326394 + - 0.28007514921701027 + - 0.05409402472173121 + - - -0.01729697692642677 + - -0.9997320364817323 + - 0.015384076875003547 + - -0.09345405899939144 + - - 0.27981090662697716 + - -0.01961161805705135 + - -0.959854802024647 + - 0.9727343805188899 + - - 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: null + base_right_marker_pose: + - - 0.9981759154257278 + - -0.010288970361051872 + - -0.05948931797322715 + - 0.0916041216539951 + - - -0.011347406866167505 + - -0.9997827901616998 + - -0.01748167194233925 + - -0.033929447035474465 + - - -0.059296527903613255 + - 0.01812483338944976 + - -0.9980758549294638 + - 0.9685388909466683 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8821556667639774 + - 0.037959534134485336 + - -0.46942566329984053 + - 0.10007422765366769 + - - 0.011506550540556425 + - -0.9981861203640571 + - -0.059093725616258565 + - -0.09011714484109715 + - - -0.4708173519432563 + - 0.04672839480278427 + - -0.880992325862317 + - 0.975756748869574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9631867510606062 + - 0.04958790139702985 + - -0.26422021613864477 + - 0.012663453590553524 + - - 0.02076838929697026 + - -0.9936288524436521 + - -0.11077173645619594 + - -0.09402272275773559 + - - -0.26802976809922285 + - 0.10120644063768809 + - -0.958080006985913 + - 0.9770830413529944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99852488003196 + - -0.004308966193207088 + - 0.054124825796537636 + - 0.05412148605389254 + - - 0.004084151209577946 + - -0.9880611810337327 + - -0.1540078642249239 + - -0.09353928075096957 + - - 0.054142253980205245 + - 0.15400173812191564 + - -0.9865860737864548 + - 0.9734622826479333 + - - 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: + - - 0.9950201258579459 + - -0.002243590487040292 + - -0.09964896105511588 + - 0.023666554475501714 + - - -0.009269642092530863 + - -0.9974968187851357 + - -0.07010114299360533 + - -0.03473984772464583 + - - -0.09924224339017089 + - 0.0706757583281565 + - -0.9925502074513034 + - 0.9702061609011099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.997214833962678 + - -0.011461668793455471 + - -0.07369671005721748 + - 0.09161058658113355 + - - -0.011611926509702391 + - -0.9999312820232684 + - -0.0016107122760501966 + - -0.03392149573105268 + - - -0.07367318431778092 + - 0.002461986956114298 + - -0.9972793994326296 + - 0.9687894929045093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8755596493379851 + - 0.04021347401795125 + - -0.48143346057222913 + - 0.10006651952460488 + - - 0.010491400480320722 + - -0.9978773240549137 + - -0.06427111834227972 + - -0.09008766391293838 + - - -0.48299609829387447 + - 0.051222286598836625 + - -0.8741230155924746 + - 0.9755268432076195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9649246189943693 + - 0.02811429840525742 + - -0.2610173670155902 + - 0.01259703237264391 + - - 0.03860090194421546 + - -0.998636802758443 + - 0.03513554532787187 + - -0.09381927898037962 + - - -0.259673737654897 + - -0.04397865847856226 + - -0.9646944736914176 + - 0.9753378351503608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940107862945402 + - -0.0068874299578846505 + - 0.10906475158677664 + - 0.05411134557247377 + - - -0.009474489079812978 + - -0.9996854839947057 + - 0.023219973017784994 + - -0.09363177071031961 + - - 0.10887052303900524 + - -0.024114236435047898 + - -0.9937634088727393 + - 0.9732474384279302 + - - 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: + - - 0.9990253850814456 + - -0.0058824612381345375 + - -0.043745589636570936 + - 0.023690831870311506 + - - -0.009129662448848443 + - -0.9971863760480406 + - -0.07440417117169115 + - -0.03469348880001185 + - - -0.04318482634490388 + - 0.07473103822347227 + - -0.9962682082148376 + - 0.9698829490425961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9963155852305812 + - -0.009657402708030727 + - -0.08521730575170464 + - 0.09158359121817208 + - - -0.010856915879450382 + - -0.9998482492060369 + - -0.013623726994072553 + - -0.033905188007897616 + - - -0.0850728041399314 + - 0.014498728653140721 + - -0.9962692431582997 + - 0.9687201299185523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.892527423877397 + - 0.05499991598629316 + - -0.4476268612005739 + - 0.10020144488068669 + - - 0.0006743772758041264 + - -0.9926975395031509 + - -0.12062810733689074 + - -0.09022295825920333 + - - -0.45099261949844255 + - 0.10736202450536804 + - -0.8860468683156902 + - 0.9764022454124395 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9875230272127657 + - 0.03097784877100241 + - -0.1543976800669496 + - 0.012670747844669263 + - - 0.03152822070970978 + - -0.9995022382646847 + - 0.0011166927804112086 + - -0.09390558050159628 + - - -0.15428623406971553 + - -0.005970643969196263 + - -0.9880081524902405 + - 0.9760506621112192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955317765020032 + - -0.004803945896188356 + - 0.09430484652758833 + - 0.05418413400815743 + - - -0.005740785399963898 + - -0.999936809932721 + - 0.009665377621416298 + - -0.09368660813911123 + - - 0.09425245544683203 + - -0.01016357444010269 + - -0.9954964472045308 + - 0.9748973475661626 + - - 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: + - - 0.9980727958873328 + - -0.004679537511714799 + - -0.061877265924723764 + - 0.023669077645660702 + - - -0.008238525379977619 + - -0.998317986189455 + - -0.05738749994723089 + - -0.03471101802560505 + - - -0.06150464055017305 + - 0.05778667994708136 + - -0.9964325761492779 + - 0.9693789300276473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9951682126151754 + - -0.011690631691641926 + - -0.09748619251446618 + - 0.09159825237414351 + - - -0.011545955462830345 + - -0.9999312457656926 + - 0.002048085428123307 + - -0.03392267746118803 + - - -0.0975034333383575 + - -0.0009126182777757262 + - -0.995234770099554 + - 0.9687582453734196 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9085416613155429 + - 0.05740129156950116 + - -0.4138322623722641 + - 0.10018688316624742 + - - -0.004786259861183004 + - -0.9890218462803263 + - -0.14769183896476903 + - -0.09017088863874298 + - - -0.41776685049263373 + - 0.13616489748245383 + - -0.898292813799074 + - 0.9763346180861945 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9536719852601907 + - 0.027259951159636454 + - -0.2996108135442723 + - 0.012635024905846984 + - - 0.03896611818731511 + - -0.9986899972755423 + - 0.033165207299044853 + - -0.09379655650351133 + - - -0.29831424063108125 + - -0.04330339945720962 + - -0.9534848868399277 + - 0.9752594944806339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942639797216566 + - -0.014609310197332834 + - 0.10595143549575635 + - 0.05410365412003887 + - - 0.010230841823322533 + - -0.9730932254749547 + - -0.23018450080388958 + - -0.09358457920892368 + - - 0.10646346088512935 + - 0.22994813021702915 + - -0.9673620774591349 + - 0.9735404016240304 + - - 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: + - - 0.997260785637228 + - -0.004401076828987283 + - -0.07383465279233117 + - 0.023658103267919818 + - - -0.007932854856858738 + - -0.9988345580085537 + - -0.04760877588929284 + - -0.034706203743752426 + - - -0.07353907290712033 + - 0.04806408483059102 + - -0.996133449144922 + - 0.9695703135567785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9952055786103384 + - -0.013438884237577635 + - -0.09687751386834002 + - 0.09153291550071235 + - - -0.012074854988452502 + - -0.9998197346831978 + - 0.01465250883051584 + - -0.03388060641321123 + - - -0.09705696358257489 + - -0.013412476597164607 + - -0.9951884501398023 + - 0.968289536299791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8927011795221919 + - 0.04046942072746939 + - -0.4488282857236946 + - 0.10004325778394477 + - - 0.010376807194815041 + - -0.9975414710963483 + - -0.06930609868817572 + - -0.09009205419663334 + - - -0.45052960607725767 + - 0.05721223146248177 + - -0.8909263912461873 + - 0.9754584746373249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9810904982227059 + - 0.03635525014914102 + - -0.1901045241011272 + - 0.012655461372883679 + - - 0.03370086867172282 + - -0.9992843265141365 + - -0.017178074221535337 + - -0.09395349333917591 + - - -0.19059298451908965 + - 0.010446557795880275 + - -0.9816135612766991 + - 0.9765405938293892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953478515563559 + - -0.007061685762869268 + - 0.09608739249419336 + - 0.0541055002170829 + - - 0.0007886627792618212 + - -0.996679740382238 + - -0.08141789190721323 + - -0.09353612883867682 + - - 0.09634330497324288 + - 0.08111490433810879 + - -0.9920374689904872 + - 0.9734089892549852 + - - 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: + - - 0.9960458341510536 + - -0.0034096860856510265 + - -0.08877539248648213 + - 0.02368468480173648 + - - -0.009699866666299564 + - -0.9974631757142532 + - -0.07052039194937339 + - -0.03471281424638688 + - - -0.08830973251566125 + - 0.07110265209424015 + - -0.9935521143896672 + - 0.9701550143022858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9963981016667166 + - -0.013018108577646258 + - -0.08379350717104604 + - 0.09156950350433754 + - - -0.011189268646394905 + - -0.9996896357023247 + - 0.02225831387396766 + - -0.03389220144283415 + - - -0.08405726180480978 + - -0.02124055362776287 + - -0.996234518383831 + - 0.9684811636890968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8946247075652184 + - 0.058893480844046185 + - -0.4429200723922087 + - 0.10009308824409391 + - - -0.0021371709386064502 + - -0.9907001413118924 + - -0.1360465453621502 + - -0.09010389952367293 + - - -0.4468132329220192 + - 0.12265719676671392 + - -0.8861789587702391 + - 0.9755233477635465 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9627487153279002 + - 0.05218168048733966 + - -0.26531487586638486 + - 0.012633367504043492 + - - 0.022198796397517387 + - -0.9931432302414209 + - -0.11477690387938405 + - -0.09385308429986727 + - - -0.2694849245746032 + - 0.10461164584860039 + - -0.9573057395523475 + - 0.9757520209664101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9919338175506827 + - -0.01374710091188676 + - 0.12600920131421892 + - 0.05411421872713346 + - - 0.002213190328978829 + - -0.9920717694264467 + - -0.1256531181294218 + - -0.09348857625321204 + - - 0.12673753740662894 + - 0.12491845949897522 + - -0.9840391125806462 + - 0.9730251698931185 + - - 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: null + base_right_marker_pose: + - - 0.997914984772697 + - -0.011927007393290225 + - -0.06343051048784291 + - 0.09159719154988534 + - - -0.011814169187956096 + - -0.9999278908714091 + - 0.0021537093242424334 + - -0.033909431905630054 + - - -0.06345162387603882 + - -0.0013998400249244035 + - -0.9979839336759876 + - 0.9685815028581045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.16671304404735565 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.90321211738797 + - 0.04765320148495966 + - -0.4265407874890439 + - 0.10012241178471046 + - - 0.006706494831463353 + - -0.9952627881576668 + - -0.09698971819581298 + - -0.09012747381895443 + - - -0.42914204400246714 + - 0.08474169514979918 + - -0.8992529961988024 + - 0.9759467881636648 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9582023324737958 + - 0.06235076095734015 + - -0.2792143847473084 + - 0.01264151152153084 + - - 0.012331388486476087 + - -0.9840563634586186 + - -0.1774288882752608 + - -0.0939922561777067 + - - -0.2858255182795493 + - 0.16656967354425592 + - -0.9436939742075221 + - 0.9769522531699543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9755071089293401 + - -0.02027866269950903 + - 0.21903117647367018 + - 0.05408622288992938 + - - 0.005762620625231572 + - -0.9930437788388348 + - -0.11760461518587201 + - -0.09346951885250461 + - - 0.219892411492189 + - 0.11598633173183348 + - -0.9686044074954144 + - 0.9730174069392752 + - - 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: + - - 0.997089353907832 + - -0.0030125266345622428 + - -0.07618231426609495 + - 0.023691579398225887 + - - -0.010304051800453337 + - -0.9953760318640381 + - -0.09550068956345048 + - -0.034764446577687506 + - - -0.07554235130147577 + - 0.09600770736704953 + - -0.9925098857371482 + - 0.9701668175388665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9977082221293717 + - -0.0077945788661889955 + - -0.06721270739783658 + - 0.09162284096726889 + - - -0.010399889093781083 + - -0.9992044869236195 + - -0.03849981322737479 + - -0.03390923813576939 + - - -0.06685914897966835 + - 0.039110584910027224 + - -0.9969955949479965 + - 0.9689972552082393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9035757921876346 + - 0.022841176924175272 + - -0.4278189668647327 + - 0.10013308564997787 + - - 0.013738586616970448 + - -0.9996090309868662 + - -0.024352338845932874 + - -0.0901079230058641 + - - -0.4282079389855549 + - 0.01612655593168156 + - -0.9035363275394775 + - 0.9757967639097139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9684995128245827 + - 0.039860630503166336 + - -0.24580444217799644 + - 0.012675476737182665 + - - 0.03227152077049528 + - -0.9988721656299712 + - -0.03482736965160963 + - -0.093918991979726 + - - -0.24691545639288245 + - 0.025797807379318364 + - -0.968693568951871 + - 0.9758771293356108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960040973655414 + - -0.00767995323779102 + - 0.08897671801835869 + - 0.05412753636262805 + - - 0.00029011821175693817 + - -0.996012120061425 + - -0.08921755725286694 + - -0.09353275857125784 + - - 0.089307076217265 + - 0.08888686634711974 + - -0.9920299245126192 + - 0.9733321397636445 + - - 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: null + base_right_marker_pose: + - - 0.9973787552455807 + - -0.011674368957188668 + - -0.07140957704837105 + - 0.0915704521067213 + - - -0.01154060647676409 + - -0.9999307930927811 + - 0.0022854817853744653 + - -0.033897437259664306 + - - -0.07143131657000508 + - -0.0014553811508458171 + - -0.9974444590446039 + - 0.9685283072430246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8750377832680183 + - -0.0008818437280245367 + - -0.48405381953356375 + - 0.09996171250621172 + - - 0.041969702313193434 + - -0.9960942043343832 + - 0.07768449123984628 + - -0.08994093093153196 + - - -0.482231709804669 + - -0.08829245971820682 + - -0.8715830537681273 + - 0.9745165097882535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9553170471231047 + - 0.07163842222441924 + - -0.2867704237490114 + - 0.01262246933602253 + - - 0.0029488032181044926 + - -0.972447168164882 + - -0.23310471828704543 + - -0.09384977688850692 + - - -0.29556834071932103 + - 0.22184328159603517 + - -0.9292066047844957 + - 0.9751534525191552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9832211450561996 + - -0.020157760044470924 + - 0.18130042643183492 + - 0.05394563390523306 + - - -0.00508772214531929 + - -0.9965193995472666 + - -0.08320577749968591 + - -0.09336681079993456 + - - 0.18234663418266783 + - 0.08088727363401949 + - -0.9799015021757583 + - 0.971151239579945 + - - 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: + - - 0.9967105329595953 + - -0.003920689836317072 + - -0.08094900665608455 + - 0.023660457191051736 + - - -0.008530782736431455 + - -0.9983557481757974 + - -0.056683558729557805 + - -0.034709368307554195 + - - -0.08059366745162565 + - 0.057187658419897085 + - -0.995105136400745 + - 0.9696270217884473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989727273004736 + - -0.009934684012415628 + - -0.04421303160185854 + - 0.09161633316735918 + - - -0.011374630807602733 + - -0.9994090587170793 + - -0.03243687913829202 + - -0.03391608907019675 + - - -0.043864654151654074 + - 0.03290646452925143 + - -0.9984953964382314 + - 0.9687280118498428 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8911925783287586 + - 0.04188566898973544 + - -0.45168725802818677 + - 0.10010523764124461 + - - 0.006766845520818285 + - -0.9968446881440172 + - -0.07908778363789194 + - -0.09012272618248567 + - - -0.4535746885943227 + - 0.06742594791576119 + - -0.8886640216719836 + - 0.9758055592446943 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9700780341627989 + - 0.04931157282604813 + - -0.23773299396646838 + - 0.012634422614406548 + - - 0.021272364772941255 + - -0.9926546080329659 + - -0.11909792461619609 + - -0.09386516452009017 + - - -0.24185965792543093 + - 0.11047713761833056 + - -0.9640014045279465 + - 0.9754981701295011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9826263444396172 + - -0.015282217015047611 + - 0.18496464812590502 + - 0.05406522682195934 + - - -0.003250638488842746 + - -0.9978684108820528 + - -0.06517720393773746 + - -0.09337994316521345 + - - 0.18556643166976544 + - 0.06344358444186105 + - -0.9805814657796253 + - 0.9719159150224165 + - - 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: + - - 0.9972371491654823 + - -0.004682974646396537 + - -0.07413594319061946 + - 0.023686040196270998 + - - -0.009761890150747968 + - -0.997617421795294 + - -0.06829484044344507 + - -0.03471632520984586 + - - -0.07363948550191181 + - 0.06882985892018155 + - -0.9949068683530344 + - 0.9701472137761217 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999326992773318 + - -0.012019502324212412 + - -0.03465678978951821 + - 0.0915895017580704 + - - -0.012022925415634059 + - -0.9999277160097906 + - 0.00010963527504089714 + - -0.0339007843217315 + - - -0.03465560241990755 + - 0.00030711450907619004 + - -0.9993992670107336 + - 0.9685074019342697 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8819766781172498 + - 0.0201486428193157 + - -0.4708621575894592 + - 0.09998071432276091 + - - 0.02662576727150537 + - -0.9996202693326486 + - 0.00709828546389098 + - -0.08995493562439504 + - - -0.47054033596968575 + - -0.018797588458706355 + - -0.8821782375992238 + - 0.9749283275991786 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9607398421117321 + - 0.05169756855090734 + - -0.2725918509146016 + - 0.01259576753931608 + - - 0.022643729368259237 + - -0.9938196410813673 + - -0.10867282328715108 + - -0.09388943229800677 + - - -0.2765252561691629 + - 0.09823381498663059 + - -0.9559727508113149 + - 0.97585372120254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959740723532754 + - -0.011490123845447196 + - 0.08890232985725913 + - 0.054064705161989614 + - - 0.005644223187523732 + - -0.9817451525796681 + - -0.19011732727695835 + - -0.09343266349166375 + - - 0.08946390302598048 + - 0.18985371326455786 + - -0.9777278648044238 + - 0.9724860970672458 + - - 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: null + base_right_marker_pose: + - - 0.9992717609845734 + - -0.010954561461062788 + - -0.036550585248192845 + - 0.09159275899495498 + - - -0.01102619136126082 + - -0.9999376630212977 + - -0.0017587426106910242 + - -0.03386080553596116 + - - -0.03652904054111566 + - 0.0021604755730164765 + - -0.9993302564930395 + - 0.9684859336388347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8715077890317272 + - 0.0432032962910773 + - -0.4884748190507018 + - 0.10009846758158424 + - - 0.007492505812628437 + - -0.9971683701880322 + - -0.07482715986319688 + - -0.0900739996745406 + - - -0.4903244191488715 + - 0.06155255223083831 + - -0.8693637025435286 + - 0.9757147719628632 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9637382420181432 + - 0.06227490526298121 + - -0.25948109188583574 + - 0.012637141584265042 + - - 0.008206985924638855 + - -0.9788448764252062 + - -0.2044391187570415 + - -0.09405406598226555 + - - -0.26672316407431057 + - 0.1948962392418326 + - -0.9438613296854464 + - 0.9774730364368829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953045754250753 + - -0.010361473856966869 + - 0.0962363860367899 + - 0.05402541692251983 + - - -0.0038054670578912845 + - -0.9976740245815109 + - -0.0680592322598623 + - -0.09335870347795897 + - - 0.0967177365242899 + - 0.06737344087132532 + - -0.9930289516961607 + - 0.9720497303398937 + - - 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: null + base_right_marker_pose: + - - 0.9990532178115601 + - -0.010815573441084221 + - -0.042138952899997306 + - 0.09156588108531338 + - - -0.011686969444725472 + - -0.999721791004652 + - -0.020487931463417004 + - -0.033868216954371894 + - - -0.04190564073684748 + - 0.020961010509804454 + - -0.9989016734958666 + - 0.9681220997083355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8664344271816973 + - 0.027295176358693718 + - -0.49854423749740806 + - 0.10004856590309626 + - - 0.022301851967082183 + - -0.9996237204722704 + - -0.015970124232908642 + - -0.09005682187799674 + - - -0.4987925528645777 + - 0.002718605658051686 + - -0.8667171386271957 + - 0.9754413412185416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9527660733627881 + - 0.06337027558862576 + - -0.2970202309955939 + - 0.012676112702603598 + - - 0.014757314587182307 + - -0.9864935472176516 + - -0.16313400308982082 + - -0.09400613861203938 + - - -0.3033463880039274 + - 0.151045322568282 + - -0.9408327584726278 + - 0.9770680886930388 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956481996312395 + - -0.010989085299642088 + - 0.09254135602717702 + - 0.05410972234685811 + - - 0.0034289888719938122 + - -0.9880307638038096 + - -0.15421884389586396 + - -0.09352622023909404 + - - 0.0931284307093558 + - 0.15386503755414452 + - -0.9836933697103356 + - 0.9732760095974841 + - - 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: + - - 0.997315278721945 + - -0.0034082719175956696 + - -0.07314792211884606 + - 0.023683947131774203 + - - -0.009209094037752889 + - -0.9968231445055608 + - -0.07911264857815356 + - -0.034728132621987484 + - - -0.07264590432208044 + - 0.07957387926061119 + - -0.9941783392956444 + - 0.9700224132621308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994360413665707 + - -0.011120807836662644 + - -0.0316848047268451 + - 0.0915930243714328 + - - -0.011239659949291011 + - -0.999930440734606 + - -0.003575435151439814 + - -0.03386213766824845 + - - -0.031642839027852525 + - 0.00392954518460732 + - -0.9994915154281705 + - 0.9684360736572056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8833781871456543 + - 0.03408838249949755 + - -0.46741946969914 + - 0.10004037207349517 + - - 0.013364110867700304 + - -0.998777888854545 + - -0.04758286746272574 + - -0.090058684355134 + - - -0.46847025414211 + - 0.03578702158363362 + - -0.8827541617405158 + - 0.975418261836278 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9355206828652828 + - 0.08199140593191717 + - -0.3436254665832882 + - 0.012646873198046147 + - - -0.0025382989593002794 + - -0.9711087748294007 + - -0.23862377184122482 + - -0.09412584928531573 + - - -0.3532628043959173 + - 0.2241096981450095 + - -0.9082842254645206 + - 0.977928214909619 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997534093870078 + - -0.009750314086404551 + - 0.06950297074239972 + - 0.054114834872185893 + - - 0.013754298247542129 + - -0.9439404793921587 + - -0.32982903244653555 + - -0.0935632326521737 + - - 0.06882260418292865 + - 0.3299716696022806 + - -0.9414787020497926 + - 0.9734342650547257 + - - 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: + - - 0.9982196111114223 + - -0.004603059266939066 + - -0.05946780505404399 + - 0.023686026164871643 + - - -0.008933185489380819 + - -0.9973098053584029 + - -0.07275541445828947 + - -0.034716247547370495 + - - -0.058972927598797825 + - 0.07315711845999819 + - -0.9955753260447233 + - 0.970284813997788 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993393378494674 + - -0.010594173907292843 + - -0.03476566274084323 + - 0.09160345925707244 + - - -0.011128425901849474 + - -0.9998223931132985 + - -0.015209877256040396 + - -0.03391361961047295 + - - -0.03459835203496065 + - 0.015586715767563245 + - -0.9992797447802322 + - 0.9683994358868342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8709732618686925 + - 0.01437102409984494 + - -0.49112019992679157 + - 0.10004292820267324 + - - 0.02661881675472258 + - -0.99948430018862 + - 0.017960297075610566 + - -0.09001684284646752 + - - -0.4906088214702101 + - -0.028715977134469252 + - -0.8709066407789214 + - 0.9749460699044938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9421930562837383 + - 0.043136369571608664 + - -0.3322822569907848 + - 0.01265280404932977 + - - 0.033434974540231845 + - -0.9988327122459326 + - -0.0348613743981642 + - -0.09397690057365357 + - - -0.3333981811111188 + - 0.021736296087800328 + - -0.9425355092855557 + - 0.9765281035975357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946464149026464 + - -0.011752520899677554 + - 0.10266638969894286 + - 0.054029670124491246 + - - 0.006552680613183821 + - -0.9843391174278944 + - -0.17616345897505614 + - -0.09339084302269238 + - - 0.10312890815912949 + - 0.17589309296779487 + - -0.9789923636822349 + - 0.9719779742388726 + - - 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: + - - 0.9969976183664089 + - -0.004622472710559736 + - -0.07729412472981767 + - 0.023694194224028686 + - - -0.00832945653856768 + - -0.9988266870007242 + - -0.04770607392073062 + - -0.034752945092464696 + - - -0.07698291450367797 + - 0.04820666013320392 + - -0.9958663307860759 + - 0.9702399495937388 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996545397143528 + - -0.011927211257682284 + - -0.02342099186840522 + - 0.0915895106897394 + - - -0.01208553453467843 + - -0.9999049868872821 + - -0.006630011535109664 + - -0.033912825635175885 + - - -0.02333968901884474 + - 0.006910776335492935 + - -0.9997037061484492 + - 0.9682538987389097 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8563184031127912 + - -0.003892361508809266 + - -0.5164335794777911 + - 0.09998772438159864 + - - 0.04537284656731712 + - -0.9955379225439531 + - 0.08273783639453332 + - -0.0899880689233993 + - - -0.514451258414962 + - -0.09428199350223034 + - -0.8523208365495397 + - 0.9744978736719202 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9390230548731241 + - 0.04479841338540471 + - -0.3409234585282982 + - 0.012670133736742004 + - - 0.03770957061423567 + - -0.9989131628953896 + - -0.027394913367632518 + - -0.09390238314738773 + - - -0.34178017891743784 + - 0.012868378005036572 + - -0.939691818707966 + - 0.9756220577576411 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997605931111637 + - -0.0013102317179680895 + - 0.021841239773863215 + - 0.054022181362872755 + - - 0.001040043362983767 + - -0.9942315643726074 + - -0.10724977722588656 + - -0.09335607130375555 + - - 0.02185577204807159 + - 0.10724681672685867 + - -0.9939921757891959 + - 0.9716337929808183 + - - 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: + - - 0.9965552070136368 + - -0.005575364118078947 + - -0.08274439370107498 + - 0.02365197667737201 + - - -0.008420530136545718 + - -0.9993837719091316 + - -0.03407596098272803 + - -0.034702107809135914 + - - -0.08250341839116235 + - 0.034655328012121255 + - -0.9959880492225524 + - 0.9695741630652356 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989510440903633 + - -0.009821742618898954 + - -0.04472521528960113 + - 0.09159731532140392 + - - -0.01194465238084065 + - -0.9988022654804127 + - -0.0474484957685341 + - -0.034007727127233274 + - - -0.04420561944226034 + - 0.047932951537786865 + - -0.9978718832428353 + - 0.9682482432400252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8622250896282111 + - 0.05595081647605819 + - -0.5034256657653501 + - 0.10012738460310715 + - - -0.0025286642111876957 + - -0.9933927169955865 + - -0.11473672331661929 + - -0.09021307838915134 + - - -0.5065190032693053 + - 0.10020187600933349 + - -0.856386643620322 + - 0.9762285214183353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9346627104370799 + - 0.0674150266384152 + - -0.34908570853266524 + - 0.01264729993751542 + - - 0.014754259451107476 + - -0.9883672970058937 + - -0.1513684182295371 + - -0.09394849923039986 + - - -0.3552294041129767 + - 0.136327914942628 + - -0.9247847155208255 + - 0.9762507104673237 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9920541104475209 + - -0.01763150189364822 + - 0.12457034994392667 + - 0.05406137418662613 + - - 0.006953222655641138 + - -0.9809345162419575 + - -0.1942141280645099 + - -0.09360511147275732 + - - 0.1256196427270797 + - 0.19353708943282952 + - -0.9730175231592645 + - 0.9729615696463039 + - - 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: + - - 0.9942546207779276 + - -0.003510695500492862 + - -0.10698328878307213 + - 0.02365995964157722 + - - -0.009260117540738846 + - -0.9985360322523757 + - -0.05329204928330872 + - -0.034741928906168576 + - - -0.10663957654112795 + - 0.05397654407968079 + - -0.9928315735331666 + - 0.9702500040617881 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997376030277514 + - -0.012672261707839402 + - -0.019082423209178852 + - 0.09161626283002777 + - - -0.012975227223630162 + - -0.9997903871929538 + - -0.015837460499035203 + - -0.033929271617626704 + - - -0.01887772684465339 + - 0.01608090357446872 + - -0.9996924706975675 + - 0.9683300248096443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8716966076733421 + - 0.04934086953410191 + - -0.48755564068566193 + - 0.1002143642157157 + - - 0.0033239115504754557 + - -0.9954906608603413 + - -0.09480134889254817 + - -0.09020557144446965 + - - -0.4900346679397205 + - 0.08101742240691666 + - -0.867929836728608 + - 0.9765883169672339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.933212775226406 + - 0.06224300605556163 + - -0.3538922496345417 + - 0.012625856746114467 + - - 0.017642609095650644 + - -0.9916319494053135 + - -0.1278859463073111 + - -0.0937930202454938 + - - -0.35889086711495954 + - 0.1131012162436183 + - -0.9265017325324802 + - 0.9746003869665052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9862817814508844 + - -0.020757054652614505 + - 0.1637601668911535 + - 0.05405609053198488 + - - 0.01325739257870692 + - -0.9788970591137482 + - -0.203923488594298 + - -0.09349362281652296 + - - 0.16453719676743042 + - 0.2032970544316939 + - -0.9651931508974319 + - 0.9718332019337628 + - - 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: + - - 0.9972968419052374 + - -0.004810081510947813 + - -0.07332033989076951 + - 0.023670097551046487 + - - -0.008285248374424315 + - -0.9988526633748188 + - -0.047166847768378276 + - -0.03471939156270079 + - - -0.07300934039706171 + - 0.04764682554892098 + - -0.9961924594323615 + - 0.9698984614520543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998969444524816 + - -0.013380644895404881 + - -0.005201808990527821 + - 0.09159883682323643 + - - -0.013338483368201171 + - -0.999878576759699 + - 0.008057083742613472 + - -0.033888626817108095 + - - -0.005308986346477214 + - -0.007986869172732261 + - -0.9999540112349123 + - 0.968284121039661 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8737370179401844 + - 0.036098891296202154 + - -0.485057206449073 + - 0.10005493894833292 + - - 0.010799785559043528 + - -0.9984360991130885 + - -0.05485180598410257 + - -0.0900962836861821 + - - -0.486278714435325 + - 0.04268753957566465 + - -0.8727604401278186 + - 0.9753548766619284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9447817254259109 + - 0.08377894992596058 + - -0.3168100043409964 + - 0.012653444049254156 + - - -0.0015084431747822424 + - -0.9656454121593433 + - -0.25985892821837137 + - -0.09389369770953783 + - - -0.32769683535308547 + - 0.2459878564582317 + - -0.912197762864313 + - 0.9757449309710644 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966695251462445 + - -0.016228994762628398 + - 0.07991543889483435 + - 0.05410366446503122 + - - -0.006063759206980424 + - -0.9920326997454538 + - -0.12583462742832724 + - -0.09353683725002576 + - - 0.08132089810767698 + - 0.12493095038756707 + - -0.9888271685012604 + - 0.972302816352379 + - - 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: + - - 0.995604604716903 + - -0.005321105665594875 + - -0.0935048496121715 + - 0.023665585239960842 + - - -0.007605580403025214 + - -0.9996808080038759 + - -0.024092265469484495 + - -0.03474516913085062 + - - -0.09334680612228975 + - 0.024697529091278952 + - -0.9953272857927459 + - 0.970433603730543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998759051666807 + - -0.012296143382948623 + - -0.00984779797807429 + - 0.09160746810764439 + - - -0.012319787995520113 + - -0.999921361269626 + - -0.002343949752948456 + - -0.03388903806314977 + - - -0.009818202017499628 + - 0.0024649816642071413 + - -0.9999487620746074 + - 0.9681519961184957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8827542943070499 + - 0.025996681523616255 + - -0.469115154767166 + - 0.10008486940824403 + - - 0.024076870858488787 + - -0.9996591795130689 + - -0.010091040824513705 + - -0.09008533664689379 + - - -0.4692176042862481 + - -0.0023869153772218075 + - -0.883079352302417 + - 0.9755641774801135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9375965099720605 + - 0.0782577103951887 + - -0.33880453841693836 + - 0.012639226779300364 + - - 0.003054397883927411 + - -0.9761617055695794 + - -0.21702302926891717 + - -0.09404695904046886 + - - -0.347711741449406 + - 0.2024451909608954 + - -0.9154848384954438 + - 0.9769358351355197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936649850193158 + - -0.010120002693515671 + - 0.11192623951534472 + - 0.05397276442273937 + - - 0.005408181439234701 + - -0.9904774531939687 + - -0.13756876930433673 + - -0.09330480249104088 + - - 0.1122526129766403 + - 0.1373025865010297 + - -0.9841480328792228 + - 0.9707706803831498 + - - 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: + - - 0.9929891268501608 + - -0.00344814758286071 + - -0.11815542406340095 + - 0.02366559403599166 + - - -0.010103407075667953 + - -0.9983923134887036 + - -0.05577373514600872 + - -0.03467375274640689 + - - -0.11777315111186691 + - 0.05657648491131804 + - -0.9914275496637465 + - 0.9704831754020743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992283655932301 + - -0.010653617220697456 + - -0.03780441553571253 + - 0.09156137467494717 + - - -0.011094389079226863 + - -0.9998726836435183 + - -0.011468698028464466 + - -0.03382745250407854 + - - -0.03767741929645257 + - 0.011879265281330813 + - -0.9992193428529772 + - 0.9682715584162448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8687649210305346 + - -8.144856131202596e-05 + - -0.4952247018808137 + - 0.09992972596172489 + - - 0.04169265743868944 + - -0.9964377299408125 + - 0.07330465651035675 + - -0.08988715813828613 + - - -0.4934665483115437 + - -0.08433174797508441 + - -0.8656667499569095 + - 0.9743403228345706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9503822595383203 + - 0.05199303346539091 + - -0.3067087954818109 + - 0.012633736828438324 + - - 0.02623487541597814 + - -0.9958174558175777 + - -0.08751757538297261 + - -0.09390657306871619 + - - -0.3099762766192676 + - 0.07512868400333478 + - -0.9477712745030744 + - 0.9764258846825019 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999583942717436 + - 0.00041162824834505907 + - 0.009112644383560381 + - 0.05400739658381182 + - - 0.0013963160255829566 + - -0.9941154531730404 + - -0.10831673953788314 + - -0.09329417396223091 + - - 0.00901443437120546 + - 0.10832495707244051 + - -0.99407466703876 + - 0.9712690367533345 + - - 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: + - - 0.9948152814815872 + - -0.0037048002040484273 + - -0.10163085253090443 + - 0.023670325113628057 + - - -0.010152067818915658 + - -0.9979622400230886 + - -0.06299446806743819 + - -0.03468171060298153 + - - -0.1011903713290474 + - 0.06369962278967933 + - -0.9928256980994913 + - 0.9706426177817638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997951520466641 + - -0.01214339870829722 + - -0.016192338058445412 + - 0.09160495477615395 + - - -0.01218557368953586 + - -0.9999226065957398 + - -0.0025085080503404506 + - -0.03386845800215044 + - - -0.016160623064861875 + - 0.002705307116217474 + - -0.9998657487760858 + - 0.9683133645513737 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8753164145585732 + - 0.032761060558190225 + - -0.4824395167432148 + - 0.10004928250661704 + - - 0.016092482613495 + - -0.9991232175954623 + - -0.03865007199249176 + - -0.09003003295973025 + - - -0.48328273961280516 + - 0.026067392903645493 + - -0.8750761593253175 + - 0.9757136210089691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9527565071142939 + - 0.0681853519356006 + - -0.2959827628980927 + - 0.012662794692625629 + - - 0.009696206002460513 + - -0.9808077018592168 + - -0.19473632317263853 + - -0.09402740453958885 + - - -0.30358033819819114 + - 0.1826663892320061 + - -0.9351320593929031 + - 0.9774221753977324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99181543099686 + - -0.010219277541952627 + - 0.1272702526242225 + - 0.053975208979856984 + - - -0.005229631550197173 + - -0.9992067648759942 + - -0.039477740308928644 + - -0.09328864684607681 + - - 0.12757273137454592 + - 0.03848905549075697 + - -0.991082131216716 + - 0.9712733350590941 + - - 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: + - - 0.9965288810169314 + - -0.0061852697775222325 + - -0.08301765918719999 + - 0.023677596768971285 + - - -0.00847585035729958 + - -0.9995922392302443 + - -0.02726747570617033 + - -0.0346914158370504 + - - -0.08281515114919182 + - 0.027876472309910284 + - -0.9961749610543779 + - 0.9701838091690946 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999581022327986 + - -0.011565699236913269 + - -0.02653326973630784 + - 0.09157483930179805 + - - -0.011783829679868265 + - -0.9998979268343723 + - -0.008079435029779961 + - -0.033878243241639086 + - - -0.02643711708591278 + - 0.008388713458322651 + - -0.9996152801586718 + - 0.9681740131408599 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8749810894069618 + - 0.03233497697718263 + - -0.48307612489553997 + - 0.10009827808413979 + - - 0.01775699944847882 + - -0.9992392486161847 + - -0.03472193824586102 + - -0.0900866312738169 + - - -0.48383135713882064 + - 0.021803056869341343 + - -0.8748896185007338 + - 0.975506984878233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9653999112093337 + - 0.07288295264676437 + - -0.25038188163383585 + - 0.012695347319581744 + - - 0.006546626251149955 + - -0.9666204621975557 + - -0.256128920166605 + - -0.0939671782185601 + - - -0.2606916821107617 + - 0.24562768018786657 + - -0.9336524458297039 + - 0.9765291274062553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995692404354265 + - 0.006899123180423487 + - -0.02852605256052462 + - 0.0540405931141022 + - - 0.0021122859795641084 + - -0.9863680227002509 + - -0.16454076103609908 + - -0.09341805596835519 + - - -0.029272373038156756 + - 0.16440962834864467 + - -0.9859577081614487 + - 0.9722465096961899 + - - 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: + - - 0.9966104138059988 + - -0.0038160539802525937 + - -0.08217737416987586 + - 0.02367229556595705 + - - -0.008548237025153088 + - -0.9983198102348196 + - -0.05731041909178462 + - -0.03472414375418539 + - - -0.08182060093398108 + - 0.05781863215896747 + - -0.9949685397227737 + - 0.9700534883406022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9988417653356998 + - -0.009768406473953753 + - -0.04711375654755544 + - 0.09155268001652245 + - - -0.010904064333965484 + - -0.9996546918897444 + - -0.02390812338560061 + - -0.03389155724859273 + - - -0.046863943518054965 + - 0.024394163600746373 + - -0.9986033725058998 + - 0.9679407963538151 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8655538253912775 + - 0.037452815589515506 + - -0.49941351799379996 + - 0.1000515042311291 + - - 0.012029027558898864 + - -0.9984668218821763 + - -0.05403062184070827 + - -0.09005557502681583 + - - -0.5006714270322534 + - 0.04075895245126049 + - -0.8646772981572737 + - 0.9754582510273007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9626557206271303 + - 0.05404984342119153 + - -0.265278302863248 + - 0.012658687821261028 + - - 0.022173484746906176 + - -0.9923170170398619 + - -0.12171801126904036 + - -0.09397364461023018 + - - -0.2698190136332856 + - 0.11129039544927583 + - -0.9564581265077451 + - 0.9768700988095873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983529586016646 + - -0.0062853568148557954 + - 0.05702512026302847 + - 0.05403526910621001 + - - 0.002979594929646597 + - -0.9869584067154535 + - -0.16094789662418096 + - -0.09340291656422925 + - - 0.057293036796439226 + - 0.16085272053466415 + - -0.9853141175438616 + - 0.9718653549268412 + - - 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: null + base_right_marker_pose: + - - 0.9996490547185388 + - -0.012560844282448322 + - -0.02332364875494084 + - 0.09159389907520707 + - - -0.01278961239892495 + - -0.9998713022407971 + - -0.00968528626201752 + - -0.03394556389672542 + - - -0.023198991681041517 + - 0.009980187683808626 + - -0.999681050454983 + - 0.9681905853069743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8633182554970206 + - 0.026618024009507066 + - -0.5039574094339823 + - 0.1000689128650042 + - - 0.019011922203233694 + - -0.9996145980802005 + - -0.020228744872035062 + - -0.09011117001837829 + - - -0.5043016324975751 + - 0.007882645671917547 + - -0.8634915907856265 + - 0.9755510060943525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9285652235821288 + - 0.06365550029050288 + - -0.3656700737504191 + - 0.012617133941672853 + - - 0.021660052757470728 + - -0.9927983724790238 + - -0.11782289131380794 + - -0.09377556073990276 + - - -0.37053672917595465 + - 0.10148580632663665 + - -0.9232568242075538 + - 0.9749362391931972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970065272297544 + - -0.006069142230427283 + - 0.07707885685356179 + - 0.05397497341360216 + - - 0.0011662966307851006 + - -0.9956204309241926 + - -0.09348046468911904 + - -0.09326240810077396 + - - 0.07730863091165206 + - 0.09329053027457533 + - -0.9926329898545857 + - 0.970733725716408 + - - 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: null + base_right_marker_pose: + - - 0.9995747321273303 + - -0.011795047779706974 + - -0.026668928370865142 + - 0.09157841987939921 + - - -0.012131713200689174 + - -0.9998483052708704 + - -0.012497519025160005 + - -0.033898799836990595 + - - -0.026517474000970192 + - 0.012815744022195583 + - -0.9995661960459472 + - 0.9680972413496851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.873639027920855 + - 0.03200609220552843 + - -0.48552081207218584 + - 0.10002601710345314 + - - 0.015890775011923354 + - -0.9991787516523287 + - -0.037273388845322816 + - -0.09001417435132612 + - - -0.48631505442770745 + - 0.024848185209898444 + - -0.8734301549229628 + - 0.9751144886692187 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9318929675766396 + - 0.0725447247817064 + - -0.35540506452152654 + - 0.012666155821738708 + - - 0.005249712030760502 + - -0.9823916947291137 + - -0.1867591996418195 + - -0.09397503151723598 + - - -0.36269537838908017 + - 0.1721738105334414 + - -0.9158647506382128 + - 0.97634184415114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946775588111744 + - -0.012162399452682687 + - 0.10231632341418527 + - 0.054006823706062454 + - - 0.0013598042082881906 + - -0.9913729076177875 + - -0.1310645221788442 + - -0.09337236868553499 + - - 0.10302769011269687 + - 0.13050606913476095 + - -0.9860798451388381 + - 0.9715308213459155 + - - 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: + - - 0.9972394413104245 + - -0.006590345975332704 + - -0.07395988125191877 + - 0.02367149818990252 + - - -0.008781028628543193 + - -0.999531097760536 + - -0.02933390778337611 + - -0.03466759208397391 + - - -0.07373188069686826 + - 0.029902373643982256 + - -0.9968297035197935 + - 0.9697126948197979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997525503789583 + - -0.013082491485679488 + - -0.017991287538575845 + - 0.09160760692190897 + - - -0.012996025509587252 + - -0.9999034706250374 + - 0.004914545040980485 + - -0.03388357852636006 + - - -0.01805384534448958 + - -0.004679513706870851 + - -0.9998260652832297 + - 0.9683189444628246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.872091662757817 + - 0.03672105815017247 + - -0.4879628014886358 + - 0.10012430852876028 + - - 0.013350604201214738 + - -0.9985946777831818 + - -0.05128772631504154 + - -0.09010255250033213 + - - -0.48916039610312756 + - 0.03821300029356173 + - -0.8713563412822543 + - 0.9760215295970416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9419482765925056 + - 0.06381388622252393 + - -0.32963803201327885 + - 0.012632470111722718 + - - 0.016374043440334586 + - -0.989335116411272 + - -0.14473395640591757 + - -0.0938824552618465 + - - -0.3353585170020626 + - 0.13093439334519708 + - -0.9329473992211477 + - 0.9755276473658794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968077679687329 + - -0.009189075610073014 + - 0.07930847752053477 + - 0.05410522796321539 + - - 0.01139686560978118 + - -0.9668044728053508 + - -0.25526304632249397 + - -0.09350075842948122 + - - 0.07902142223135061 + - 0.25535205550964235 + - -0.963613481939483 + - 0.9731402340848734 + - - 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: null + base_right_marker_pose: + - - 0.9998675448753794 + - -0.01043735094539347 + - -0.012488170807762556 + - 0.09160012160969705 + - - -0.010870188012483881 + - -0.999324364965777 + - -0.035109152628920226 + - -0.033887289692644644 + - - -0.01211328681466804 + - 0.03524025100634583 + - -0.9993054552996078 + - 0.9683840646711162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.873584117165544 + - 0.03588264770729565 + - -0.4853485611698168 + - 0.10007092490399495 + - - 0.01387119115124918 + - -0.998708855115149 + - -0.04886934387357977 + - -0.09003194873401982 + - - -0.4864754673075949 + - 0.03595911995729028 + - -0.8729539285665393 + - 0.975415455406841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9366801556085164 + - 0.07496745013122141 + - -0.34206748970053896 + - 0.012703360219950768 + - - -7.362407561482126e-05 + - -0.9767741913473305 + - -0.21427126194910964 + - -0.09405958311620796 + - - -0.35018606578317907 + - 0.20072882338765227 + - -0.9149194821363832 + - 0.9779762549844007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962562759585967 + - -0.008633847814541276 + - 0.08601679652849076 + - 0.05395346896267378 + - - 0.0063847448979730825 + - -0.9849343763198264 + - -0.17281061708142448 + - -0.09328335449873512 + - - 0.08621292041043643 + - 0.1727128571224223 + - -0.9811919289002096 + - 0.9708935898976044 + - - 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: + - - 0.9974186216078461 + - -0.003981514035414531 + - -0.07169547277122834 + - 0.023689145045175795 + - - -0.008839459102566808 + - -0.9976754539278574 + - -0.06756887295654819 + - -0.03470268270030662 + - - -0.07125978692557391 + - 0.06802820132731645 + - -0.9951352704991882 + - 0.9702473257062182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994988380984524 + - -0.012339466605534977 + - -0.02915150431340762 + - 0.09159590128467573 + - - -0.012194386696612838 + - -0.9999123869247782 + - 0.005149311360315521 + - -0.03385815547440245 + - - -0.029212490016039504 + - -0.004791246005256855 + - -0.9995617411589838 + - 0.9683220145219562 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8827824698941382 + - 0.04821277617886034 + - -0.46730144346099783 + - 0.10012723284080906 + - - 0.0032771801332044347 + - -0.9953276140211398 + - -0.09649974537458453 + - -0.09011337923557547 + - - -0.4697705513737313 + - 0.08365685255920302 + - -0.8788157714116813 + - 0.976155173507919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9743972059740301 + - 0.04617536749749947 + - -0.22004072447270837 + - 0.01264565172432715 + - - 0.019276040395830668 + - -0.9922366975118526 + - -0.12286077639927113 + - -0.09389449949650795 + - - -0.22400562327017995 + - 0.11547368335358608 + - -0.9677227439696222 + - 0.9758007520435827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977829615961735 + - 0.011138054347412855 + - -0.06561330119513095 + - 0.054186918405928396 + - - -0.005874631976627272 + - -0.9673073323993728 + - -0.25353897803996484 + - -0.09365560954575398 + - - -0.0662921582655753 + - 0.25336232638607636 + - -0.9650973429249137 + - 0.973903563451037 + - - 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: + - - 0.9962654559326692 + - -0.004268769761061021 + - -0.08623757255394948 + - 0.023689221209982222 + - - -0.009310649592778178 + - -0.9982645722399881 + - -0.058147705153978664 + - -0.034704299431386865 + - - -0.08583969431114694 + - 0.05873347780644859 + - -0.9945762542235402 + - 0.9702215795727288 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995686796158936 + - -0.010632557026131797 + - -0.02737523446520639 + - 0.0915604849555213 + - - -0.011226706501064996 + - -0.9997027379898594 + - -0.021642474828862432 + - -0.03391408565043622 + - - -0.027136982000176686 + - 0.021940473711044947 + - -0.9993909144180056 + - 0.9680430055076924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8730247433895006 + - 0.016532592487494367 + - -0.4873955999138062 + - 0.10001488576829441 + - - 0.024260050585806176 + - -0.99966010468107 + - 0.00954594440617528 + - -0.08999507351973908 + - - -0.48707211722215293 + - -0.020158087574819898 + - -0.8731290878959737 + - 0.9749683617931966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9427013391448082 + - 0.06567118740544291 + - -0.32711080740223875 + - 0.012623932094155417 + - - 0.013403953966889991 + - -0.9871000430018633 + - -0.15954259344693353 + - -0.09389024421779657 + - - -0.33336844360652795 + - 0.1460164382885681 + - -0.9314207859806878 + - 0.9756852550610495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956078843408006 + - -0.01585448883051122 + - 0.09226904043262939 + - 0.05409403745177293 + - - 0.0018317618512083836 + - -0.9820689766581082 + - -0.18851304924120843 + - -0.09342504599870868 + - - 0.09360334014849823 + - 0.18785409303398481 + - -0.9777265744795041 + - 0.9715937432424228 + - - 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: + - - 0.9964310028118754 + - -0.003694918099019545 + - -0.0843303279702034 + - 0.023665826758218277 + - - -0.008075661182647543 + - -0.9986317890384382 + - -0.05166559414496162 + - -0.03478532158383563 + - - -0.08402404615217962 + - 0.05216222294084437 + - -0.9950975138980535 + - 0.9702497335464595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999596717138568 + - -0.012158479918501466 + - -0.025662705466670956 + - 0.09162143730050654 + - - -0.012668592571153096 + - -0.9997235070142446 + - -0.019809499877725872 + - -0.033968530214199176 + - - -0.025414756502155026 + - 0.0201266214057624 + - -0.9994743664860671 + - 0.9683101348823488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8690686113641581 + - 0.039463525720159334 + - -0.4931149753143867 + - 0.09999043153130349 + - - 0.010790138478960876 + - -0.9980880228542308 + - -0.060859440898991174 + - -0.0901214125246303 + - - -0.4945738788625808 + - 0.047570250920793714 + - -0.8678327889485131 + - 0.9753593956909852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9366860654355591 + - 0.07445393993729832 + - -0.34216344872979176 + - 0.012638500390119985 + - - 0.00998266801712789 + - -0.98241502680311 + - -0.1864431855839857 + - -0.09397322958050386 + - - -0.35002794339611154 + - 0.17122302981567022 + - -0.9209577150459355 + - 0.976201789544789 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993856294881034 + - -0.005469305439696733 + - 0.03461864050875926 + - 0.05406258573522947 + - - 0.004490542826700436 + - -0.9596259019277164 + - -0.2812436014819518 + - -0.09362316086308918 + - - 0.03475915128119461 + - 0.2812262701943484 + - -0.9590117759208104 + - 0.9728106379938182 + - - 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: + - - 0.9957059648762221 + - -0.002762331130291424 + - -0.09253108146259867 + - 0.02370043382986121 + - - -0.010074513436467227 + - -0.9968513412524085 + - -0.07865054114431173 + - -0.034741711874947206 + - - -0.09202247382531015 + - 0.07924501858161971 + - -0.9925986557219737 + - 0.9705892366381698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998863757033675 + - -0.012534789340428974 + - -0.008373454423081371 + - 0.09156896059737267 + - - -0.01259610004875407 + - -0.9998939464247545 + - -0.0073098677616885415 + - -0.03389884547604519 + - - -0.008280938735803482 + - 0.0074145100527724574 + - -0.999938223639007 + - 0.9680003751170198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.867497627835945 + - 0.034039930765932744 + - -0.49627527523790543 + - 0.1000242893200938 + - - 0.0155852063749697 + - -0.9990260235716143 + - -0.0412808135692475 + - -0.09006322753734777 + - - -0.4971971108536914 + - 0.028076455263082455 + - -0.8671832249407291 + - 0.9752635015214639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9382414682135967 + - 0.058725988347297364 + - -0.34096070978490683 + - 0.01262353637246895 + - - 0.021405856636823834 + - -0.9934544144302659 + - -0.11220568501935083 + - -0.09379194107844648 + - - -0.34531831203403923 + - 0.09797747058202269 + - -0.9333572084857498 + - 0.9749928777486397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967153614196351 + - -0.007864822194508996 + - 0.08060169279844506 + - 0.05409943309013496 + - - 0.005393774797343852 + - -0.9866163579288924 + - -0.16296953537567502 + - -0.09349212491234025 + - - 0.08080467501055671 + - 0.16286898673159542 + - -0.9833332586958817 + - 0.9729965281713648 + - - 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: + - - 0.9960078970663447 + - -0.00399172162690711 + - -0.08917586635368784 + - 0.023663538600726362 + - - -0.009482786408731899 + - -0.9980781947446504 + - -0.06123719406688909 + - -0.03470428674705121 + - - -0.08876004587315107 + - 0.0618383645782515 + - -0.9941316164989841 + - 0.9705465826600114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997434464198249 + - -0.010858742030102276 + - -0.01987785355953361 + - 0.09160868434520564 + - - -0.010676849995605628 + - -0.9999003653905395 + - 0.009233859758393049 + - -0.033858325883104876 + - - -0.01997614113841582 + - -0.009019257917923443 + - -0.9997597745317767 + - 0.9683633625350606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8699062712605649 + - 0.034863332533912515 + - -0.4919833607614899 + - 0.10008424215520734 + - - 0.012250299987732367 + - -0.9987181747963892 + - -0.04911148014038357 + - -0.09007651383382757 + - - -0.4930649139532756 + - 0.03669544080670734 + - -0.8692182897593965 + - 0.9757879425327507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9624231637405734 + - 0.058061779097143926 + - -0.2652743555333985 + - 0.0126817087021918 + - - 0.016583319615209067 + - -0.9876179078070252 + - -0.15599955669621504 + - -0.09404344731378932 + - - -0.2710473158068998 + - 0.14573845747416928 + - -0.9514692084386788 + - 0.977349781871375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964046578897431 + - -0.01321611570328016 + - 0.08368447897514623 + - 0.0541260551649496 + - - -0.0013108563131811104 + - -0.9900446234643349 + - -0.1407477360567109 + - -0.09346779140509583 + - - 0.08471150684145794 + - 0.14013200146676305 + - -0.9865023987672654 + - 0.9721488002356526 + - - 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: + - - 0.9951507857508624 + - -0.0038690531015091864 + - -0.09828501435895004 + - 0.02365468085115996 + - - -0.00995222704153104 + - -0.9980587838979573 + - -0.061478590265592006 + - -0.034652056478876696 + - - -0.09785635797614345 + - 0.06215862218733961 + - -0.9932574887165042 + - 0.9700395763796666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999903638717118 + - -0.010913789874846173 + - -0.008579188238705071 + - 0.0915966730148158 + - - -0.011002284176939043 + - -0.9998860479954749 + - -0.010336380743819207 + - -0.03382231683178791 + - - -0.008465401535503621 + - 0.010429775383920061 + - -0.9999097743108045 + - 0.9684199175692276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8563300907687439 + - 0.0030828317739335226 + - -0.5164196663492285 + - 0.10000390980590596 + - - 0.03836742558344718 + - -0.9975984143035035 + - 0.057665799510929705 + - -0.08992489208651816 + - - -0.5150016663061329 + - -0.06919465244792927 + - -0.8543918209899468 + - 0.9749120546448303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9658144813982722 + - 0.06889713557208396 + - -0.249911128666469 + - 0.012667043468304525 + - - -0.004292162038535399 + - -0.9596538612788721 + - -0.2811512829022607 + - -0.09400808256571132 + - - -0.2591986976557203 + - 0.2726126395501756 + - -0.926551878683037 + - 0.9775913081981693 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999962814047617 + - 0.00010844768487276415 + - 0.0027249616049182554 + - 0.054201630186100275 + - - 0.000992556698861101 + - -0.9451518573110402 + - -0.326629731427945 + - -0.09366657616733524 + - - 0.0025400802838057876 + - 0.32663122150307616 + - -0.9451484503143203 + - 0.9741446296645229 + - - 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: + - - 0.9967375904469961 + - -0.005357059866269399 + - -0.08053246363737758 + - 0.02366808082487754 + - - -0.007499956549245299 + - -0.9996251650675436 + - -0.026330211078647636 + - -0.034735771431172076 + - - -0.08036122473976966 + - 0.026848301124576056 + - -0.9964041560958329 + - 0.9699541004868413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995688356729906 + - -0.009791030898679538 + - -0.02768173522890013 + - 0.09158973698252261 + - - -0.010876509553462798 + - -0.9991667598544093 + - -0.03933811818039698 + - -0.033945691130089425 + - - -0.02727350896520762 + - 0.03962223764481948 + - -0.9988424470319343 + - 0.9683687432145839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8652726250121531 + - 0.03781258624882304 + - -0.49987347671761223 + - 0.10010197211317326 + - - 0.016107955317241237 + - -0.998733445546942 + - -0.04766590523037579 + - -0.0901336739532305 + - - -0.5010427308923617 + - 0.03319206331502645 + - -0.8647857935655601 + - 0.9757976435090303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9389903863507841 + - 0.06164493568143872 + - -0.3383739887249558 + - 0.012636342059205066 + - - 0.01684451016255095 + - -0.9908688698698996 + - -0.13377273713329016 + - -0.09396354854787833 + - - -0.34353066357777867 + - 0.1199115700321696 + - -0.9314547216876576 + - 0.9762380380548207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906153712699807 + - -0.018078375418623442 + - 0.1354782585725907 + - 0.05403583255006666 + - - 0.005015848225335446 + - -0.9857377723528982 + - -0.1682138086582878 + - -0.09346575541158429 + - - 0.13658706919111643 + - 0.16731472289960012 + - -0.9763963109469495 + - 0.9720677859455221 + - - 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: + - - 0.9970909509648473 + - -0.003703182630968983 + - -0.07613095259103302 + - 0.023677785992575112 + - - -0.007550877208720106 + - -0.998704856473234 + - -0.05031494718426318 + - -0.034795674421249506 + - - -0.07584602664210736 + - 0.05074343401050082 + - -0.9958275373514361 + - 0.9701564421129012 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8623679300704437 + - 0.0457777951029245 + - -0.5042082373995224 + - 0.10002869043028721 + - - 0.0071479488823128524 + - -0.9969053903122926 + - -0.07828505344618356 + - -0.09009614235661906 + - - -0.5062316268397248 + - 0.06390646478886652 + - -0.8600264552590202 + - 0.975484194619401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9190700368235452 + - 0.06698083949471813 + - -0.38836044411570825 + - 0.012659581868122218 + - - 0.015493961108174917 + - -0.9908301240926046 + - -0.13422221261703693 + - -0.0940579060591765 + - - -0.3937895435157537 + - 0.11734237227539551 + - -0.9116800771577921 + - 0.9767917774454759 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949244777540545 + - -0.014222372885108803 + - 0.09961429453315922 + - 0.05406238310424079 + - - 0.00903926545988967 + - -0.9733260395270183 + - -0.2292481460308762 + - -0.09355665795723123 + - - 0.10021763939430882 + - 0.2289850320177396 + - -0.9682573417568628 + - 0.9722560082172765 + - - 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: + - - 0.9953006668548953 + - -0.004683927569739697 + - -0.09671940539892773 + - 0.023667389174881672 + - - -0.0092172824993858 + - -0.9988767992010562 + - -0.04647775512200694 + - -0.0347157396295206 + - - -0.09639307164691463 + - 0.04715083074958658 + - -0.9942259174343115 + - 0.9701771830089227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992771422041029 + - -0.010519045115184764 + - -0.03653139414621234 + - 0.09156487415490541 + - - -0.010763037977322922 + - -0.9999210233803487 + - -0.006488760705521531 + - -0.033864297206768215 + - - -0.036460253453588526 + - 0.006877259036820069 + - -0.9993114395553767 + - 0.9681308822377624 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8647364654509677 + - 0.0410927118949632 + - -0.5005419406488179 + - 0.1001086495447514 + - - 0.012642047295080958 + - -0.9981122390118793 + - -0.06010105635412866 + - -0.09015792878361659 + - - -0.5020667524936859 + - 0.04564370015468468 + - -0.8636235456937433 + - 0.9761045596171551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9358447546579858 + - 0.07150715995875277 + - -0.34508161535174203 + - 0.012640822529822002 + - - 0.011395914723799583 + - -0.984826252635913 + - -0.17316866127193425 + - -0.09397129223409484 + - - -0.3522282332618187 + - 0.15812646266118568 + - -0.9224593722758306 + - 0.9765124353400589 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932512534853645 + - -0.0123214889480281 + - 0.11532618245591864 + - 0.054030081836036165 + - - 0.00878063506318526 + - -0.9834988953096787 + - -0.18070092244515157 + - -0.0933520080697676 + - - 0.11564967746448485 + - 0.1804940548459842 + - -0.9767533200699219 + - 0.9712944160037723 + - - 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: + - - 0.9955948199183036 + - -0.004129366140566872 + - -0.09366911383758156 + - 0.02366461066819157 + - - -0.008411251184649169 + - -0.9989351007213293 + - -0.04536425245032191 + - -0.034725601058356814 + - - -0.09338204005776171 + - 0.0459522891937381 + - -0.9945693448485661 + - 0.9703296629842731 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997035391389482 + - -0.01348365132001526 + - -0.020273751013115595 + - 0.09159481339875974 + - - -0.013291915203334538 + - -0.9998659322471991 + - 0.009562558322309558 + - -0.03389507480127209 + - - -0.020399971159021747 + - -0.009290246418715618 + - -0.9997487346819657 + - 0.9683635740174705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8706860817679869 + - 0.04144331180002815 + - -0.4900899906369809 + - 0.10008050480771327 + - - 0.010082153989528563 + - -0.9977381781514186 + - -0.06645959697455495 + - -0.09009240773059034 + - - -0.49173580018790763 + - 0.05292428333132616 + - -0.8691345828163924 + - 0.975387394717349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9363656006852035 + - 0.07649249164536961 + - -0.34259066037374836 + - 0.012645535125111879 + - - 0.006034102655933099 + - -0.9793319384933048 + - -0.202169591808671 + - -0.09398938873407922 + - - -0.35097443134589673 + - 0.18723742406054955 + - -0.9174743024044845 + - 0.9764704040006389 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898292957328686 + - -0.024327318811009815 + - 0.1401647133498326 + - 0.05409148552058507 + - - 0.019786107662871304 + - -0.9521515314539218 + - -0.3049851981547713 + - -0.09350829053498662 + - - 0.14087751861999315 + - 0.304656598007362 + - -0.9419861368608642 + - 0.9727585389373353 + - - 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: + - - 0.9976812978882812 + - -0.005051760199786681 + - -0.06787125726578651 + - 0.023706104850359063 + - - -0.010072442091092827 + - -0.9972194959783324 + - -0.07383645949693603 + - -0.03471185626899594 + - - -0.06730953687462356 + - 0.07434888405083794 + - -0.9949581245892306 + - 0.9706880456195907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998771431502776 + - -0.011200065221174069 + - -0.010966181864287449 + - 0.09160097628680929 + - - -0.011453901214093539 + - -0.99966139283413 + - -0.023364670421506754 + - -0.033884509011420316 + - - -0.010700782803933852 + - 0.0234874054754733 + - -0.9996668620252521 + - 0.9684798711755876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8618858196975099 + - 0.01917619078403289 + - -0.5067396841686723 + - 0.10000828539883429 + - - 0.030088361653393597 + - -0.9994580355036268 + - 0.01335386686487645 + - -0.08999349988377858 + - - -0.5062089729522442 + - -0.026756475370358922 + - -0.8619956883467507 + - 0.9750426025107047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9451781499703408 + - 0.04221925471966151 + - -0.3238144520393744 + - 0.012648159886006392 + - - 0.0308499461030073 + - -0.9987166573597414 + - -0.04016614417176517 + - -0.09389624162983573 + - - -0.3250946718174347 + - 0.027974503446921446 + - -0.9452676242804539 + - 0.9761405980155342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996861623670946 + - -0.004369214013734892 + - 0.024667524007349912 + - 0.05398825798739483 + - - -0.004400968326770171 + - -0.9999895553548263 + - 0.0012331500491946949 + - -0.09333165408886199 + - - 0.024661878467338357 + - -0.0013413240321584283 + - -0.9996949497723309 + - 0.971823818246639 + - - 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: + - - 0.9948992201922365 + - -0.001235667854739656 + - -0.10086632136561945 + - 0.02368317827925266 + - - -0.008882075586100754 + - -0.9971142985756242 + - -0.07539352962505319 + - -0.034776173123443485 + - - -0.10048208991737008 + - 0.07590486612196706 + - -0.9920392133907026 + - 0.9708576563679282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999042829596242 + - -0.013497043429591269 + - -0.0030421600318706853 + - 0.09161761416837426 + - - -0.013496336922578737 + - -0.9999088883783941 + - 0.00025264907725793646 + - -0.033943695687578226 + - - -0.0030452928713051936 + - -0.00021156687767347803 + - -0.9999953407045374 + - 0.9682855922031736 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8594074824090184 + - 0.04023040805255844 + - -0.5097060853544103 + - 0.10004048995941195 + - - 0.014799026446114538 + - -0.9984392013796507 + - -0.05385304043982143 + - -0.09006691933829228 + - - -0.5110770665913703 + - 0.03873855206755256 + - -0.8586614912688644 + - 0.9756042420083811 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.968297039036601 + - 0.040193885663567595 + - -0.24654674150800535 + - 0.01264667773865442 + - - 0.02580795574201116 + - -0.9977852337199066 + - -0.06130723277827686 + - -0.09389618596744381 + - - -0.24846487400308628 + - 0.053000744577557476 + - -0.9671898094277332 + - 0.9758985702930141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998038234871465 + - 4.2535774794277576e-05 + - -0.01980688595389689 + - 0.05415053555337028 + - - -0.003062846891805652 + - -0.9876373570833629 + - -0.1567260982169478 + - -0.09352375958145555 + - - -0.01956868696157644 + - 0.15675601769660671 + - -0.9874434755501208 + - 0.9728089818388634 + - - 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: + - - 0.9948776676143737 + - -0.0026532381529058356 + - -0.10105140676649474 + - 0.02366866794801934 + - - -0.007612987111662242 + - -0.9987830966313651 + - -0.04872749029755885 + - -0.03479880270256471 + - - -0.10079915133284248 + - 0.049247194953266044 + - -0.9936871966971365 + - 0.9704891705601432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997985217759933 + - -0.011140186652648949 + - -0.016697667378497493 + - 0.09161139315341288 + - - -0.01186416444272434 + - -0.9989652514031339 + - -0.043905217129063145 + - -0.03399062358132141 + - - -0.016191277176763805 + - 0.044094475055479754 + - -0.9988961506648063 + - 0.9684693395713613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8767560962310909 + - 0.048225190576720284 + - -0.4785113151383751 + - 0.10008102649440334 + - - 0.0024071054136614763 + - -0.995387444848541 + - -0.09590641522557503 + - -0.09018956957714899 + - - -0.4809292604584855 + - 0.08293470703952535 + - -0.8728280935001591 + - 0.975861573193953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9493462094481459 + - 0.05686171623424656 + - -0.30904452726643294 + - 0.012652796181719985 + - - 0.017533731292478583 + - -0.9915447913811515 + - -0.1285748612749475 + - -0.09396135940554506 + - - -0.31374247859255555 + - 0.11664335348319191 + - -0.9423162872490293 + - 0.9760832819878177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985596368646527 + - -0.0041876319643902515 + - 0.05348939486724454 + - 0.05411727397463954 + - - 0.009455163779851956 + - -0.9676117754004818 + - -0.25226583594340357 + - -0.09367832723299786 + - - 0.05281336481071212 + - 0.2524082325219581 + - -0.9661784683237938 + - 0.9734132556873734 + - - 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: + - - 0.9956109473734399 + - -0.005272794864639777 + - -0.093440029454601 + - 0.023663192376779777 + - - -0.008187490862735262 + - -0.9994908810732135 + - -0.030837374156459374 + - -0.03472282868352168 + - - -0.09322985821899496 + - 0.03146706668579501 + - -0.9951472339561916 + - 0.9702652452489676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996860075367494 + - -0.01077814792092294 + - -0.022621181724855714 + - 0.0915891284003578 + - - -0.011334158319175124 + - -0.9996332039421619 + - -0.024596634556871996 + - -0.03392994696023879 + - - -0.022347778198964545 + - 0.02484530345403615 + - -0.9994414878850322 + - 0.968394161293806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8665301879192858 + - 0.04465682939577245 + - -0.49712292344337133 + - 0.10008779304123908 + - - 0.004718834691988933 + - -0.9966779519984633 + - -0.08130678077072889 + - -0.0901622808930966 + - - -0.49910236026662597 + - 0.06810893912304436 + - -0.8638622612360245 + - 0.9759915241732986 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9261357022376301 + - 0.10173759739890158 + - -0.36321085104428097 + - 0.012667308645976606 + - - -0.015920158100215714 + - -0.9515359456643373 + - -0.3071252068371135 + - -0.09403129029626515 + - - -0.37685436126821725 + - 0.2902219932813063 + - -0.8796317326068618 + - 0.9766234575811596 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948923090712086 + - -0.01392990880783053 + - 0.09997625213801543 + - 0.05403721844105991 + - - 0.01154909038017091 + - -0.9682201842457537 + - -0.24983253056899754 + - -0.09350905402615245 + - - 0.10027916963332491 + - 0.24971109799070598 + - -0.9631139370177999 + - 0.9721263869288803 + - - 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: + - - 0.9956702432922077 + - -0.0037951489486863052 + - -0.09287821847394231 + - 0.023672531896221354 + - - -0.009260753031832838 + - -0.9982452159035327 + - -0.05848698469739341 + - -0.034671910236293436 + - - -0.09249327043476988 + - 0.05909387252640512 + - -0.9939582029210855 + - 0.9702875407174556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997680171475505 + - -0.009455780734679788 + - -0.019352005052524966 + - 0.09159456673826352 + - - -0.009896223420568317 + - -0.9996912524073999 + - -0.022791766542629287 + - -0.03388291510631758 + - - -0.019130516220569906 + - 0.022977991009250118 + - -0.9995529176978638 + - 0.9682379436428935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.871963790335772 + - 0.024238935487303905 + - -0.4889699605801119 + - 0.100043514793162 + - - 0.015875011422812207 + - -0.9996482634840432 + - -0.021244606978313835 + - -0.09010801610624052 + - - -0.48931291864777027 + - 0.010762124315383013 + - -0.8720418822078567 + - 0.9753919719572542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8905315723859001 + - 0.08031270246887308 + - -0.4477760471553194 + - 0.012640956165222197 + - - 0.00848347594032392 + - -0.9870537629011781 + - -0.16016522649625448 + - -0.09397283686725122 + - - -0.4548423344631264 + - 0.1388334936705578 + - -0.8796838703849026 + - 0.9767157618656899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993868283312261 + - -0.01155366072087816 + - 0.10996521427199656 + - 0.0540282317414561 + - - 0.006498558406650771 + - -0.9867030202878851 + - -0.16240356675085665 + - -0.09335184105553954 + - - 0.1103793647588834 + - 0.16212236945810854 + - -0.9805777547735383 + - 0.9715772951767622 + - - 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: null + base_right_marker_pose: + - - 0.9995900046105184 + - -0.011156856974649933 + - -0.026369437331713378 + - 0.09162488730660456 + - - -0.011575749090485636 + - -0.9998083741096595 + - -0.01578661120043439 + - -0.03390321740219371 + - - -0.02618825530152925 + - 0.01608538475283587 + - -0.9995276062628864 + - 0.9685915700396169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8539081394991367 + - -0.003061966584980591 + - -0.5204147515758516 + - 0.1000243722124768 + - - 0.041172361228948455 + - -0.9964509197311175 + - 0.0734193519301473 + - -0.08999278591528995 + - - -0.5187925654516995 + - -0.08412008635065886 + - -0.8507514825754944 + - 0.9749814858090131 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.928579242804135 + - 0.057595220760770685 + - -0.366637941815652 + - 0.012616108544937757 + - - 0.02634168889705699 + - -0.9956215831245835 + - -0.08968711525380194 + - -0.09389888824688178 + - - -0.37019819726647785 + - 0.0736237309704974 + - -0.9260306911645173 + - 0.9761232095867631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953688984228176 + - -0.00824496357417634 + - 0.09577461369385483 + - 0.05410865379012929 + - - 0.0065291521326615 + - -0.988215608404649 + - -0.15292900796728434 + - -0.09353101717232652 + - - 0.09590686224131818 + - 0.15284610522054418 + - -0.9835852489204658 + - 0.9734340799656851 + - - 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: + - - 0.9963372395078344 + - -0.002358029113655775 + - -0.08547832981877596 + - 0.023649022843216277 + - - -0.00906898118781207 + - -0.9968958452589819 + - -0.07820759097168947 + - -0.03478483091055029 + - - -0.08502857607959458 + - 0.07869633666238299 + - -0.9932658394638354 + - 0.969859577648594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997752042487961 + - -0.013803221247054053 + - -0.0160938513874965 + - 0.09157965426793648 + - - -0.013900095070452754 + - -0.9998858458472029 + - -0.005923059298715813 + - -0.03394773591169671 + - - -0.01601025690956652 + - 0.006145433884487273 + - -0.9998529418449801 + - 0.9679867508075108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8505636795940017 + - 0.01483300762170649 + - -0.5256628280945941 + - 0.09999415053397204 + - - 0.028683842811084794 + - -0.9994226265930918 + - 0.018211277147807584 + - -0.09006912802366086 + - - -0.5250891963439177 + - -0.030567880833641002 + - -0.8504980544035589 + - 0.9749577447489948 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9488699894639027 + - 0.06747774364829814 + - -0.308370713925476 + - 0.012671685492568651 + - - 0.010728420526231387 + - -0.9832149145974197 + - -0.1821354789880339 + - -0.09398506391290702 + - - -0.3154847763169968 + - 0.1695145593314119 + - -0.9336670552648259 + - 0.9764673717430004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982594048148244 + - -0.009054204994044624 + - 0.058276771278770394 + - 0.05405113097199893 + - - 0.00837891197479779 + - -0.9563476677050687 + - -0.29211116430084405 + - -0.09363386987851374 + - - 0.05837768865646268 + - 0.29209101295144624 + - -0.9546071891726606 + - 0.9726289090030715 + - - 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: + - - 0.9954577026118799 + - -0.0031769110086934155 + - -0.09515182366681614 + - 0.023655297777170094 + - - -0.007856385309654957 + - -0.998775478214466 + - -0.048844870020616736 + - -0.03475250952531043 + - - -0.09488013238051614 + - 0.04937055148474188 + - -0.9942637020054329 + - 0.9697489393843038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996389532634243 + - -0.014224148923151107 + - -0.022795541358286632 + - 0.09156469194103471 + - - -0.014241304425492384 + - -0.9998984131722966 + - -0.0005904098441104049 + - -0.03397930213232073 + - - -0.02278482755400594 + - 0.0009148349225902089 + - -0.9997399735483216 + - 0.9679310314988442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8839916098215748 + - 0.04214963844796892 + - -0.46559879912191166 + - 0.10004911574277371 + - - 0.007353719478811013 + - -0.997057819016883 + - -0.07629959598269889 + - -0.09008165763929327 + - - -0.46744492357377004 + - 0.06402431972306794 + - -0.8817007031352023 + - 0.9751277762597876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.943678977462888 + - 0.035946308802788 + - -0.32890401392815627 + - 0.012648891769968132 + - - 0.044496202192991705 + - -0.9988381957187044 + - 0.01850261505312456 + - -0.09381632458427547 + - - -0.3278567911222804 + - -0.032095508359555824 + - -0.9441820814112835 + - 0.9749445199220538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964970003533659 + - -0.007075418166177202 + - 0.0833286670031248 + - 0.054032673305466614 + - - 0.006561849758302709 + - -0.9867272818846345 + - -0.16225354637822653 + - -0.09350893426669898 + - - 0.0833706807846343 + - 0.1622319624560326 + - -0.9832243487338848 + - 0.9717638959468637 + - - 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: + - - 0.9955332796839026 + - -0.004808423766593132 + - -0.09428874854771123 + - 0.023642755364887882 + - - -0.007623762233219389 + - -0.999535079239149 + - -0.029521240146713836 + - -0.03472982020896341 + - - -0.09410296111825596 + - 0.030108212023789677 + - -0.9951070938735724 + - 0.9697401972827961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997575480749783 + - -0.01159345352332826 + - -0.018719960002889502 + - 0.09156660454462437 + - - -0.01171988164667355 + - -0.999909152740796 + - -0.006658125815284703 + - -0.03386725003631017 + - - -0.01864106867363885 + - 0.0068759072555280775 + - -0.9998025967450368 + - 0.9680759627668967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8719721505106979 + - 0.021789538491313376 + - -0.489070326994068 + - 0.10004772826208624 + - - 0.022665007984733747 + - -0.9997345796364396 + - -0.004131306355699779 + - -0.09002098343263429 + - - -0.48903053702892724 + - -0.007482398779018841 + - -0.8722345714093841 + - 0.9751228826122695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9413945756566099 + - 0.06883730067774095 + - -0.33020853859298327 + - 0.012680995704260279 + - - 0.010381951870228816 + - -0.9844038448437171 + - -0.17561687086459268 + - -0.09398943325625267 + - - -0.3371475463349477 + - 0.16189656047090392 + - -0.927427105333899 + - 0.9764383715993651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986812203876847 + - -0.004103322723649967 + - 0.051175998159198606 + - 0.05413355701806029 + - - 0.012403265159615803 + - -0.9479908748506675 + - -0.31805575016535453 + - -0.09362907619749494 + - - 0.04981946465333587 + - 0.31827105420143337 + - -0.9466897892124765 + - 0.9737437194417654 + - - 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: null + base_right_marker_pose: + - - 0.9997669275921237 + - -0.012273432289598393 + - -0.01776100652660057 + - 0.09161363062031683 + - - -0.012331029742379864 + - -0.9999190490683845 + - -0.003137039316005919 + - -0.03388262361413427 + - - -0.017721066516941004 + - 0.0033553196584330492 + - -0.9998373395865408 + - 0.9683927554908547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8647120816191942 + - 0.019560146331490495 + - -0.5018868563504038 + - 0.10001474397857801 + - - 0.022865021675039156 + - -0.9997384680398989 + - 0.00043163067147410604 + - -0.09003076145587136 + - - -0.5017471541380181 + - -0.011848890105290307 + - -0.8649331749434017 + - 0.9751192981963008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9230313610167629 + - 0.07167467961363452 + - -0.3779892152983007 + - 0.012650924198977969 + - - 0.010308672802285243 + - -0.9867476202880803 + - -0.1619347557532544 + - -0.09392337120878982 + - - -0.38458658042708366 + - 0.14557429085554074 + - -0.9115378697549044 + - 0.9760514104897628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999905627692758 + - -0.0042591861743557 + - 0.0008565661207286961 + - 0.054075104626628734 + - - -0.0038940539504255956 + - -0.9661442491722508 + - -0.25797311126398426 + - -0.09347127105870365 + - - 0.0019263219404288992 + - 0.2579673411975264 + - -0.9661517169468065 + - 0.971925411005324 + - - 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: + - - 0.9964836577804433 + - -0.002866182566989548 + - -0.08373831126790711 + - 0.02369843881360744 + - - -0.01033959639117166 + - -0.9959823726946547 + - -0.08895058194297 + - -0.034796578232653315 + - - -0.08314693333476518 + - 0.08950362159721827 + - -0.9925097929985405 + - 0.9713309768196059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998827577382926 + - -0.012338843483590331 + - -0.009067729547916023 + - 0.0915860761192189 + - - -0.012313284365217366 + - -0.9999200723518028 + - 0.002869135079779283 + - -0.03387852292514693 + - - -0.009102406594301447 + - -0.002757145163423012 + - -0.9999547711495451 + - 0.9684275632047536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8634242076098261 + - 0.021442878003493305 + - -0.5040226589115525 + - 0.1000594648615 + - - 0.027583511441576645 + - -0.9996083327630417 + - 0.0047255652830572575 + - -0.09007471021435548 + - - -0.5037239200295102 + - -0.017982882238932907 + - -0.8636775025068584 + - 0.9756348868902249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9872700767600703 + - 0.03694712064647512 + - -0.15470199032365325 + - 0.012659146097629609 + - - 0.02803989075422063 + - -0.9978422344479351 + - -0.05936867590273351 + - -0.09404644878715057 + - - -0.15656168132929674 + - 0.05427509030749972 + - -0.9861757726244631 + - 0.9776788456185979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981092242802523 + - 0.017427052522519436 + - -0.05894297453514225 + - 0.05421109879660102 + - - 0.001501494853079136 + - -0.9655911037289918 + - -0.2600606965933815 + - -0.09380324346587422 + - - -0.061446903257033676 + - 0.2594804775697124 + - -0.9637915541445236 + - 0.9749307525050173 + - - 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: + - - 0.9942128508583058 + - -0.0003454765635568721 + - -0.10742759344853679 + - 0.023679041681655584 + - - -0.009706011669240221 + - -0.9961938979597651 + - -0.08662280880464597 + - -0.03482015464160056 + - - -0.10698878691562329 + - 0.08716420316663091 + - -0.9904321284977836 + - 0.97105206837801 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993640836301905 + - -0.012824252951739898 + - -0.03327111188733409 + - 0.09161862988525177 + - - -0.01344374730338222 + - -0.999739154370277 + - -0.01846317625565439 + - -0.03397100999721202 + - - -0.033025656820607166 + - 0.01889872364035062 + - -0.9992758098925113 + - 0.9683552386217591 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.864783757954503 + - 0.018552958991033888 + - -0.501801593950004 + - 0.10000952962716339 + - - 0.028283123747682798 + - -0.9995304601641687 + - 0.011786607445666272 + - -0.09005073547511248 + - - -0.501347301667378 + - -0.02438538325887024 + - -0.8649024431657925 + - 0.9752843236517806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9430276680834492 + - 0.07748618146478276 + - -0.3235656176281694 + - 0.012638896596575463 + - - 0.008068503796394476 + - -0.9775428050616373 + - -0.210582438770931 + - -0.09398505503801642 + - - -0.3326164705416428 + - 0.19597437575926116 + - -0.9224751094583462 + - 0.9763723787484859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955979702745562 + - -0.013900918551159403 + - 0.09269005366606493 + - 0.05408057718469964 + - - 0.012012274585855522 + - -0.9618601451205787 + - -0.2732778192387607 + - -0.09363327029235308 + - - 0.09295368117755194 + - 0.2731882605311817 + - -0.9574590265194061 + - 0.9726122270624377 + - - 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: + - - 0.9960182299330288 + - 0.00046574043764767425 + - -0.08914857669598987 + - 0.023700728169871246 + - - -0.010129804862969886 + - -0.9929186950287207 + - -0.11836322112844389 + - -0.03480539385760601 + - - -0.08857241497505981 + - 0.11879498368326624 + - -0.9889604032301691 + - 0.9711226254290903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999214400304959 + - -0.012534074884183751 + - -0.0001036056809973209 + - 0.0915987116700141 + - - -0.012533810615129785 + - -0.9997451617701405 + - -0.018775385712662546 + - -0.03392021792272829 + - - 0.0001317528121929739 + - 0.018775209292917802 + - -0.9998237215415542 + - 0.9681714014191128 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.863447533014089 + - 0.03596141766251765 + - -0.5031551790169565 + - 0.10005054722769421 + - - 0.015100723155575303 + - -0.9988512963127256 + - -0.04547588387889326 + - -0.09005649989821014 + - - -0.5042125800612894 + - 0.03166803268423658 + - -0.8629987310615516 + - 0.9754261757229281 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9488797955669166 + - 0.03719940898971561 + - -0.31343793250929664 + - 0.012620773087667616 + - - 0.03988936284070443 + - -0.9992017439843127 + - 0.002171071364671001 + - -0.09381099312298438 + - - -0.31310696622248624 + - -0.014562925170573764 + - -0.9496062072845918 + - 0.9751419260093013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974775948076728 + - -0.005292044394602241 + - 0.07078447656672807 + - 0.05410989821690343 + - - 0.007138112144972127 + - -0.9846833230453483 + - -0.17420620158701372 + - -0.09359274788283178 + - - 0.0706222005583649 + - 0.1742720504914515 + - -0.982161777512136 + - 0.9728043376963587 + - - 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: + - - 0.9968443293605302 + - -0.004527658133372393 + - -0.07925202416078729 + - 0.023670248661179148 + - - -0.007498496401118484 + - -0.9992786419378098 + - -0.03722859544286686 + - -0.0347293061718771 + - - -0.07902629672126309 + - 0.037705385275230124 + - -0.9961591982950161 + - 0.9698994688962592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994686039280689 + - -0.00863588829665721 + - -0.031431372789055355 + - 0.09162589197954696 + - - -0.010611473245242708 + - -0.9979419331598539 + - -0.0632399768875595 + - -0.03393687781650435 + - - -0.030820551546693786 + - 0.06353990458366476 + - -0.9975032702341663 + - 0.9684896775715205 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8727719770427511 + - 0.047054019465841146 + - -0.48585491182141594 + - 0.1001105521176004 + - - 0.00779235722426614 + - -0.9965592135191541 + - -0.0825167444763503 + - -0.09013421686896682 + - - -0.488065933310016 + - 0.06823234718367896 + - -0.8701356167517966 + - 0.9759683855828503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9313623396113758 + - 0.06850549779675305 + - -0.35759081241727003 + - 0.012638770309124017 + - - 0.013408104927267746 + - -0.9879267922212649 + - -0.1543401306649085 + - -0.0939114981699544 + - - -0.3638466917204051 + - 0.138951970058077 + - -0.9210363374705125 + - 0.9759306229686813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935805810250273 + - -0.01227344108009025 + - 0.1124588442676816 + - 0.05400051086447351 + - - 0.009135170084131679 + - -0.9821459844164302 + - -0.18789841394278736 + - -0.09338613350299796 + - - 0.11275716242218539 + - 0.18771954596880588 + - -0.97572905787609 + - 0.971409308942991 + - - 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: null + base_right_marker_pose: + - - 0.9996892552396516 + - -0.01034356817032742 + - -0.022680466395042048 + - 0.0915901768248516 + - - -0.010846860754156994 + - -0.9996951279337343 + - -0.022181000819039984 + - -0.033838842309615945 + - - -0.0224441210603305 + - 0.02242012005008254 + - -0.9994966731544276 + - 0.9683797495139079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8664130747875176 + - 0.025235504631078057 + - -0.4986898366151592 + - 0.1000546070063455 + - - 0.023334698649782055 + - -0.9996772321007739 + - -0.010046066805509585 + - -0.09002228122615755 + - - -0.4987823931096237 + - -0.002932733426641407 + - -0.8667222873553481 + - 0.9755712861526507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9615635685308971 + - 0.07947728347071203 + - -0.26282858498695105 + - 0.01269011986528545 + - - -0.006078382877336051 + - -0.9507980565032467 + - -0.3097516892790825 + - -0.0940793111559583 + - - -0.274515130613457 + - 0.29944351247232726 + - -0.9137696788045178 + - 0.9779062571440776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997645751047318 + - 0.012837236327254437 + - -0.01749284794232449 + - 0.0541026201910416 + - - 0.006493504428375985 + - -0.9462721721097871 + - -0.3233060634922655 + - -0.09352626879491557 + - - -0.020703351561854152 + - 0.3231163593105499 + - -0.9461327547337121 + - 0.9736835888922826 + - - 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: + - - 0.9976114173395123 + - -0.004261570376967621 + - -0.0689441731531502 + - 0.0236749260946545 + - - -0.008028159866198351 + - -0.9984843330752673 + - -0.05444800503601334 + - -0.03473630166183975 + - - -0.06860764274490246 + - 0.054871446319202516 + - -0.9961335832787825 + - 0.97036438995852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998078026957189 + - -0.012545220268514247 + - -0.015065693385067455 + - 0.09156314599254618 + - - -0.012516607853252862 + - -0.999919680061677 + - 0.0019919721890165835 + - -0.03393488164880851 + - - -0.015089473039383936 + - -0.0018030179611934168 + - -0.9998845217972052 + - 0.9680821656817978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8605410943560081 + - 0.0497311616850626 + - -0.5069475677839062 + - 0.1001221460930896 + - - 0.0025821074279147004 + - -0.995635819387454 + - -0.09328798354506304 + - -0.09016163113956036 + - - -0.5093744768299593 + - 0.07896915036979571 + - -0.8569139487977063 + - 0.9761037454833673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9824813867459082 + - 0.05555722258579468 + - -0.17788681715177634 + - 0.012683370436933811 + - - 0.018304152083234593 + - -0.9786818948310392 + - -0.20456467619420582 + - -0.0940783418924289 + - - -0.1854596525240756 + - 0.19772491939176234 + - -0.962553673068245 + - 0.9774707953602603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984327305925921 + - 0.0121816094004766 + - -0.0546231715834462 + - 0.054064547858756896 + - - -0.0005931426219320237 + - -0.9736654845858285 + - -0.22798064020454495 + - -0.09352065127636844 + - - -0.05596186793925335 + - 0.22765573245288234 + - -0.972132263027049 + - 0.9729143709450135 + - - 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: + - - 0.9974734957985424 + - -0.003702205245124707 + - -0.07094306770755099 + - 0.023708303972284028 + - - -0.009461301170076444 + - -0.9966678891501639 + - -0.08101606332775109 + - -0.034773655549184594 + - - -0.07040673944733064 + - 0.08148258963287823 + - -0.9941848312195857 + - 0.970825744954611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997159581411879 + - -0.011011904979538925 + - -0.021136248166796857 + - 0.09164239943812579 + - - -0.011961940479162384 + - -0.998899039499623 + - -0.04536100601511972 + - -0.03397959074791182 + - - -0.020613466904424255 + - 0.04560095213317762 + - -0.9987470341116053 + - 0.9686107324498194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8846515359550663 + - 0.028584654036135314 + - -0.4653757379644716 + - 0.10006140811763092 + - - 0.01594849303993019 + - -0.9993900220478245 + - -0.0310681412544192 + - -0.09011132766886647 + - - -0.4659799410941392 + - 0.020062437162112153 + - -0.8845678001787195 + - 0.975384751101468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.956349880249083 + - 0.02952847617069945 + - -0.29072835369568145 + - 0.012663947545955156 + - - 0.04468590980484663 + - -0.9979582568094097 + - 0.0456342758333931 + - -0.09394265233547658 + - - -0.2887872504326982 + - -0.056633795219475876 + - -0.955716766216101 + - 0.9761961916873239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931669807705382 + - 0.00913542815142734 + - -0.11634385355326393 + - 0.05404950464727283 + - - -5.229767068087605e-05 + - -0.9968964737086795 + - -0.07872368113950462 + - -0.09356795345305342 + - - -0.11670195187779361 + - 0.07819184522500325 + - -0.9900841831724325 + - 0.9727358216271591 + - - 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: null + base_right_marker_pose: + - - 0.999467514124452 + - -0.010821002693873871 + - -0.030783016593367758 + - 0.09158011764066262 + - - -0.010839389485666689 + - -0.9999411594272167 + - -0.00043048685461161276 + - -0.03386598189463485 + - - -0.030776547003625972 + - 0.0007639267328411767 + - -0.999525997946267 + - 0.9683325457609668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.867810778571162 + - 0.0464086675596319 + - -0.4947228397507572 + - 0.1000322644356801 + - - 0.007104234313316315 + - -0.9966859590268528 + - -0.08103473905396492 + - -0.09006035682816126 + - - -0.4968440222550084 + - 0.06680819301599362 + - -0.8652645161425506 + - 0.9753980775372161 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9566164679022873 + - 0.05190166726108212 + - -0.286689989838627 + - 0.012643692930719305 + - - 0.021602260958566717 + - -0.9939316514850849 + - -0.10785738035762743 + - -0.09391446500639422 + - - -0.29054823293152227 + - 0.09698499426020424 + - -0.9519325791403077 + - 0.9758739128638398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977151397961787 + - -0.0066904361876803636 + - 0.06722899586569896 + - 0.05405525341169623 + - - 0.007304193890790817 + - -0.9785704404489678 + - -0.20578275396913076 + - -0.09343507911948508 + - - 0.06716508447919443 + - 0.2058036227648402 + - -0.9762856755498213 + - 0.9721292004199171 + - - 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: + - - 0.9969912053689124 + - -0.0021412254732892377 + - -0.07748517000378569 + - 0.023694833824177655 + - - -0.008246276590540209 + - -0.9968755910472776 + - -0.07855606212466267 + - -0.034782176422937974 + - - -0.07707486840361999 + - 0.07895866721021884 + - -0.9938938542585678 + - 0.9705445923422749 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997870641796257 + - -0.01182091281110098 + - -0.016914263785259932 + - 0.09161504271763118 + - - -0.012111217590763541 + - -0.9997793149946509 + - -0.017165072598022284 + - -0.03393117505307929 + - - -0.016707624234288572 + - 0.017366269868297698 + - -0.999709591813196 + - 0.9684009264983504 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8685980698551871 + - 0.03953453037869788 + - -0.4939376620096703 + - 0.100034589724774 + - - 0.010526723305068698 + - -0.9980594031726547 + - -0.06137276134492984 + - -0.09006803854148615 + - - -0.49540547144768393 + - 0.048108716947960754 + - -0.8673286402588802 + - 0.9751518756812805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9286283415688046 + - 0.0565392491419959 + - -0.366677946625688 + - 0.01265838640086867 + - - 0.028146910821671797 + - -0.9962079675561332 + - -0.08232518927324192 + - -0.09391116399483848 + - - -0.36994209634261466 + - 0.06612865252020161 + - -0.9266983579728055 + - 0.9760116876320849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994036233848004 + - -0.000932381198656173 + - 0.03451852011069381 + - 0.0539580847349648 + - - 0.002785207548198014 + - -0.9942018699842489 + - -0.10749364789947634 + - -0.09334448882902642 + - - 0.03441860229941712 + - 0.10752568244435153 + - -0.9936063543630502 + - 0.9705783352269521 + - - 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: + - - 0.9948399352418728 + - -0.004669333734270148 + - -0.10134939847095434 + - 0.02366853780442432 + - - -0.008904279033843434 + - -0.9991040712115384 + - -0.041373526601160934 + - -0.034793035317722834 + - - -0.1010654098237064 + - 0.0420624798485244 + - -0.9939902065544505 + - 0.9702776024066287 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997136051445042 + - -0.013390474528123109 + - -0.019834386325014587 + - 0.09160536283448618 + - - -0.01356395030985297 + - -0.9998706967321989 + - -0.008637654094633771 + - -0.03400571665007706 + - - -0.019716159386911007 + - 0.008904212945476442 + - -0.9997659666396187 + - 0.9682254057986309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8753671921028551 + - 0.04709177680979502 + - -0.48115968611975357 + - 0.10003993387022536 + - - 0.003782219440513622 + - -0.9958813298866339 + - -0.09058736997690991 + - -0.09021647830859493 + - - -0.48344386830951447 + - 0.07747736017783655 + - -0.8719399548442581 + - 0.9755159338504934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9183675819445822 + - 0.03951736408425849 + - -0.3937503807859661 + - 0.012622243442285817 + - - 0.047690710948351256 + - -0.9988016822947781 + - 0.010990702177873268 + - -0.09388834358367273 + - - -0.3928442191537275 + - -0.028871740178833268 + - -0.9191516969992193 + - 0.9753379588974227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936375073522727 + - -0.01065474571443123 + - 0.11212038341230819 + - 0.05398823292224243 + - - 0.011514066844179216 + - -0.9806889422199107 + - -0.1952347942153254 + - -0.09363524778294983 + - - 0.11203539729688093 + - 0.19528357586175416 + - -0.9743266365809654 + - 0.9718316246547468 + - - 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: + - - 0.9959691806811461 + - -0.00486065792392135 + - -0.0895643072762417 + - 0.02367152209639029 + - - -0.0072744606849685 + - -0.9996185218719095 + - -0.026643816400096876 + - -0.034726673193209344 + - - -0.08940063397464959 + - 0.027187952022280828 + - -0.9956245988874347 + - 0.9701684293954869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997405285167501 + - -0.012821244439186957 + - -0.018827940197478608 + - 0.09160148227441184 + - - -0.0128349004934094 + - -0.9999174464598838 + - -0.0006046440848970693 + - -0.033920789959774204 + - - -0.018818633594751038 + - 0.0008461419359300237 + - -0.9998225557935021 + - 0.9683099164510522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8751254677908682 + - 0.04618950226218886 + - -0.48168656354997635 + - 0.10004270177688222 + - - 0.008371818945009508 + - -0.9967301208331106 + - -0.08036777259302638 + - -0.09011756928487588 + - - -0.48382365410484646 + - 0.06629929188749811 + - -0.8726506034054237 + - 0.9755663285883645 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9406463933672805 + - 0.07219173826498977 + - -0.3316213436608184 + - 0.0126275975278477 + - - 0.0132071812273514 + - -0.9841612337474971 + - -0.17678302054391934 + - -0.09389609474849532 + - - -0.3391311442630348 + - 0.16191052749862536 + - -0.9267011643868595 + - 0.9756781861257446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955491248227413 + - -0.01474836248677956 + - 0.09308289783108661 + - 0.05408224536388858 + - - 0.008528232235591479 + - -0.9695291764126858 + - -0.24482737865580795 + - -0.09354287237234502 + - - 0.0938573881993835 + - 0.24453151512330085 + - -0.9650881456073804 + - 0.9724216940922965 + - - 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: + - - 0.9971436889765938 + - -0.002828143313194538 + - -0.07547493053690081 + - 0.023676169435043182 + - - -0.008938751287351247 + - -0.9966944933026987 + - -0.08074766712110056 + - -0.03484718358137899 + - - -0.07499708167370812 + - 0.08119167830188768 + - -0.9938729039041915 + - 0.9708686829500534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992734478120218 + - -0.009205704657061884 + - -0.03698420608369879 + - 0.09161820981768853 + - - -0.011021180711569706 + - -0.9987287392869517 + - -0.04918779216450438 + - -0.033953191543460555 + - - -0.036484381228101936 + - 0.049559664285207826 + - -0.998104568470829 + - 0.9685695753165472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8748942443998328 + - 0.04233093720690834 + - -0.4824605194948396 + - 0.10007532513708949 + - - 0.010052703679258684 + - -0.9975455774965372 + - -0.06929476146027361 + - -0.0901114716513022 + - - -0.48420966973490187 + - 0.0557755553292299 + - -0.873172424646434 + - 0.9754284193145027 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9469571613494097 + - 0.03653726445351636 + - -0.3192759979630818 + - 0.012620746064069273 + - - 0.04440950456675839 + - -0.9988617163101436 + - 0.017408836666754184 + - -0.09398732462069243 + - - -0.3182765000329165 + - -0.030664311441942885 + - -0.9475018572702584 + - 0.9766477098048775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996975490369302 + - 0.008722426418129233 + - -0.02299412374792761 + - 0.05412610080504422 + - - 0.002742486852866314 + - -0.9686982401277446 + - -0.2482261032592511 + - -0.09376046638908016 + - - -0.024439501128634824 + - 0.24808796595318938 + - -0.9684291775518707 + - 0.9744642061096256 + - - 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: null + base_right_marker_pose: + - - 0.9998117616525877 + - -0.008243996325779044 + - -0.017563535684188128 + - 0.09162531637103621 + - - -0.009070529408740513 + - -0.998829491775932 + - -0.04751180753116656 + - -0.03385206855418555 + - - -0.01715129025450802 + - 0.04766217455397921 + - -0.998716251174172 + - 0.9686944273438509 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.843339366437979 + - -0.006159996053822191 + - -0.5373460407080386 + - 0.10000776778176186 + - - 0.04438722997010986 + - -0.9957188746209802 + - 0.08107833581858025 + - -0.08996811235041902 + - - -0.5355450371645403 + - -0.09222785464352289 + - -0.839455499711739 + - 0.9750188350792557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9268076323404439 + - 0.06452094116487139 + - -0.3699522412240528 + - 0.012639342756863046 + - - 0.013885326422886205 + - -0.990344118106192 + - -0.13793377194363912 + - -0.09399308787483042 + - - -0.37527964286066784 + - 0.12270116496459663 + - -0.9187543816334709 + - 0.9769910295762416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958731451406415 + - -0.007989975510360752 + - 0.09040375589006544 + - 0.05410397501087604 + - - 0.006366486746988363 + - -0.9875128824865083 + - -0.1574095764865922 + - -0.09349274411192947 + - - 0.09053257222782929 + - 0.15733552432471104 + - -0.9833866920755443 + - 0.9732438361798437 + - - 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: + - - 0.9956752652169721 + - -0.0011899521306863309 + - -0.09289429610605207 + - 0.023680590321920686 + - - -0.00956522076683964 + - -0.995916939717535 + - -0.08976611685564173 + - -0.03484030868971889 + - - -0.09240818571313814 + - 0.09026645665797337 + - -0.991621245242164 + - 0.9709868130024601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995584385787409 + - -0.012686004566344314 + - -0.026869930297118778 + - 0.0915979056438067 + - - -0.012802117254038394 + - -0.9999094223056159 + - -0.004153670456703562 + - -0.033977233267363904 + - - -0.026814802998403376 + - 0.0044958283543448125 + - -0.9996303085979159 + - 0.9682760572424065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8685226392226009 + - 0.035261022647364366 + - -0.4943936543278746 + - 0.10003399619988772 + - - 0.02082589346111245 + - -0.9991815369441439 + - -0.03467763532141088 + - -0.0901235171239964 + - - -0.4952117802711828 + - 0.019822121778468295 + - -0.8685461278302065 + - 0.9755975487520467 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.946729146043281 + - 0.03794869905592843 + - -0.31978714838486344 + - 0.012617349155966188 + - - 0.04277657603585165 + - -0.9990519586192161 + - 0.00808384325404352 + - -0.09387672019811964 + - - -0.31917720560028895 + - -0.02133260928882165 + - -0.9474549230470651 + - 0.9756533903417093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932444271322647 + - -0.006753225763712645 + - 0.11584430030210184 + - 0.05401846173289015 + - - -0.006584922889095122 + - -0.9999766346270957 + - -0.0018354809760207688 + - -0.09344829818927626 + - - 0.11585398897424247 + - 0.0010602554659093994 + - -0.9932656890767464 + - 0.9716672345891909 + - - 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: + - - 0.9967241174430409 + - -0.0022809058412855796 + - -0.08084448760388233 + - 0.023664516283886668 + - - -0.00761300288229253 + - -0.997809832773349 + - -0.06570829329647863 + - -0.03481401976467323 + - - -0.08051755022667603 + - 0.06610850996176697 + - -0.9945584894897486 + - 0.9705310222625674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992220551052754 + - -0.013822433164935387 + - -0.03693541569538719 + - 0.09157893306673164 + - - -0.013724796649053312 + - -0.9999016176087642 + - 0.0028956968623541223 + - -0.0339848035760666 + - - -0.036971807477215596 + - -0.002386513100195942 + - -0.9993134593345023 + - 0.9680421784375411 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8624013221848701 + - 0.05391174940535816 + - -0.5033462851455665 + - 0.10007899268190842 + - - 0.0031126164470452883 + - -0.9948588849044402 + - -0.10122307417554756 + - -0.09012116978709946 + - - -0.5062156369697025 + - 0.08572818907890616 + - -0.8581354243268429 + - 0.9755636804096341 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9214377886699388 + - 0.04120331902700212 + - -0.38633494290862735 + - 0.012617447185563046 + - - 0.04566632112871911 + - -0.9989539204980644 + - 0.0023773590632706638 + - -0.0938714908112792 + - - -0.3858328507600435 + - -0.019833084044245296 + - -0.9223554954851585 + - 0.9751357424448757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957310147581994 + - -0.009833243529562979 + - 0.09177719526273956 + - 0.054029298746671985 + - - 0.015006694018092074 + - -0.9638336338448538 + - -0.26608180209114574 + - -0.09369313342994731 + - - 0.09107439477292217 + - 0.2663231750920535 + - -0.9595714778095654 + - 0.9723373778927884 + - - 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: + - - 0.9958795125406071 + - -0.0034472198162537808 + - -0.09062071053253315 + - 0.023665520109663857 + - - -0.008503987207201967 + - -0.9984238758058808 + - -0.055474736793816586 + - -0.03477171866481803 + - - -0.09028664742619744 + - 0.056016791199620754 + - -0.994339197859682 + - 0.9705136014183195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8833002743547462 + - 0.05163762350566521 + - -0.4659551278433549 + - 0.10008592719243628 + - - 0.004991575473981345 + - -0.9948949110467831 + - -0.10079285762146314 + - -0.09015569385709404 + - - -0.46878108910142435 + - 0.08670450860191853 + - -0.8790487009767898 + - 0.9761166165835653 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9429908748628928 + - 0.05753139862712102 + - -0.3278084015050916 + - 0.012624432264057295 + - - 0.019524288626908342 + - -0.9928124705243085 + - -0.11807709568342377 + - -0.09384222240542626 + - - -0.3322454094173902 + - 0.10494539791447043 + - -0.9373363597864134 + - 0.9750271829214192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971252078686828 + - -0.009603541953409815 + - 0.0751604404908946 + - 0.05409682155224406 + - - 0.010338378854326048 + - -0.9654157158125345 + - -0.26051029458514086 + - -0.09362788972879786 + - - 0.07506289200064592 + - 0.26053841874879324 + - -0.9625410612542089 + - 0.9734461576065156 + - - 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: + - - 0.9959374156632974 + - -0.0036118136126919585 + - -0.0899756571764805 + - 0.02367282936748316 + - - -0.009040783550594626 + - -0.9981571957957167 + - -0.06000397248535266 + - -0.03472261480892668 + - - -0.08959312649251432 + - 0.0605736517279488 + - -0.9941347516316075 + - 0.9702453469759846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998555933929538 + - -0.012402824905141697 + - -0.01161732736892203 + - 0.09163027014140612 + - - -0.012501338677308148 + - -0.999886184194805 + - -0.00844601608028075 + - -0.033909254075213155 + - - -0.011511250674863584 + - 0.008590028563719593 + - -0.9998968459382076 + - 0.9685026715883177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8732223553221623 + - 0.027261884046955103 + - -0.48655884314625875 + - 0.09998122849396762 + - - 0.01692885568987065 + - -0.9995283648742466 + - -0.02562150770051696 + - -0.090028086131665 + - - -0.48702785547712446 + - 0.014136388860896916 + - -0.8732720254876642 + - 0.9749166586513209 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9597500856327787 + - 0.059047448585536164 + - -0.2745781709157017 + - 0.012683432381832529 + - - 0.017915623277156675 + - -0.9885297870760814 + - -0.1499596295871296 + - -0.09391774590070166 + - - -0.2802834343489904 + - 0.13900452826745097 + - -0.9497994196411574 + - 0.9761657587835038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989172671517649 + - -0.009941419598673586 + - 0.04544734934418795 + - 0.054010168069828425 + - - -0.0025604208544511235 + - -0.9871684471365049 + - -0.15966183395899805 + - -0.09344609298073285 + - - 0.04645145456385239 + - 0.1593725985057208 + - -0.9861250616501123 + - 0.9711932165823294 + - - 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: null + base_right_marker_pose: + - - 0.9996625237596588 + - -0.01063414956677993 + - -0.023701338642805072 + - 0.09159927080168992 + - - -0.011809327623933755 + - -0.9986790321593884 + - -0.05000730452902578 + - -0.03397543286998667 + - - -0.0231382447808853 + - 0.050270325125062416 + - -0.9984675838705437 + - 0.9681933524921222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8912203778354887 + - 0.05423667284801375 + - -0.4503161350086695 + - 0.10006516761309614 + - - -0.0023143475883952297 + - -0.9922682149402494 + - -0.12409042434665 + - -0.09018702320623062 + - - -0.4535646391927052 + - 0.11163410293306032 + - -0.8842041309201867 + - 0.9758037410521587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9305585216737873 + - 0.08461794834112135 + - -0.3562311616897585 + - 0.0126446921942209 + - - -0.0021108751061506836 + - -0.9716725266885341 + - -0.2363219098708487 + - -0.09402087135825074 + - - -0.3661371081256061 + - 0.22066332657978902 + - -0.9040195320656291 + - 0.9763607335567854 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961486829758642 + - -0.009731172697781313 + - 0.08713842828153984 + - 0.05403448829866561 + - - 0.010079261311927585 + - -0.9745246174018266 + - -0.2240539635204638 + - -0.0934964476743437 + - - 0.08709885129470415 + - 0.22406935166539266 + - -0.9706733311198952 + - 0.9716791576276402 + - - 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: + - - 0.9971616270219691 + - -0.0030133796972673706 + - -0.07523037377083477 + - 0.02367696936849622 + - - -0.007656831635544313 + - -0.9980770211494759 + - -0.0615112411083848 + - -0.03482125836442509 + - - -0.0749003506280467 + - 0.06191267556961997 + - -0.9952671792436476 + - 0.970319009333324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995814729637689 + - -0.011123717208273003 + - -0.02670471537111837 + - 0.09162327937234374 + - - -0.01189359837327099 + - -0.9995131120018647 + - -0.02884581865857189 + - -0.034021234103822996 + - - -0.026370840436311473 + - 0.02915136106287766 + - -0.9992270897663175 + - 0.9684408316633804 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8734696724005945 + - 0.0165627859644743 + - -0.48659675863849855 + - 0.09999454413674647 + - - 0.03309073240411131 + - -0.9991297611533423 + - 0.025391412064408626 + - -0.09010761973554357 + - - -0.485752750713115 + - -0.038280471506502 + - -0.873257619878511 + - 0.9752758909659893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9468352661424783 + - 0.06128497952695881 + - -0.3158276904789741 + - 0.01263768872646719 + - - 0.017713746370176392 + - -0.9901303547001737 + - -0.13902555121574253 + - -0.09398521091031903 + - - -0.32123076125806427 + - 0.12603980318013921 + - -0.9385759244919274 + - 0.9763498915352017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999298767302266 + - -0.0025880961635275273 + - 0.037353385742393476 + - 0.05405104389407031 + - - 0.007125588666490125 + - -0.9662320695582299 + - -0.25757487017055064 + - -0.09355769047020707 + - - 0.036758667744189226 + - 0.2576604151115735 + - -0.9655360743287659 + - 0.972759729656683 + - - 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: + - - 0.9945722630174465 + - -0.0017965723408670969 + - -0.1040326197121802 + - 0.023647901043071847 + - - -0.009343450861682145 + - -0.997353527017219 + - -0.07210160936004893 + - -0.03479019438371744 + - - -0.10362776443767568 + - 0.07268228445871659 + - -0.9919569405793339 + - 0.9704964241127043 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.876133025692768 + - 0.03147537641639968 + - -0.48104076955065 + - 0.10005501296812655 + - - 0.013899386354658112 + - -0.9991006918108735 + - -0.04005764199249281 + - -0.09007986373817926 + - - -0.48186899500735625 + - 0.028409651572673864 + - -0.8757826005054682 + - 0.9755110498985545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9501932046663378 + - 0.039900034174575216 + - -0.3090968474099707 + - 0.012643610005545914 + - - 0.036408221496837076 + - -0.9991913866791182 + - -0.01705913812884279 + - -0.09387021606042316 + - - -0.30952756777604196 + - 0.004955810643014583 + - -0.9508775550655927 + - 0.9752462607343174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995817884832429 + - -0.001177750448165028 + - 0.02889396193884577 + - 0.054030015699808503 + - - -6.044535659190456e-05 + - -0.9992532103735953 + - -0.03863958985836472 + - -0.09349126801269206 + - - 0.028917892022076706 + - 0.038621683831050434 + - -0.9988353823624063 + - 0.9716677380476686 + - - 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: + - - 0.9946246313559691 + - -0.0036772505903369316 + - -0.10348101530280064 + - 0.023672585310274174 + - - -0.007799333167521813 + - -0.9991907985336778 + - -0.03945780693061157 + - -0.034766418791608494 + - - -0.1032521820696521 + - 0.040052789587334506 + - -0.9938484597483301 + - 0.9705232266093894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999619172843418 + - -0.011104470201277172 + - -0.025262621110842418 + - 0.09159083988622754 + - - -0.011225003895903104 + - -0.9999262579678062 + - -0.0046344270451993234 + - -0.03388435620675048 + - - -0.025209295336799754 + - 0.004916235149915243 + - -0.9996701066154638 + - 0.9683286633002925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8769566719415124 + - 0.023347617989816258 + - -0.48000196277876656 + - 0.10000365381545151 + - - 0.021509053751138832 + - -0.9997251127551717 + - -0.009330569832040765 + - -0.09008381344715131 + - - -0.4800878629417717 + - -0.002141882550836284 + - -0.8772177929084326 + - 0.9751252347542142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9466198167091133 + - 0.07004707164596587 + - -0.31464953578136706 + - 0.012650724189973728 + - - 0.0127759228141377 + - -0.9834905757791346 + - -0.18050779249072024 + - -0.09405153335867622 + - - -0.32209889538750686 + - 0.16685231525948524 + - -0.9318865845598897 + - 0.9770839429331042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998871685528397 + - 0.0016585482165347382 + - 0.014929815176307617 + - 0.054015787846256054 + - - 0.00483457780215657 + - -0.976535820778548 + - -0.21530076078324017 + - -0.09348280344526654 + - - 0.01422241262445197 + - 0.21534864743986792 + - -0.9764336552090771 + - 0.9716072937220841 + - - 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: + - - 0.9948658945238462 + - -0.003416032204469371 + - -0.10114436532622718 + - 0.02365113368614622 + - - -0.00805866300497375 + - -0.9989305535059921 + - -0.045528092676760085 + - -0.03477876602213594 + - - -0.10088067140854858 + - 0.046109435001845514 + - -0.9938294673332896 + - 0.9702646975215832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8718362280147944 + - 0.04924642882544131 + - -0.48731548381810746 + - 0.10004944970060059 + - - 0.004796237281853792 + - -0.9957432382166864 + - -0.09204563897156931 + - -0.09016345154087171 + - - -0.48977401689847894 + - 0.07791144199467154 + - -0.8683612264360037 + - 0.9757440864322664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9303466652680754 + - 0.07122182677543966 + - -0.35969783682327144 + - 0.012647843513021523 + - - 0.008135525354526232 + - -0.9847230991203064 + - -0.1739374349762156 + - -0.09391797515210293 + - - -0.3665909104871224 + - 0.15889578172396096 + - -0.9167132784565489 + - 0.9757939295855109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9914331676357758 + - -0.018812285196654177 + - 0.1292531316346779 + - 0.0541266308718029 + - - 0.020188654917491937 + - -0.9556100554541166 + - -0.29394189923793446 + - -0.09367439436674929 + - - 0.1290453111287429 + - 0.2940331951339191 + - -0.9470437095694295 + - 0.9733288129168403 + - - 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: + - - 0.9971125022376085 + - -0.002210462647230079 + - -0.0759063352846156 + - 0.02370129863423316 + - - -0.008895054818582862 + - -0.9960949658437401 + - -0.08783904041218678 + - -0.0348085033452776 + - - -0.07541575353485294 + - 0.08826059639298035 + - -0.9932384060451583 + - 0.9709463743335968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995927055080435 + - -0.011376563902780497 + - -0.026172445221564585 + - 0.09161756192677006 + - - -0.012439377482688698 + - -0.9990894755173457 + - -0.04081031485197395 + - -0.03401267160150402 + - - -0.025684333414613365 + - 0.04111926196127576 + - -0.9988240692498385 + - 0.968334461068525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8698503481718887 + - 0.051869950735621735 + - -0.4905811655535995 + - 0.10004830160239385 + - - 0.0007262184421384793 + - -0.994590406735919 + - -0.10387201468949099 + - -0.09015636752087171 + - - -0.4933151572696893 + - 0.08999683905317847 + - -0.8651824805024766 + - 0.9754148507675178 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9552247372603206 + - 0.049138183202466275 + - -0.29177241178273233 + - 0.012658761996670062 + - - 0.023221523601749637 + - -0.9955219299889321 + - -0.09163431536670609 + - -0.09410722254336022 + - - -0.2949685782715929 + - 0.08075596487363905 + - -0.9520882374915481 + - 0.97740088357447 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982097281477658 + - -0.004510674207574129 + - 0.0596405269037487 + - 0.054136761931182414 + - - 0.002477113422994534 + - -0.9931788211955744 + - -0.11657483878462023 + - -0.09364391039556588 + - - 0.05975953932430593 + - 0.11651387448181312 + - -0.9913895876561264 + - 0.9732344610183312 + - - 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: + - - 0.9969318418510711 + - -0.0034325564528040545 + - -0.0781992343928582 + - 0.02368020104678574 + - - -0.007805395219071719 + - -0.9984180219119438 + - -0.055682396921429254 + - -0.034769923767501494 + - - -0.07788439194668567 + - 0.05612193045182797 + - -0.9953815099817032 + - 0.9702006885406168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994921561080761 + - -0.00960296478547616 + - -0.030384419457316757 + - 0.09160346584742288 + - - -0.010574626704307795 + - -0.9994325174847933 + - -0.031981561313865293 + - -0.03393635684572752 + - - -0.030060059023458437 + - 0.032286623566686094 + - -0.9990265095532596 + - 0.9684394189363739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.857225128210746 + - 0.03941351147793372 + - -0.5134312560382829 + - 0.1000774238944688 + - - 0.012390958659950147 + - -0.9983566346433123 + - -0.05595081953973151 + - -0.09011346249137481 + - - -0.5147927191671978 + - 0.04160054298514601 + - -0.856304765323529 + - 0.9755336595187671 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9304529681092497 + - 0.05908680901063617 + - -0.3616158502300863 + - 0.012651331452382368 + - - 0.028332814333783755 + - -0.9955594832236329 + - -0.08976952152830225 + - -0.09396302287736928 + - - -0.3653142835540583 + - 0.07328072300703362 + - -0.927995371684014 + - 0.9764943598869973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977802455983154 + - -0.0062758809582606065 + - 0.06629626544507021 + - 0.054067744792610666 + - - 0.00495723684149967 + - -0.9857870154037615 + - -0.16792672826039892 + - -0.09361903245553965 + - - 0.06640788580178371 + - 0.16788261845570054 + - -0.9835676993088963 + - 0.9729444054789648 + - - 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: + - - 0.9959284367143229 + - -0.0017038380232198467 + - -0.09013127026596052 + - 0.023671284543292297 + - - -0.008292286857091775 + - -0.9973139437881103 + - -0.07277455258870154 + - -0.034781928264057724 + - - -0.08976517655775368 + - 0.0732256407400892 + - -0.9932674456639353 + - 0.9704478731053405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997152461081313 + - -0.013043099448974756 + - -0.019982598823036636 + - 0.09158102488448337 + - - -0.013111085899649887 + - -0.9999086825560776 + - -0.003275053511340546 + - -0.03392329947829388 + - - -0.019938057214540054 + - 0.00353611449677419 + - -0.9997949638644797 + - 0.9681947685124963 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8489773771072746 + - 0.0011353229960398212 + - -0.5284279744693189 + - 0.09995737774507756 + - - 0.04231741780745903 + - -0.9969320863442586 + - 0.06584566323907382 + - -0.09001669809710977 + - - -0.5267320469747035 + - -0.07826318584736525 + - -0.8464208317562016 + - 0.9749266013994446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9119233995693479 + - 0.059938318908999595 + - -0.4059594945856628 + - 0.012633659745904241 + - - 0.023487538002065426 + - -0.9952773489504079 + - -0.09418776048324959 + - -0.09390104777936689 + - - -0.40968774557763527 + - 0.0763570336813284 + - -0.909024507112379 + - 0.9753474346338149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940710546336574 + - -0.012990374194919914 + - 0.10795364059541555 + - 0.054175596202099024 + - - 0.015584818419825 + - -0.9655638469665776 + - -0.25969900051006056 + - -0.09369150023093271 + - - 0.10760971970202914 + - 0.2598416972107812 + - -0.9596366190471637 + - 0.9735752573327037 + - - 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: null + base_right_marker_pose: + - - 0.9993510059670926 + - -0.007712164715346194 + - -0.03518649439718904 + - 0.09161640358337486 + - - -0.010526375680802022 + - -0.9966982666842772 + - -0.08050938208422814 + - -0.03402148933526982 + - - -0.03444941636061003 + - 0.08082751823457768 + - -0.996132596599696 + - 0.9685740206988019 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8780693878446956 + - 0.052388430477488555 + - -0.47565702189933756 + - 0.10008376429521654 + - - 0.004321584632782864 + - -0.9948169126022813 + - -0.10159052272099976 + - -0.0901427834096595 + - - -0.47851381802023574 + - 0.08714793602013544 + - -0.8737446785023222 + - 0.975982462748347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9368549067463198 + - 0.07238339906121709 + - -0.34214547672837803 + - 0.012669924282135618 + - - 0.009427228576676716 + - -0.9832175031213719 + - -0.18219349307024962 + - -0.09412304338662668 + - - -0.34959120564840807 + - 0.16746338434452052 + - -0.9218145170462292 + - 0.9776448417182078 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999591763403815 + - 0.008927265315457782 + - 0.0013962759947133369 + - 0.05414168320193636 + - - 0.009003136065228859 + - -0.9712499538289043 + - -0.2378917205964557 + - -0.09363151852314082 + - - -0.0007675895107175765 + - 0.23789457984859302 + - -0.9712906772357102 + - 0.9728059025397022 + - - 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: + - - 0.9966678131318963 + - -0.0037852323799321074 + - -0.08147970472892786 + - 0.023694232900700447 + - - -0.008579060029151632 + - -0.9982467201160128 + - -0.058565224379654626 + - -0.03478085590391933 + - - -0.08111516501801354 + - 0.059069093386076216 + - -0.9949528492399263 + - 0.9706604853726569 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999057859966715 + - -0.011728345415800616 + - -0.007131973372528931 + - 0.0916097548201861 + - - -0.011955414796748763 + - -0.9993944888658235 + - -0.0326760414012581 + - -0.03395438086893325 + - - -0.006744418982868259 + - 0.0327582285605727 + - -0.9994405491444484 + - 0.9682898032742844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8729686768550743 + - 0.05051299449238471 + - -0.485153714421845 + - 0.10006776903865917 + - - 0.005329924965509939 + - -0.9955518946142393 + - -0.09406389865331179 + - -0.0901222166526504 + - - -0.4877471487664104 + - 0.07952900425260452 + - -0.8693548506523825 + - 0.9757136036658574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9284483094085372 + - 0.07053027515605048 + - -0.3647042871188121 + - 0.01263066853854675 + - - 0.013061237002612004 + - -0.987400221558411 + - -0.15770290597945058 + - -0.09397495924274199 + - - -0.3712319232560566 + - 0.1416555073155069 + - -0.9176712790551944 + - 0.9765923906828207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986648315532184 + - -0.007989256096172147 + - 0.05103651639573136 + - 0.054056535780538865 + - - 0.00662320136398916 + - -0.9600119214300773 + - -0.2798807673203411 + - -0.0936570769231655 + - - 0.05123170329467908 + - 0.2798451044759594 + - -0.9586772293521763 + - 0.9724150311656945 + - - 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: + - - 0.996641924786003 + - -0.005271148290735093 + - -0.08171345516221962 + - 0.02366857166859973 + - - -0.007077029353030531 + - -0.9997367291606413 + - -0.02182631491387226 + - -0.03477968940942417 + - - -0.08157689264974083 + - 0.022331309027467664 + - -0.9964168421011023 + - 0.9701891098846627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8708487598235102 + - 0.0421532063405896 + - -0.4897402829143851 + - 0.10005241276067968 + - - 0.007568341701823758 + - -0.9973479484243214 + - -0.07238639359494489 + - -0.09013490449608408 + - - -0.49149278501086735 + - 0.059331079284010345 + - -0.8688582538672557 + - 0.9756160792675499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9595388136300239 + - 0.046940851976562656 + - -0.2776361315700834 + - 0.012682983485550959 + - - 0.027959019427751784 + - -0.9970170361269425 + - -0.071939717161563 + - -0.09393029005168091 + - - -0.28018486463427106 + - 0.06126651686167182 + - -0.9579889642065371 + - 0.9754391615096347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929088604070805 + - -0.019081589322731702 + - 0.1173366433559074 + - 0.05402813942612068 + - - 0.006483283948436869 + - -0.976872688321946 + - -0.2137234611358744 + - -0.09351078731469409 + - - 0.11870114554778627 + - 0.21296864501511084 + - -0.9698218363627777 + - 0.9723171964421148 + - - 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: + - - 0.9958218863235008 + - -0.0037765067690910072 + - -0.09123874569352482 + - 0.023683831181849954 + - - -0.00739120709132904 + - -0.9991996204397925 + - -0.03931270240911955 + - -0.0347485786008506 + - - -0.09101725537961343 + - 0.03982281393369781 + - -0.9950527637836923 + - 0.9703310168380839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998321325600535 + - -0.011740611312398624 + - -0.014066440431992011 + - 0.09162048918931966 + - - -0.012234615228965599 + - -0.9992925139628323 + - -0.03556382611647361 + - -0.033980949811406716 + - - -0.013638947562578472 + - 0.03572995359435532 + - -0.9992684071487157 + - 0.9683260494111874 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8749249547536262 + - 0.036051712359586874 + - -0.4829146897592854 + - 0.10000717672206581 + - - 0.014742062322487684 + - -0.9987456561127704 + - -0.04785170837442407 + - -0.09005315000391295 + - - -0.4840340846963622 + - 0.0347474953315005 + - -0.8743589745752837 + - 0.9750458410854426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9310811577390253 + - 0.06290980413326998 + - -0.35934695524975563 + - 0.01262879268582146 + - - 0.016854438986309405 + - -0.9913853571456782 + - -0.12988841951303418 + - -0.09397875360898618 + - - -0.36442256460023575 + - 0.114880068684915 + - -0.92412053555212 + - 0.9761553451168928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992082263783541 + - -0.017350269375911897 + - 0.12438548966301449 + - 0.05406493673509061 + - - 0.0128160978112879 + - -0.9712546121944401 + - -0.23769776172256804 + - -0.09351448414996068 + - - 0.12493410072120459 + - 0.23740987014783213 + - -0.9633421116266915 + - 0.9719292095206142 + - - 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: + - - 0.9953035154823374 + - 0.00015514334837651422 + - -0.09680334704462443 + - 0.023680712664693186 + - - -0.009386646026855964 + - -0.9951317416850743 + - -0.09810559396485458 + - -0.034849892469420204 + - - -0.09634730377580397 + - 0.09855350131462531 + - -0.9904566645915212 + - 0.9708960534164413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996815468960814 + - -0.01072838403709766 + - -0.022840896904681638 + - 0.09158787562193679 + - - -0.011547650193385347 + - -0.9992834865679827 + - -0.036043934962042425 + - -0.033943701206217806 + - - -0.022437837918769143 + - 0.03629621534663476 + - -0.9990891492659912 + - 0.9682940527402746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8577269911104818 + - 0.03859308383057219 + - -0.5126548376841927 + - 0.10003520297502551 + - - 0.014236362892342048 + - -0.9985789912682981 + - -0.051354884569875914 + - -0.090088610464199 + - - -0.513908294048809 + - 0.036750130313158894 + - -0.8570575787132438 + - 0.97516781565298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9527518290500122 + - 0.0625163828799159 + - -0.2972467899128064 + - 0.01262302942802541 + - - 0.009627847455371763 + - -0.9843145565990904 + - -0.17615946815460445 + - -0.09399706265800832 + - - -0.3035971949726025 + - 0.16497440873889732 + - -0.9384093923581647 + - 0.9764687791238693 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991057463332209 + - -0.0017849356890973942 + - 0.04224359890590983 + - 0.05415867372200666 + - - 0.012370231239722335 + - -0.9430516750288418 + - -0.332416178313227 + - -0.09375220958817476 + - - 0.04043123820776946 + - 0.3326414770137379 + - -0.9421862675432628 + - 0.9740057460410683 + - - 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: null + base_right_marker_pose: + - - 0.9997607981847664 + - -0.010363533444323085 + - -0.01925989583323798 + - 0.09163626750774848 + - - -0.011452324841028988 + - -0.9982908008491136 + - -0.057308997511485466 + - -0.03403665750932507 + - - -0.01863305312326274 + - 0.057515859678738124 + - -0.9981706944289247 + - 0.9686740809419987 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8661749762624193 + - 0.029923283386379316 + - -0.498844171669045 + - 0.10004994620293378 + - - 0.0187096502355833 + - -0.9994476495189989 + - -0.027465339229848663 + - -0.09010552658379065 + - - -0.4993904879799567 + - 0.014456589581466357 + - -0.8662563982637091 + - 0.9751681700489491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9553186870930951 + - 0.0343611090963907 + - -0.29357370500845453 + - 0.012616069889771696 + - - 0.04251671567198273 + - -0.9988656359282245 + - 0.021442253850092907 + - -0.09379689985894835 + - - -0.29250390592125936 + - -0.03296597554100261 + - -0.9556959294029861 + - 0.9750848740355118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999912820109155 + - 0.004015926053556348 + - 0.001143783239171319 + - 0.054102932315386806 + - - 0.004166959571185213 + - -0.977391933503753 + - -0.21139452398235783 + - -0.09366788273631764 + - - 0.0002689797352029477 + - 0.21139744714572103 + - -0.9774001468130513 + - 0.9732411583600429 + - - 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: + - - 0.9957659464063995 + - -0.00370365082150242 + - -0.09185022018460265 + - 0.023662123910510886 + - - -0.007256727415209726 + - -0.9992368807443498 + - -0.0383796308935381 + - -0.03477224514428368 + - - -0.09163798276145621 + - 0.03888366149033891 + - -0.9950329346230288 + - 0.9702133523045945 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999650505311931 + - -0.012171668289030456 + - -0.023467375666289335 + - 0.0916182423393374 + - - -0.012716566150983339 + - -0.9996496919633254 + - -0.023211684621237738 + - -0.03397220019653183 + - - -0.023176629930354485 + - 0.02350199669581183 + - -0.9994551015310198 + - 0.9683793075531931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8563768375644983 + - 0.01898166452284971 + - -0.5160023338076785 + - 0.09999212869647174 + - - 0.026401158865952054 + - -0.9996266101329445 + - 0.007044084372997526 + - -0.09008045240628981 + - - -0.5156759553184185 + - -0.01965545028894366 + - -0.8565582130715789 + - 0.9751621227993791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9448446785482797 + - 0.04374867143604859 + - -0.3245837136496203 + - 0.012640348434712782 + - - 0.03464988001737847 + - -0.9988290612243402 + - -0.03376229062852401 + - -0.0938215944488722 + - - -0.3256807013529959 + - 0.020653333902406895 + - -0.9452542094933706 + - 0.9747588855991655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9904886006203447 + - -0.011496380454645697 + - 0.13711369471206447 + - 0.054045614386927794 + - - 0.001451492775942466 + - -0.9955749203625357 + - -0.0939599441988599 + - -0.09349686953726352 + - - 0.13758715495958396 + - 0.09326527318125176 + - -0.9860889227694197 + - 0.9718269832123321 + - - 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: + - - 0.9956216933707493 + - -0.0018619939704261038 + - -0.09345574711068079 + - 0.023673715602307095 + - - -0.007868836198675486 + - -0.9979222425480664 + - -0.06394747254361989 + - -0.03479348921269886 + - - -0.09314249892739533 + - 0.06440287886649713 + - -0.9935676847035978 + - 0.9703625923203649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989548793270403 + - -0.013351058660819225 + - -0.04371382277190738 + - 0.09159490559192118 + - - -0.013638164611411312 + - -0.9998872984796922 + - -0.006276209446513817 + - -0.03395856387028914 + - - -0.04362510211713449 + - 0.006865826361030773 + - -0.999024379529174 + - 0.9681920873707884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8696122577619388 + - 0.06251654036787485 + - -0.48976137386549307 + - 0.10004946701368553 + - - -0.0029589199335233116 + - -0.9912736598697649 + - -0.1317868583783282 + - -0.0901053140719623 + - - -0.4937264079862555 + - 0.11605263214953124 + - -0.861838743981817 + - 0.9755917441576903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.934298671790109 + - 0.06265220122047965 + - -0.3509425787411194 + - 0.012669008269910983 + - - 0.01809901676536193 + - -0.9915022642463247 + - -0.12882424300782114 + - -0.09395445177082137 + - - -0.35603148383726596 + - 0.11400860352025866 + - -0.9274931918025031 + - 0.9761118128208344 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941228875563894 + - -0.015207713416873278 + - 0.107184000154765 + - 0.05411788627246253 + - - 0.013186543729680757 + - -0.965700946248241 + - -0.2593218029393519 + - -0.09367069128820607 + - - 0.10745138203397676 + - 0.2592111260495604 + - -0.9598248760222389 + - 0.9731316239882596 + - - 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: + - - 0.9953330759996257 + - -0.0009945141727546953 + - -0.09649393122203849 + - 0.023661853666627108 + - - -0.008518299437932288 + - -0.9969488791383351 + - -0.07759104948061286 + - -0.034779625712808335 + - - -0.0961223511770755 + - 0.07805090214967013 + - -0.9923046660566569 + - 0.9702300207762014 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999630768855534 + - -0.01146112293295854 + - -0.024636733111545572 + - 0.09159850308045661 + - - -0.01211962105379834 + - -0.9995687557791917 + - -0.026747285012703712 + - -0.03396818789888841 + - - -0.024319554741118146 + - 0.02703599695136261 + - -0.9993385883303213 + - 0.9683338753079636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8840453710280706 + - 0.05428936073572595 + - -0.4642374901650525 + - 0.1001562061077044 + - - -0.0026729508672594174 + - -0.9926280411387828 + - -0.12117106617771639 + - -0.09019958274184768 + - - -0.4673934502081755 + - 0.1083616041588972 + - -0.8773831121275406 + - 0.9761121544276267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9387701096375555 + - 0.035308995334822325 + - -0.34273015055512335 + - 0.012640727322745144 + - - 0.039774343433751226 + - -0.9991906353212637 + - 0.006006320895822909 + - -0.09386810571185514 + - - -0.3422406797204359 + - -0.01927042123917075 + - -0.9394146943761095 + - 0.975160610781614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948396534723948 + - -0.010215528469132994 + - 0.10094407786998613 + - 0.05413246680875582 + - - 0.014782582492436889 + - -0.9697073669919638 + - -0.24382185639595055 + - -0.09366558380397155 + - - 0.10037698508014567 + - 0.2440558652841795 + - -0.9645523290556147 + - 0.9731873087578236 + - - 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: + - - 0.9956013805134087 + - -0.003191589726278852 + - -0.09363602338210342 + - 0.02365715823172695 + - - -0.006346585182747382 + - -0.9994213840011256 + - -0.03341583543461207 + - -0.034793024079604204 + - - -0.0934751944438354 + - 0.03386312088827691 + - -0.9950455653222084 + - 0.9701837808049298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995987681070726 + - -0.010565363350161327 + - -0.0262807133864719 + - 0.0915826333036051 + - - -0.01154695295937747 + - -0.999230541370205 + - -0.03748323719159349 + - -0.0339701398793363 + - - -0.025864467444290037 + - 0.03777165988259453 + - -0.9989516159622231 + - 0.9681106306903097 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8834170614640923 + - 0.05601908297582475 + - -0.46522699605321255 + - 0.10013798700199115 + - - -0.002652201766788851 + - -0.9922146619299033 + - -0.12451116607403856 + - -0.0901716719879312 + - - -0.4685800479533208 + - 0.11122916431348492 + - -0.8763907870728606 + - 0.9759638917873361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9473791875993433 + - 0.08410654522355365 + - -0.308866903300057 + - 0.012646548866397886 + - - -0.00023243684051257874 + - -0.9646857501358629 + - -0.26340339682305375 + - -0.09408363067825225 + - - -0.32011345000909225 + - 0.24961468814027404 + - -0.9139036527927387 + - 0.9769181160322451 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992072338739945 + - -0.0029623895162289235 + - 0.03970047886656697 + - 0.05409308418096976 + - - 0.008184569825928594 + - -0.9606399119865991 + - -0.27767602041794004 + - -0.09362565817889631 + - - 0.03896044905599899 + - 0.2777808196163549 + - -0.9598541033212401 + - 0.9729165995109992 + - - 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: + - - 0.9956304378491491 + - -0.0032499669025865398 + - -0.09332453559190006 + - 0.02364980545921779 + - - -0.00815754222761115 + - -0.9986005647431344 + - -0.05225290996201051 + - -0.03481040645180438 + - - -0.09302411371852178 + - 0.05278588646433181 + - -0.9942636292538606 + - 0.9703293282089565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998303056057284 + - -0.010630834480604985 + - -0.015044778183865615 + - 0.09162174616125662 + - - -0.011304698646040275 + - -0.9989031908940341 + - -0.045438078857259936 + - -0.03399650933809123 + - - -0.01454523223870811 + - 0.045600444953556515 + - -0.9988538610022786 + - 0.9686178160249751 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8746752810502477 + - 0.05319381441737792 + - -0.4817816630252752 + - 0.10006228877933371 + - - 0.0036146920291871623 + - -0.9946481167048155 + - -0.10325724157218745 + - -0.0901547162310013 + - - -0.4846958703364455 + - 0.08857506445548037 + - -0.8701864002818605 + - 0.9757964266212539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9320835875507931 + - 0.06632762105493901 + - -0.35611912684330144 + - 0.012612091157636722 + - - 0.015598088592384846 + - -0.9895308837433677 + - -0.1434758856056791 + - -0.09394612678177659 + - - -0.36190728847414383 + - 0.128176740492424 + - -0.923360080221162 + - 0.9761553694955158 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967377614469606 + - -0.008642486112144753 + - 0.08024426670799141 + - 0.05407522167824657 + - - 0.0135001226458231 + - -0.9623887572245098 + - -0.27134042576883344 + - -0.09359667305320604 + - - 0.07957123597286651 + - 0.2715385560130742 + - -0.9591325408952016 + - 0.9725248344949986 + - - 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: + - - 0.9967573916146328 + - -0.0031526634130907357 + - -0.08040374975706945 + - 0.023666618538927507 + - - -0.007976243662589836 + - -0.9981820083758174 + - -0.05974159097190088 + - -0.03476776500352389 + - - -0.0800692312853613 + - 0.0601891922875085 + - -0.9949704414369042 + - 0.9703876045930127 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996887386118444 + - -0.011323141856285388 + - -0.022230887322862467 + - 0.09159721996619725 + - - -0.011870504306424931 + - -0.99962575983355 + - -0.024646123522949866 + - -0.03397426517485914 + - - -0.02194349607903254 + - 0.024902343980031143 + - -0.9994490263360754 + - 0.9681337319221353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8749660254494275 + - 0.05103502948683375 + - -0.48148715463084774 + - 0.1000637003641477 + - - 0.007054970518999604 + - -0.9956676957412076 + - -0.0927149774759709 + - -0.09016105289681786 + - - -0.4841329173896441 + - 0.07772557766058583 + - -0.87153545703954 + - 0.9757777716957998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9481412728089622 + - 0.060768191113672466 + - -0.31198614351437676 + - 0.012648376953384373 + - - 0.015795499412071166 + - -0.9893493896035641 + - -0.14470068240812722 + - -0.09410086841890834 + - - -0.3174564993735746 + - 0.13226871224831144 + - -0.9390028534385018 + - 0.9773760012029225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989052577100338 + - 0.016894543014508236 + - -0.0436217896879732 + - 0.05414148971109053 + - - 0.005604955374929864 + - -0.9690131045282265 + - -0.24694571818076283 + - -0.09368404793285544 + - - -0.046442120908673834 + - 0.2464308780751686 + - -0.9680469780628442 + - 0.9733668005233064 + - - 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: + - - 0.9954065316581404 + - -0.0033382236423207304 + - -0.09568015988294229 + - 0.02366846156600674 + - - -0.009010374700641845 + - -0.9982225234735044 + - -0.0589118560049014 + - -0.0347624244809447 + - - -0.0953134296941705 + - 0.05950336035134532 + - -0.9936672985596494 + - 0.9706437303597448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9984109624566246 + - -0.008505832087874999 + - -0.05570638084572848 + - 0.09159039800084808 + - - -0.011803536252167937 + - -0.9981799615831002 + - -0.05913916490706469 + - -0.03397564546108979 + - - -0.055101965286006145 + - 0.05970272283953313 + - -0.9966942150465037 + - 0.9682270953085916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8683681496188624 + - 0.034568981662435994 + - -0.4947137983059854 + - 0.10005278277601076 + - - 0.014665356287313514 + - -0.9989212691748814 + - -0.04405933856756195 + - -0.09008289476369835 + - - -0.49570322174914216 + - 0.03100457219293732 + - -0.8679383805608867 + - 0.9753447069107479 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9324076658705255 + - 0.05496445022460163 + - -0.35720421867243657 + - 0.012605709721323067 + - - 0.021867613541693403 + - -0.9951367744472637 + - -0.09604482089465186 + - -0.09384833635294453 + - - -0.36074610476603863 + - 0.08174172345994363 + - -0.9290750984403399 + - 0.9752589558952222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942598593428255 + - -0.012730023276090855 + - 0.10623219195222787 + - 0.05400500322377204 + - - 0.006156875197536142 + - -0.9844437682413485 + - -0.17559202732065413 + - -0.09346550232917675 + - - 0.10681490994887731 + - 0.1752381627333657 + - -0.9787145453779916 + - 0.9713839961804898 + - - 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: + - - 0.9954265413108311 + - -0.003785017562435076 + - -0.09545509151432607 + - 0.02367253897253681 + - - -0.00745676082351498 + - -0.9992446464446759 + - -0.03813834382448757 + - -0.03477325427059877 + - - -0.0952386348703991 + - 0.03867570547134201 + - -0.9947028663044639 + - 0.9704847435748121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997275186975354 + - -0.014357484835391223 + - -0.01840518916149866 + - 0.09159761277688674 + - - -0.01424992429245933 + - -0.9998806904242656 + - 0.005961927067195396 + - -0.03395081220008555 + - - -0.01848859152364544 + - -0.005698030001403178 + - -0.9998128347033641 + - 0.9682040993421117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8722365886504775 + - 0.030664872154067588 + - -0.48812191001342314 + - 0.10001015325997434 + - - 0.018858004252702856 + - -0.9993989924233615 + - -0.029086588297259956 + - -0.0900700665004461 + - - -0.48872048155871545 + - 0.016165381497012347 + - -0.8722906461415671 + - 0.9750911065290908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9456712296807833 + - 0.07138802564546756 + - -0.3171902822415549 + - 0.012627930315222972 + - - 0.008833320045685947 + - -0.9808777453163757 + - -0.19442433283937094 + - -0.0939751814478787 + - - -0.32500445814020096 + - 0.18105965463765272 + - -0.9282184568578072 + - 0.9762056016570557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997151194291883 + - -0.008019157019571616 + - 0.07500125894254514 + - 0.05410606198613297 + - - 0.016223627310156745 + - -0.9482589183860283 + - -0.3170832976021628 + - -0.09369647191235697 + - - 0.07366335343420355 + - 0.31739678136688165 + - -0.9454274131517302 + - 0.9734192787564057 + - - 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: + - - 0.9951656387585804 + - -0.0023688273088782424 + - -0.09818217807426745 + - 0.023680409572869442 + - - -0.008761497663504791 + - -0.9978643241944363 + - -0.06473041525182997 + - -0.03478757096969713 + - - -0.09781915759665306 + - 0.06527770796499104 + - -0.9930610420562874 + - 0.9706242909174208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998252525779924 + - -0.01196643245013282 + - -0.014362061195040134 + - 0.09160243086214374 + - - -0.0123818291386003 + - -0.9994971463778956 + - -0.02919151742590954 + - -0.03396173414640902 + - - -0.014005520859153292 + - 0.02936424487128998 + - -0.9994706531502582 + - 0.9682160661568077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8743178570083889 + - 0.03421327530105499 + - -0.48414640007897664 + - 0.10002421156726145 + - - 0.012594853003334862 + - -0.9987758079399981 + - -0.04783571000444381 + - -0.09012731727457723 + - - -0.48519032821572466 + - 0.03572586271847161 + - -0.873678435203101 + - 0.9752391492179084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9072080879502122 + - 0.06898295048424317 + - -0.41498775608469285 + - 0.012644491588772752 + - - 0.0168507700853909 + - -0.9916309920750496 + - -0.12800010587410507 + - -0.09381257335692841 + - - -0.42034454523075393 + - 0.10912986804143615 + - -0.9007780721109996 + - 0.9747066832707774 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974117167030254 + - -0.008137718961707575 + - 0.0714397992272096 + - 0.054033492478828105 + - - 0.011311555997534443 + - -0.9634433966327983 + - -0.26767306585753436 + - -0.09356298439021184 + - - 0.07100645100579521 + - 0.26778834742153657 + - -0.9608576819179856 + - 0.9718287841450856 + - - 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: + - - 0.9965176212854252 + - -0.0015181904000173842 + - -0.08336861259219414 + - 0.02368835023696589 + - - -0.008732136353118465 + - -0.9962365985123021 + - -0.0862345034156822 + - -0.034799322684441386 + - - -0.08292394263630137 + - 0.08666218830925085 + - -0.9927805824325452 + - 0.9705912663129799 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999651053692265 + - -0.012758437506112202 + - -0.02312991838175961 + - 0.09162193129062962 + - - -0.01307283536386471 + - -0.9998235067629816 + - -0.013492824008472395 + - -0.033993502505394166 + - - -0.02295368875569937 + - 0.013790489352338094 + - -0.9996414109949276 + - 0.9683601118391065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.870066070956005 + - 0.06302401426939669 + - -0.4888895640086328 + - 0.1001157554240982 + - - -0.002000117220861925 + - -0.9913333887443119 + - -0.13135490813754347 + - -0.09017360540486881 + - - -0.49293106181522284 + - 0.11526528526009276 + - -0.8623994911359972 + - 0.9757347264671928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9319523294327197 + - 0.07778909082448489 + - -0.35413798583832784 + - 0.012603753166147048 + - - 0.004533855098529785 + - -0.9791384095139943 + - -0.20314383862758859 + - -0.09394020604094086 + - - -0.3625524787156656 + - 0.18771476330620948 + - -0.9128630060496599 + - 0.9760491050991498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950298371032117 + - -0.013429621647657231 + - 0.09866746442853777 + - 0.05404741025176805 + - - 0.014001637553261921 + - -0.9621500765846162 + - -0.27216021802248114 + - -0.0935062482544464 + - - 0.09858791721191332 + - 0.27218904348011175 + - -0.9571799972780453 + - 0.9722577546742169 + - - 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: null + base_right_marker_pose: + - - 0.9993753589276609 + - -0.009720284658199258 + - -0.03397658067511332 + - 0.0916156522716658 + - - -0.0114685646523922 + - -0.9985996408873122 + - -0.051645224799050614 + - -0.03399703820069476 + - - -0.0334269949744635 + - 0.052002627682590695 + - -0.9980873522498332 + - 0.9685554435995251 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8619003513978207 + - 0.042620652313729454 + - -0.5052833504645343 + - 0.10008204283612532 + - - 0.008706986727539369 + - -0.9975584308550132 + - -0.06929188561592273 + - -0.09015911664968543 + - - -0.5070029315915635 + - 0.055323205135240076 + - -0.8601670595478093 + - 0.9757233346023931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9458426449947305 + - 0.03175315239701488 + - -0.3230687670175256 + - 0.012628452731731151 + - - 0.05132819260065751 + - -0.997314039850895 + - 0.05225057473977694 + - -0.09386638930784312 + - - -0.32054189672135236 + - -0.06600335771109797 + - -0.9449319812648624 + - 0.9752125395864466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9816651943329222 + - -0.006338987392978036 + - 0.19050790921675104 + - 0.05412798087080195 + - - -0.0063717011716674255 + - -0.9999796033403193 + - -0.0004408259491090117 + - -0.09358196827247428 + - - 0.1905068178818941 + - -0.0007811159773691911 + - -0.981685561775432 + - 0.9726137001548216 + - - 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: + - - 0.9963068270311003 + - -0.0025551476531723593 + - -0.08582643900157826 + - 0.023672195657913855 + - - -0.0078120328497171525 + - -0.9981090079570928 + - -0.06097032374576834 + - -0.034809554748578275 + - - -0.08550835370872302 + - 0.06141562875505999 + - -0.9944427796462929 + - 0.9706534481683328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8427445700854638 + - 0.0150080760458717 + - -0.5381044018077423 + - 0.10000012984932385 + - - 0.03604648637755375 + - -0.9989409965810676 + - 0.028592589415041964 + - -0.09009085337402757 + - - -0.5371054276501959 + - -0.043493022463674216 + - -0.8423930891131973 + - 0.9751425330377094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.947878461222177 + - 0.03218544303349505 + - -0.317002397479602 + - 0.012628398355539562 + - - 0.0430854725626616 + - -0.9986946814216925 + - 0.027433106897979224 + - -0.0938928648272712 + - - -0.31570566166150726 + - -0.03966144925190538 + - -0.9480279028795029 + - 0.9756517199566068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995733182615476 + - 0.0026038345588024125 + - 0.029092979654708768 + - 0.05407884256472115 + - - 0.0029270098419324573 + - -0.9999344273087675 + - -0.011071300559261747 + - -0.09354759865319903 + - - 0.029062244114729723 + - 0.011151732075272664 + - -0.9995153949983654 + - 0.9718980656522964 + - - 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: + - - 0.9948772641247731 + - -0.004042486454161833 + - -0.10100934427504485 + - 0.023658820642093296 + - - -0.007425905240243081 + - -0.9994230462597001 + - -0.033142578903048454 + - -0.0347909661979078 + - - -0.10081708812978854 + - 0.03372288404406985 + - -0.9943332850874405 + - 0.9706325547458257 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998102688214401 + - -0.009633472717251842 + - -0.01692993096871785 + - 0.0916144250080051 + - - -0.010482900448727385 + - -0.9986526936738189 + - -0.05082230038288771 + - -0.0339937171994564 + - - -0.016417525921455355 + - 0.050990132588887835 + - -0.9985642048567467 + - 0.9687090602944799 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8645872706467685 + - 0.03968894721055438 + - -0.5009128056906601 + - 0.10008974464833133 + - - 0.01181128391891943 + - -0.998205526980591 + - -0.05870450985731698 + - -0.09014665181150627 + - - -0.5023438513685202 + - 0.04483874858555911 + - -0.8635045695406154 + - 0.975627891285518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9207110688039022 + - 0.052236515250388596 + - -0.38673307882371794 + - 0.012617924583289399 + - - 0.027088065507339134 + - -0.997165172827551 + - -0.07019868094822371 + - -0.09379287999294193 + - - -0.3893036918512926 + - 0.05415685159143135 + - -0.91951599819506 + - 0.9742679645106712 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907998355376187 + - -0.02387285543948015 + - 0.13321326011997942 + - 0.05418509474177256 + - - 0.01773183204057267 + - -0.9529344939342143 + - -0.302657285395261 + - -0.09376189932007424 + - - 0.13416880423970595 + - 0.30223490374791134 + - -0.9437440304051616 + - 0.9740533826997402 + - - 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: + - - 0.9966358492536885 + - -0.0032453880720500114 + - -0.08189292667038431 + - 0.02365878873205568 + - - -0.008193241939277346 + - -0.9981554162947894 + - -0.06015509710656031 + - -0.034775799114458675 + - - -0.08154664167765349 + - 0.06062369485306078 + - -0.9948240612557876 + - 0.970099932729388 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994486293666681 + - -0.01312819868310452 + - -0.030497338513803016 + - 0.09161661842212734 + - - -0.013960495566146256 + - -0.9995314306247506 + - -0.027240113009825623 + - -0.034004960869392184 + - - -0.030125434779205606 + - 0.027650851570564572 + - -0.9991635945063189 + - 0.9683716696225402 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.879972769465378 + - 0.016801638936660986 + - -0.47472690036322446 + - 0.09996344139668512 + - - 0.027702688762477383 + - -0.9994885223354384 + - 0.01597669412147204 + - -0.09004512893630037 + - - -0.47421565351089173 + - -0.027210267340910997 + - -0.8799881336225358 + - 0.9749218336510136 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9553124459253584 + - 0.03827044490374275 + - -0.2931100539165773 + - 0.012646122467198428 + - - 0.04237699806258906 + - -0.999072245486978 + - 0.007670614891354429 + - -0.09389441460364147 + - - -0.29254456189666656 + - -0.019748958060559443 + - -0.9560479370618453 + - 0.9757279766114985 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990421305296233 + - 0.002323697499086914 + - -0.04369693189188257 + - 0.053998271334724714 + - - 0.0001679333726259868 + - -0.9987853074176047 + - -0.049273537371527135 + - -0.09353467884710254 + - - -0.043758350348401455 + - 0.049219001581235475 + - -0.9978289916905265 + - 0.9720671426940973 + - - 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: + - - 0.996115637122292 + - -0.0032947469656837737 + - -0.08799307997156605 + - 0.02368406215896297 + - - -0.007650737119863971 + - -0.9987590273786925 + - -0.04921251315560894 + - -0.0347677426779831 + - - -0.08772174019006371 + - 0.0496945658196182 + - -0.9949046921318778 + - 0.9702713756149062 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991653027713346 + - -0.010052795941816236 + - -0.03959342156999546 + - 0.0915926666029053 + - - -0.011608340524381092 + - -0.9991617526336913 + - -0.039256063279963616 + - -0.03398751374448425 + - - -0.03916559929500875 + - 0.0396829102728454 + - -0.9984444513662943 + - 0.9682801397717451 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.862509044284022 + - 0.032569799680971456 + - -0.5049924322967666 + - 0.09999755879746187 + - - 0.016477267401440576 + - -0.999205024856489 + - -0.03630176249887646 + - -0.09009105350845568 + - - -0.5057733169980841 + - 0.02298970313607379 + - -0.8623600323313175 + - 0.9753810813795547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9449045524065169 + - 0.07273728409056149 + - -0.31916245760516526 + - 0.0126229983330588 + - - 0.008915326306457146 + - -0.9803570500955774 + - -0.19702936655419523 + - -0.0939376605432885 + - - -0.32722454644829035 + - 0.18332850796051053 + - -0.9269923162414476 + - 0.9758315701380924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9914519931330251 + - -0.014013533020913094 + - 0.12971725484616042 + - 0.054080368527444134 + - - 0.012604669213245266 + - -0.9792770939969461 + - -0.20213237119996472 + - -0.09355488890382012 + - - 0.1298617250254155 + - 0.2020395853914956 + - -0.9707295907245514 + - 0.9724190681440801 + - - 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: + - - 0.9975049588996242 + - -0.0042574463335344585 + - -0.07046794392754946 + - 0.023654580846974353 + - - -0.007174537624933067 + - -0.9991253739615051 + - -0.04119481904500575 + - -0.03474042857415861 + - - -0.07023092609760745 + - 0.04159761119342579 + - -0.9966630602979488 + - 0.9698603652527598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8837557665475192 + - 0.06393472926498128 + - -0.46356023933014395 + - 0.10012667036322995 + - - -0.008253252194664867 + - -0.9883387760120952 + - -0.15204718892213892 + - -0.09021424320464734 + - - -0.4678756554066668 + - 0.13819845955989124 + - -0.8729224231585845 + - 0.9759653887310931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9265331754364885 + - 0.05656882502471626 + - -0.3719358047444481 + - 0.012636742700297058 + - - 0.025232113259320555 + - -0.9957485052307767 + - -0.08859037640253697 + - -0.0939358470627807 + - - -0.375365975117679 + - 0.0726971964108479 + - -0.9240213754875789 + - 0.975811315369512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984394161938633 + - -0.00740790205466871 + - 0.05535210183548458 + - 0.054075724217551684 + - - 0.009929852305069093 + - -0.9518193223927653 + - -0.3064985734925652 + - -0.09365421748347484 + - - 0.054955711474394854 + - 0.30656989497817017 + - -0.9502603691985779 + - 0.9727280666681957 + - - 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: + - - 0.9966575370610267 + - -0.003964038476776935 + - -0.0815968150015851 + - 0.02367672168533683 + - - -0.008528759977491179 + - -0.9984127882004032 + - -0.05567014110943224 + - -0.03476014378915911 + - - -0.08124662499263964 + - 0.05617998537604282 + - -0.9951094387907564 + - 0.9703253254590547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994459850189175 + - -0.011352198364048898 + - -0.03128658853037812 + - 0.09161743051192539 + - - -0.011999413408150182 + - -0.9997162575853143 + - -0.020577132877867967 + - -0.033982618380381524 + - - -0.031044115504008287 + - 0.0209411535478926 + - -0.9992986195230419 + - 0.9683534329780955 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8785004994791915 + - 0.03170245393770665 + - -0.47668839594554707 + - 0.10001933021858268 + - - 0.0129618090889086 + - -0.9990101629694298 + - -0.04255215375202069 + - -0.09009572311926468 + - - -0.47756555981347076 + - 0.031203344341921277 + - -0.8780418483090231 + - 0.9751383174353347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.926878473456856 + - 0.0733308389054326 + - -0.3681288952360488 + - 0.01266533555444867 + - - 0.013892024490312804 + - -0.9867611491800627 + - -0.16158417659041568 + - -0.09396557232294193 + - - -0.3751043949327291 + - 0.14465483930469653 + - -0.915626381428519 + - 0.9761395125457203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997899735658049 + - 0.01107472789453828 + - -0.017244105060838847 + - 0.05408383081308495 + - - 0.005600945948207303 + - -0.9570386696609904 + - -0.2899062161768986 + - -0.09363460117230216 + - - -0.01971390782601391 + - 0.289748744907693 + - -0.956899695194143 + - 0.972796963395984 + - - 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: + - - 0.9943228565401026 + - -0.0010840857939713616 + - -0.10639963214185434 + - 0.023676119998038366 + - - -0.008050567835172938 + - -0.9978484189530181 + - -0.06506705118947433 + - -0.034807819527302906 + - - -0.10610016644408195 + - 0.06555423366155465 + - -0.9921922178336136 + - 0.9708531693430361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8635460298544373 + - 0.02688553818423387 + - -0.5035527997729567 + - 0.1000271294605447 + - - 0.023093111130263272 + - -0.9996384841677074 + - -0.013769865257666606 + - -0.09014627063495778 + - - -0.50374096770162 + - 0.00026231170977644973 + - -0.863854715013817 + - 0.9757991635599608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9063091736438125 + - 0.07933206600549353 + - -0.41510252356781674 + - 0.01264104510363969 + - - 0.007002368230456954 + - -0.9849072224330826 + - -0.17294140637312977 + - -0.09394555744975014 + - - -0.42255727257761744 + - 0.15383168237541622 + - -0.8931859632178031 + - 0.9756414958826225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9783478734417621 + - -0.02889046846013754 + - 0.20494091676416304 + - 0.05410850009290101 + - - 0.019246577684030652 + - -0.9732187646468007 + - -0.2290737989967594 + - -0.0935986240287999 + - - 0.2060703952037613 + - 0.22805827538484313 + - -0.9515904661402701 + - 0.9726399727422542 + - - 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: + - - 0.9951478491170446 + - -0.002342158957625075 + - -0.09836296401154747 + - 0.023688073235809473 + - - -0.00789421459186747 + - -0.9983943171637387 + - -0.056093393827889804 + - -0.03477833107824 + - - -0.09807364464369268 + - 0.056597718563299135 + - -0.9935684468015948 + - 0.9708385092503813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8692912207449437 + - 0.041909367097613906 + - -0.49252043458646766 + - 0.10006190151803687 + - - 0.012316645845809467 + - -0.9979263659514483 + - -0.06317648592669195 + - -0.09010771071114419 + - - -0.49414681398434057 + - 0.04885256480896412 + - -0.8680048117036634 + - 0.9752863057089215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9565201287752241 + - 0.042002291572475106 + - -0.2886261435672267 + - 0.01262651288978894 + - - 0.030952711669695914 + - -0.998606493782159 + - -0.04274342307765298 + - -0.09388096676461069 + - - -0.29001926296044755 + - 0.03195118274435788 + - -0.9564872968487952 + - 0.9753233720790082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979877550033415 + - -0.00412920478230424 + - 0.06327235202879926 + - 0.05410277082275377 + - - 0.01121647378339067 + - -0.9706434783186272 + - -0.24026116771834627 + - -0.09358978980432643 + - - 0.06240698341737895 + - 0.2404873960634582 + - -0.9686439907186544 + - 0.9723052215060617 + - - 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: + - - 0.9953817189728317 + - -0.0008577400578718766 + - -0.09599217580971924 + - 0.023680472520225475 + - - -0.008520795459429291 + - -0.9968025440031059 + - -0.07944862688350886 + - -0.03481562166969038 + - - -0.09561709878170062 + - 0.07989964049311836 + - -0.9922063383538936 + - 0.9706654648145591 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994961540411025 + - -0.011803246843862475 + - -0.029463900301685452 + - 0.09158977070005064 + - - -0.012294110642905897 + - -0.999787707606474 + - -0.016534647334988196 + - -0.03397838657803556 + - - -0.029262482815796704 + - 0.016888548870027137 + - -0.9994290790328849 + - 0.9681727418197118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8585357286494514 + - 0.03421570643400242 + - -0.5116108756326215 + - 0.10002519910620573 + - - 0.017797584057277153 + - -0.9991583989824105 + - -0.03695591623312663 + - -0.09008419440618806 + - - -0.5124447761799117 + - 0.02262253690742671 + - -0.8584221410179214 + - 0.975386463937846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9219883762390577 + - 0.07231361427178885 + - -0.3804052776592574 + - 0.012620544624807984 + - - 0.011781978404559482 + - -0.9871913011532545 + - -0.15910537361201477 + - -0.0940452065239118 + - - -0.38703826563395544 + - 0.14221137830108826 + - -0.9110309022293175 + - 0.9766319854815633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9881002527690093 + - -0.02546475091128253 + - 0.15168861835631064 + - 0.05409066748324208 + - - 0.017652783277092354 + - -0.960908452662872 + - -0.2763029584416661 + - -0.09367019216565321 + - - 0.15279486156409888 + - 0.2756927493824808 + - -0.9490243612350192 + - 0.9728811343477777 + - - 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: + - - 0.9962187183307435 + - -0.0032192714306333806 + - -0.08682108925201662 + - 0.02367929212443998 + - - -0.006558454172538624 + - -0.9992484866310265 + - -0.03820273085096548 + - -0.03476982831321915 + - - -0.08663285708273413 + - 0.03862768770015243 + - -0.9954911600896431 + - 0.9700899971817614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999642648570411 + - -0.012569596979876963 + - -0.02359195606339903 + - 0.09159291405094999 + - - -0.01314977301845888 + - -0.9996108798623345 + - -0.02460025061688752 + - -0.033993679215757924 + - - -0.023273560722349585 + - 0.024901688549456482 + - -0.9994189548326018 + - 0.9682699497299976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8756778514252115 + - 0.03687611869629997 + - -0.481485672053927 + - 0.10008406780321075 + - - 0.009021949663258139 + - -0.9981552783127787 + - -0.060038694194776254 + - -0.0901194901970606 + - - -0.4828114590061 + - 0.04823061523800644 + - -0.8743951639883225 + - 0.9751306744245426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9371242816779662 + - 0.06405950581624664 + - -0.34306626241024374 + - 0.01265608814832616 + - - 0.01221558031398556 + - -0.9884281205708205 + - -0.15119732161129049 + - -0.09399530533183195 + - - -0.34878196668857253 + - 0.13749992792512186 + - -0.9270625165184049 + - 0.9762847328389762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946482371666091 + - -0.010340927914709797 + - 0.10280053264073918 + - 0.054055382246123836 + - - 0.004894714306952583 + - -0.9891453031365804 + - -0.14685915379946962 + - -0.09350969523926483 + - - 0.10320332394458145 + - 0.14657637767630138 + - -0.9838010161786196 + - 0.9720203394183539 + - - 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: + - - 0.9965509608985533 + - -0.004274672433189538 + - -0.08287285145184145 + - 0.023684857667477056 + - - -0.007428873651938747 + - -0.9992580954579159 + - -0.03778982003241403 + - -0.03477079996269328 + - - -0.0826498286049861 + - 0.038275133408097226 + - -0.995843371215654 + - 0.9701914067409969 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991979800923345 + - -0.012944232330236494 + - -0.037892524708437576 + - 0.09159396687706793 + - - -0.012864268048292958 + - -0.9999144824973473 + - 0.0023533592253175755 + - -0.03393413533384568 + - - -0.037919746662924324 + - -0.0018640121894930774 + - -0.9992790492507969 + - 0.9680451305962003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8604024116350999 + - 0.027322335571023156 + - -0.5088822850438485 + - 0.09997397187375992 + - - 0.02559508268710789 + - -0.9996183449131157 + - -0.010395011082422892 + - -0.09007477992850323 + - - -0.5089720835121946 + - -0.004080991559411459 + - -0.8607733521160772 + - 0.9750435618253837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9292101918985296 + - 0.044826934031942406 + - -0.3668227981698981 + - 0.012649602479035058 + - - 0.03711061222775704 + - -0.998916996848437 + - -0.028064851102075426 + - -0.09395148346768485 + - - -0.3676835891523838 + - 0.0124651270589793 + - -0.9298674092984578 + - 0.9759442379114663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973769594045879 + - -0.007634679933196226 + - 0.07197855591199748 + - 0.05409734674559384 + - - 0.010603117284585285 + - -0.968283832714814 + - -0.24962770921305913 + - -0.09363469735183344 + - - 0.07160149965404514 + - 0.24973612266836356 + - -0.9656630335069599 + - 0.9728301735410669 + - - 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: + - - 0.9948801277138666 + - -0.0020429095610356328 + - -0.10104136776868221 + - 0.023652224960200998 + - - -0.007743060451879203 + - -0.9983977089891464 + - -0.05605407835351236 + - -0.03482602026639701 + - - -0.10076495668077869 + - 0.056549458049998926 + - -0.9933018586005825 + - 0.9707782431393279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8604360048930564 + - 0.03974815160643293 + - -0.5080058719419966 + - 0.10001785394649007 + - - 0.006996127834056093 + - -0.9977805117611245 + - -0.06622012190443748 + - -0.09013613577507813 + - - -0.5095104863287956 + - 0.053424103114428016 + - -0.8588043604496973 + - 0.9755211920618153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9104677918347569 + - 0.033193831089571565 + - -0.41224576360362863 + - 0.012611343575085279 + - - 0.049401331452430725 + - -0.9983660678574379 + - 0.028717642688876388 + - -0.09379078090827792 + - - -0.41061893341913613 + - -0.04651197833328409 + - -0.9106199686967424 + - 0.9744236727020761 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9850695024160274 + - -0.02956269543473292 + - 0.1695998892938125 + - 0.0541337023195211 + - - 0.017747795674448678 + - -0.9624586818096276 + - -0.2708473768711292 + - -0.09368716832642594 + - - 0.17123986439651914 + - 0.2698135149467252 + - -0.9475640221080338 + - 0.9732943013750474 + - - 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: + - - 0.9958121465799191 + - -0.0031118443943721585 + - -0.09137004513711738 + - 0.0236538295853528 + - - -0.008056004893253662 + - -0.998519634210193 + - -0.05379257273919298 + - -0.03476893078791909 + - - -0.091067389932146 + - 0.054303374860193626 + - -0.994363049378716 + - 0.9700522234894013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999675273161114 + - -0.010723853031615977 + - -0.023115951341193274 + - 0.0916136191141065 + - - -0.011768912025535637 + - -0.9988923694811505 + - -0.045557951030173315 + - -0.03397819838477625 + - - -0.022601790636746392 + - 0.045815206738470234 + - -0.9986942104025254 + - 0.9684690965048385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8710044712732881 + - 0.05793773235079197 + - -0.4878467281759591 + - 0.10004890596627686 + - - 0.00047128805891425915 + - -0.993119593561951 + - -0.117103589914704 + - -0.09010732753101977 + - - -0.491274860856431 + - 0.10176783408029098 + - -0.8650389118629873 + - 0.9754908612291128 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9092067611392513 + - 0.08200599822939975 + - -0.4081887820029749 + - 0.012651451611489237 + - - 0.003752701862976583 + - -0.9819845489739708 + - -0.18892396037855128 + - -0.09399679814962941 + - - -0.41632797495172014 + - 0.17023913131471416 + - -0.8931347353237433 + - 0.9761509130667891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929395979958939 + - -0.01581705773413835 + - 0.11756179403355245 + - 0.05412077289518282 + - - 0.0190740962677479 + - -0.9568839843887823 + - -0.2898434392423216 + - -0.09362002108301173 + - - 0.11707746829907607 + - 0.2900394130198233 + - -0.9498263027058133 + - 0.9728062701069087 + - - 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: + - - 0.9930759659550438 + - 9.659382517021933e-06 + - -0.11747393646742693 + - 0.02365333159706979 + - - -0.00881285868089466 + - -0.99717592320539 + - -0.07458224789686123 + - -0.0348175085612962 + - - -0.11714290146793918 + - 0.07510111907404983 + - -0.9902713580375322 + - 0.9707422223241426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994160670179982 + - -0.011679276946041673 + - -0.03211104913100496 + - 0.09159542284152682 + - - -0.012418929784453586 + - -0.9996598870050977 + - -0.02293208442258631 + - -0.033979541495152414 + - - -0.03183229758099415 + - 0.023317478486609006 + - -0.9992211967466172 + - 0.9681881819535705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8640394437413186 + - 0.04133114087217227 + - -0.5017246022006469 + - 0.10004114959779935 + - - 0.01370247548160744 + - -0.9981856713123447 + - -0.05863111590613823 + - -0.09012083924214195 + - - -0.5032375997725812 + - 0.043784727713298846 + - -0.8630381311357007 + - 0.9757067268278431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9290807269383935 + - 0.056705203898340675 + - -0.36550447696638955 + - 0.012645203365634978 + - - 0.02560803935716136 + - -0.9956686188130737 + - -0.08937689763663303 + - -0.09394424680474553 + - - -0.3689894729554062 + - 0.07367849999636741 + - -0.9265086332497813 + - 0.976063024451917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9887731529218756 + - -0.017529630108561164 + - 0.14839260132900908 + - 0.0540136901721838 + - - 0.004975466328804972 + - -0.9886817143048162 + - -0.14994569861820264 + - -0.09350252672879997 + - - 0.1493415441052627 + - 0.14900060358114983 + - -0.9774947178050166 + - 0.9715283631377937 + - - 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: + - - 0.994222658566949 + - -0.0028158058743741224 + - -0.10730040274549671 + - 0.023647008864290144 + - - -0.0073484207328974715 + - -0.9990960284692784 + - -0.041870354782901444 + - -0.03479607635457807 + - - -0.10708550744522005 + - 0.0424169439515809 + - -0.9933446013146732 + - 0.9702961987221713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996943454766756 + - -0.011403323714829751 + - -0.02193581159236929 + - 0.09161348436447105 + - - -0.01222993470893564 + - -0.9992057208067028 + - -0.03792566682568812 + - -0.03398252589933567 + - - -0.02148590977771928 + - 0.03818234821763495 + - -0.9990397709629039 + - 0.9683388690920121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8631417971852972 + - 0.04962124787685446 + - -0.5025176312437994 + - 0.1001238824578635 + - - 0.007021051424382328 + - -0.9962431804329721 + - -0.0863147164607148 + - -0.09015383189406277 + - - -0.5049128071148835 + - 0.07097363735881922 + - -0.8602475225255973 + - 0.9760647349690171 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.942533535018114 + - 0.03616739293535627 + - -0.33214824258833164 + - 0.012631560081669347 + - - 0.0412437024072143 + - -0.9991151063643061 + - 0.00824386113333251 + - -0.09384409768747659 + - - -0.3315561677574447 + - -0.0214691388485907 + - -0.943191170282619 + - 0.9748726328517148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9824088241217823 + - -0.022721056382302943 + - 0.18535548517518763 + - 0.054139458991649514 + - - 0.013854761144839273 + - -0.9809669288259618 + - -0.19367996835857654 + - -0.09366578387693543 + - - 0.18622821451454785 + - 0.1928409659450812 + - -0.963395772241134 + - 0.973358188394909 + - - 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: + - - 0.9978601565603158 + - -0.004887285513740369 + - -0.06520139867924071 + - 0.023677410183262998 + - - -0.007920502285106325 + - -0.9988941530561705 + - -0.04634367954476446 + - -0.034727647691781056 + - - -0.0649028011180853 + - 0.046760939153350826 + - -0.9967953857118937 + - 0.9699991455249666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992666557808003 + - -0.008543558894034776 + - -0.03732503511156475 + - 0.09159898069604704 + - - -0.010311486751374822 + - -0.9988211986702336 + - -0.04743296667860993 + - -0.03393452083370743 + - - -0.036875789966204164 + - 0.04778305859174419 + - -0.9981768157125201 + - 0.9684053290472331 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8576256608424289 + - 0.04339627268643144 + - -0.5124402300576253 + - 0.1001066131735806 + - - 0.00936849831854263 + - -0.9975863516032477 + - -0.06880190647196216 + - -0.09013790345379122 + - - -0.514189125812519 + - 0.054205485071587074 + - -0.8559622119488168 + - 0.9759320142690473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9478227366180825 + - 0.07158722175875466 + - -0.3106562885741602 + - 0.012679613078359605 + - - 0.00716349675539972 + - -0.9789982044981748 + - -0.2037429751024214 + - -0.09396297689424739 + - - -0.31871734227061504 + - 0.19088683891304137 + - -0.9284295721624461 + - 0.9761465749836709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973107074430554 + - -0.008265614744572353 + - 0.07282192274532877 + - 0.05410434489676487 + - - 0.013377663984982427 + - -0.9563964613813882 + - -0.29176505404771164 + - -0.09364427238988265 + - - 0.07205824675730897 + - 0.2919545996727119 + - -0.9537138568796248 + - 0.9733854840047012 + - - 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: null + base_right_marker_pose: + - - 0.9997533546424344 + - -0.011762024583332416 + - -0.018838382597767576 + - 0.0915936450110461 + - - -0.012019792028781496 + - -0.9998348762389664 + - -0.013628824446599469 + - -0.03390767351207964 + - - -0.01867496936499841 + - 0.013851896401304421 + - -0.999729648697739 + - 0.9683194852072334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8766143574672914 + - 0.05048877606425896 + - -0.4785375134446001 + - 0.10013215292034736 + - - 0.00255787788137447 + - -0.9949551149140393 + - -0.10028846677028398 + - -0.09011106720687223 + - - -0.4811867886205436 + - 0.08669026933816441 + - -0.8723210828927181 + - 0.9758242642957398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9482934807059953 + - 0.07516870778469789 + - -0.3083652701269827 + - 0.012660769173283022 + - - 0.003362945581861919 + - -0.973876077214471 + - -0.22705522858187524 + - -0.09402108892869968 + - - -0.3173770077487053 + - 0.21427797740162866 + - -0.9237731233117501 + - 0.9769294497341021 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906426810612309 + - -0.013650120246021427 + - 0.13579673293966113 + - 0.05400145810350892 + - - 0.0040139302882279 + - -0.9916416233563469 + - -0.12896037837580607 + - -0.0933404034779893 + - - 0.136422017370576 + - 0.12829873360426822 + - -0.9823077257825492 + - 0.9713821134403688 + - - 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: + - - 0.997536068375561 + - -0.0022721111019749322 + - -0.07011868367966183 + - 0.02369893284641373 + - - -0.0077334533789108605 + - -0.9969456729351569 + - -0.07771434175686277 + - -0.034798796760688935 + - - -0.06972794266765946 + - 0.07806511850376284 + - -0.9945068382290432 + - 0.9707689740236198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993635893799195 + - -0.0112776587320081 + - -0.03384125640705665 + - 0.09155735449363017 + - - -0.011688664422532326 + - -0.9998600140468052 + - -0.011971943632509306 + - -0.033913539778832866 + - - -0.03370150361187492 + - 0.01235988365021753 + - -0.9993555132836622 + - 0.968117031173926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.84272709713116 + - -0.006076117251257486 + - -0.5383067160643991 + - 0.09996130350047233 + - - 0.04668075799103767 + - -0.9953451660057554 + - 0.08431433651733027 + - -0.08997255198152662 + - - -0.5363132914577735 + - -0.09618254159734192 + - -0.8385207046326316 + - 0.9744526428653442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9330849433575694 + - 0.05259859603325831 + - -0.3557890894543166 + - 0.01262577010991143 + - - 0.0268249145661604 + - -0.9966706473095002 + - -0.07699379682922623 + - -0.09392753304027796 + - - -0.3586543077085786 + - 0.06229774062509873 + - -0.931389327335829 + - 0.9761865520769716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906424103980683 + - -0.014363547071424907 + - 0.13572510171752372 + - 0.05407699753167281 + - - 0.006410343181544613 + - -0.9884526246641955 + - -0.1513945715498318 + - -0.09357557962085261 + - - 0.1363323960803155 + - 0.15084792776166758 + - -0.9791110153956035 + - 0.9725962432571961 + - - 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: + - - 0.9962714135712509 + - -0.004599896598252998 + - -0.08615167701227187 + - 0.02366067297963868 + - - -0.008024071068819279 + - -0.9991896481065135 + - -0.039441873691094524 + - -0.03475351159711503 + - - -0.08590043529705756 + - 0.039986098435169905 + - -0.9955009930420506 + - 0.9701232718263231 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997684379105818 + - -0.012683769891615316 + - -0.01738368600647875 + - 0.09159166807717617 + - - -0.01266726270194595 + - -0.9999192058366029 + - 0.0010593652522174815 + - -0.033939984056193334 + - - -0.017395718251201397 + - -0.0008389162260140129 + - -0.999848331101318 + - 0.9681057253653904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8748774523728503 + - 0.0202367922640423 + - -0.48392139399746836 + - 0.10003578928047979 + - - 0.026799812806301483 + - -0.9996187093402267 + - 0.006648757066307596 + - -0.09005837863879128 + - - -0.4836023297743076 + - -0.018785850415713793 + - -0.8750862120162907 + - 0.9752235234283905 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9494092867937182 + - 0.041578785235604744 + - -0.3112767430570022 + - 0.012638004247215399 + - - 0.03482419239271455 + - -0.9990224530737353 + - -0.027228916223957678 + - -0.09391206712949225 + - - -0.3121046006934834 + - 0.015011424744758937 + - -0.9499291422801458 + - 0.9759704794748251 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955318456693659 + - -0.006111302883196794 + - 0.09422842583432907 + - 0.05404790372763204 + - - 0.0011631258091224892 + - -0.997034087226981 + - -0.07695242715999413 + - -0.09350433917518518 + - - 0.09441923213253738 + - 0.07671819135336728 + - -0.992572076838237 + - 0.9717680741599088 + - - 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: + - - 0.9944688747392827 + - -0.0033589950963676856 + - -0.104977970673506 + - 0.023655879357783603 + - - -0.008341680229293894 + - -0.9988571788149224 + - -0.04706115915323816 + - -0.03479462936279853 + - - -0.10469992142182877 + - 0.047676550649525626 + - -0.993360394304316 + - 0.9704894379553722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8648641589189527 + - 0.04962413827184696 + - -0.49954722651435984 + - 0.10001649023890255 + - - 0.003371714813593763 + - -0.9956539461538096 + - -0.09306906600779 + - -0.09015748326658393 + - - -0.5019946395696157 + - 0.07880776871047165 + - -0.8612727311567738 + - 0.9754886632139977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9503713736528386 + - 0.05587767827815515 + - -0.3060587153006097 + - 0.012621292589641347 + - - 0.02440646681694496 + - -0.9940977185703547 + - -0.10570738058778428 + - -0.09393467791333236 + - - -0.31015895363302026 + - 0.09299145661543481 + - -0.9461257910435648 + - 0.9757597181321167 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996156715159744 + - -0.011671837821054042 + - 0.08680764392625658 + - 0.054072258712327965 + - - 0.011895923803793819 + - -0.9638694219141273 + - -0.2661094220349591 + - -0.09357420225714408 + - - 0.08677721958557481 + - 0.2661193448451364 + - -0.9600261498835289 + - 0.9720660904474894 + - - 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: + - - 0.9936361697878316 + - -0.0017040144100450428 + - -0.1126244130917349 + - 0.023654750044253593 + - - -0.008769069276868343 + - -0.9980210937331017 + - -0.06226555940326694 + - -0.034834889072341814 + - - -0.1122954385243892 + - 0.06285692323582692 + - -0.9916847995648321 + - 0.9706049388722808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8732319227846179 + - 0.051454491590590665 + - -0.4845806891788331 + - 0.10006464418641019 + - - 0.0025921275475772956 + - -0.9948861525158605 + - -0.10096942312881123 + - -0.09023356014700251 + - - -0.48729794777390156 + - 0.08691362854778105 + - -0.8688997245183142 + - 0.9761875677860169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9330136744965195 + - 0.04207445133389085 + - -0.3573726678797007 + - 0.012591321298623375 + - - 0.04088921849300787 + - -0.9991044976937122 + - -0.010875408002778596 + - -0.09381502744757118 + - - -0.3575102166561591 + - -0.004465784718040899 + - -0.9338985500327747 + - 0.9747288988642704 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969680350209268 + - -0.009171348930825813 + - 0.07726980979206036 + - 0.05413336389673393 + - - 0.008287856740265219 + - -0.9748648966278071 + - -0.22264263911818138 + - -0.09367997663601707 + - - 0.07736955846561996 + - 0.22260799554743077 + - -0.9718331295758501 + - 0.9726817047406237 + - - 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: null + base_right_marker_pose: + - - 0.9994930959720826 + - -0.010708871737581994 + - -0.029981180267784575 + - 0.09159709195040591 + - - -0.011602086906230654 + - -0.9994891760586747 + - -0.029778826722546222 + - -0.033930170940611695 + - - -0.02964696752724718 + - 0.03011157597435211 + - -0.9991067762300379 + - 0.9684764893049059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8519264987096097 + - 0.04435508357867853 + - -0.5217795198712899 + - 0.10004056292775941 + - - 0.010603506102783211 + - -0.9976631979871894 + - -0.06749599277217863 + - -0.09009698284933049 + - - -0.5235540148396473 + - 0.05196893247606875 + - -0.8504060345520743 + - 0.9755638461716764 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9141233551878865 + - 0.07086820374479537 + - -0.3991944253093064 + - 0.012603867450949664 + - - 0.014840128133153833 + - -0.9897936200714263 + - -0.14173341265521092 + - -0.09389903374078407 + - - -0.4051644877047257 + - 0.12363772629697982 + - -0.9058451581473956 + - 0.9757059067703809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9868274618340621 + - -0.015815754620634552 + - 0.16100131203168 + - 0.05401708098646106 + - - 0.005019015167399806 + - -0.9917375524381989 + - -0.1281851651738226 + - -0.0933595773603932 + - - 0.16169839225203175 + - 0.12730470922032167 + - -0.9785944721657882 + - 0.9712679856218209 + - - 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: + - - 0.9965727686984278 + - -0.004964527382109488 + - -0.0825716062373879 + - 0.023689724648428525 + - - -0.00938337348747547 + - -0.9985390604926762 + - -0.05321369158776918 + - -0.034747123800070806 + - - -0.0821867932866619 + - 0.05380611617907354 + - -0.9951634201833283 + - 0.9703834200548388 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998122460752716 + - -0.011228511305153906 + - -0.015792185782548693 + - 0.09160593785464582 + - - -0.011664382106156997 + - -0.99954587537331 + - -0.02778462190286188 + - -0.033894044367401115 + - - -0.015473034220929861 + - 0.027963611320311593 + - -0.9994891803586092 + - 0.9683565240574321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8710968467486612 + - 0.026640461122488707 + - -0.4903881823777168 + - 0.09997992304508205 + - - 0.021164240878309325 + - -0.9996363496299917 + - -0.016710577682127102 + - -0.09000807816045622 + - - -0.4906550300288223 + - 0.004177837910531187 + - -0.8713438971943335 + - 0.9747342390611979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9138933100662573 + - 0.07808693188411886 + - -0.3983735042457829 + - 0.012633726519477402 + - - 0.004445169415410975 + - -0.983191682377974 + - -0.18252220733827973 + - -0.09398333976678924 + - - -0.4059301150259834 + - 0.16503498650799675 + - -0.8988794106793735 + - 0.9764175920324065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960762276756658 + - -0.009558169792243637 + - 0.0879817597552907 + - 0.053984097154748716 + - - 0.00815628102475479 + - -0.9800048569411957 + - -0.1988063264876436 + - -0.09333783424910694 + - - 0.08812277650675944 + - 0.19874385968348549 + - -0.9760815818869089 + - 0.9711581962999193 + - - 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: + - - 0.998361169917693 + - -0.005452186081289596 + - -0.056967078804432095 + - 0.023659929042596818 + - - -0.008296635027413 + - -0.9987240068979569 + - -0.04981489629530655 + - -0.034720911708900196 + - - -0.05662278912061193 + - 0.05020589320612904 + - -0.9971325027495483 + - 0.9698229976366702 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998730390943769 + - -0.010733387759424652 + - -0.01177709978647127 + - 0.09161928619020374 + - - -0.011042609518637971 + - -0.9995874726776346 + - -0.02651311450883576 + - -0.03393789148734966 + - - -0.01148766587229776 + - 0.026639798294010867 + - -0.9995790887566933 + - 0.9686051052207265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8710642053559143 + - 0.029123744181411428 + - -0.4903049639484851 + - 0.10001846116450813 + - - 0.021708899588077972 + - -0.9995478383430227 + - -0.02080486823954789 + - -0.0900597734700826 + - - -0.4906891825038986 + - 0.00747839479072243 + - -0.8713025879595502 + - 0.9754175812811505 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9614677172436671 + - 0.05534920287224047 + - -0.269288496671617 + - 0.012677461041409634 + - - 0.018138086214185202 + - -0.9901604757839092 + - -0.13875605220627518 + - -0.09403825008424459 + - - -0.274318862870818 + - 0.1285250867993924 + - -0.9530112609704415 + - 0.9771253911490215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973348171442576 + - 0.012913722755800917 + - -0.07180876183597898 + - 0.05399014556575974 + - - -0.000938066581433015 + - -0.9818606934818885 + - -0.18960142042282788 + - -0.09345795047452979 + - - -0.07295466087179653 + - 0.18916345936742499 + - -0.9792317412631343 + - 0.972501484248218 + - - 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: + - - 0.9964634702553632 + - -0.004970693320351134 + - -0.08387994190838415 + - 0.02367214475297302 + - - -0.008038756461549732 + - -0.9993093737116772 + - -0.03627883689600521 + - -0.03475272098126201 + - - -0.08364168124321016 + - 0.036824826135232094 + - -0.9958152445804989 + - 0.9703083826257274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997324685692417 + - -0.01186352714463005 + - -0.019855679593978808 + - 0.09158966901221857 + - - -0.012102170866048194 + - -0.999855449979887 + - -0.011942219469050367 + - -0.033906903885502826 + - - -0.019711132610255932 + - 0.01217932137709722 + - -0.9997315316533807 + - 0.9682192835288989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8737450288831616 + - 0.027416270879917087 + - -0.4856109271762757 + - 0.10000305620879701 + - - 0.020924976810756817 + - -0.999604551209445 + - -0.018785274734047532 + - -0.09002654233564503 + - - -0.48593391510310574 + - 0.006252143024864803 + - -0.8739731923006361 + - 0.9750228281543635 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9311496514327672 + - 0.05475422771934975 + - -0.36050284490346785 + - 0.012598476679639896 + - - 0.03015945501940112 + - -0.9968388343473286 + - -0.07350337141922593 + - -0.0938838295616665 + - - -0.3633878560292968 + - 0.057570069340913174 + - -0.9298574908051846 + - 0.9755512487338595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965108610976039 + - -0.010398173140935581 + - 0.08281293202056833 + - 0.05406577363168311 + - - 0.012923234500919535 + - -0.9610200113533455 + - -0.2761766242614506 + - -0.09351114590316366 + - - 0.08245661722716005 + - 0.276283216598018 + - -0.9575325010158698 + - 0.9725642405786741 + - - 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: + - - 0.9974925186740256 + - -0.003472461267952085 + - -0.07068675407805512 + - 0.023660019942620552 + - - -0.007028983683259668 + - -0.9987180930030922 + - -0.050127478458897735 + - -0.03484441450824067 + - - -0.07042207450600514 + - 0.0504986407837811 + - -0.9962382339085673 + - 0.9702364687912992 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997504666082673 + - -0.012662166297021965 + - -0.018403099228620174 + - 0.09160210799016258 + - - -0.012957781075399383 + - -0.999787483403031 + - -0.016033837352197485 + - -0.03404765685709401 + - - -0.018196165149665492 + - 0.016268299705293813 + - -0.9997020766201027 + - 0.9681388906412025 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8805511020300093 + - 0.04628842054003868 + - -0.4716854236009893 + - 0.0999890579651734 + - - 0.010098560629619134 + - -0.9968258085867414 + - -0.07897041476780767 + - -0.09018772759533925 + - - -0.4738436195486293 + - 0.06477414190321779 + - -0.8782235107042832 + - 0.9754165957083576 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9303601630045588 + - 0.0615265383407501 + - -0.3614477170683678 + - 0.012605183833375652 + - - 0.019985253079085417 + - -0.9928639393863332 + - -0.11756609853872281 + - -0.09391654809710495 + - - -0.36610183932001156 + - 0.1021551904998272 + - -0.9249506799286373 + - 0.975307957424478 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9915421240228369 + - -0.015441576651566195 + - 0.1288633927800865 + - 0.053988838338567685 + - - 0.013513329148984142 + - -0.9752169039543174 + - -0.22083790475610357 + - -0.09367390180894007 + - - 0.12907984437390782 + - 0.22071145858851202 + - -0.9667599732219669 + - 0.9712265330068471 + - - 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: + - - 0.9953806658741691 + - -0.0014879091480899864 + - -0.09599539640140496 + - 0.023649593714183383 + - - -0.008786287561832012 + - -0.9970956734988801 + - -0.07565063807197389 + - -0.034803303240649355 + - - -0.09560403315120465 + - 0.07614462565528193 + - -0.9925028286252093 + - 0.9705893843968644 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992691532122764 + - -0.01288518473325541 + - -0.03598793482279874 + - 0.09154915399345673 + - - -0.013459142469763175 + - -0.9997853376828353 + - -0.015752143930221757 + - -0.033984925110846956 + - - -0.03577724028483396 + - 0.016224998268403193 + - -0.9992280713174507 + - 0.9678383145373991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.854111238626609 + - 0.02436180553147803 + - -0.5195194842187983 + - 0.09994129187431909 + - - 0.025551827897047942 + - -0.9996616419832127 + - -0.004868843656085434 + - -0.0900396442774408 + - - -0.5194623144587484 + - -0.00911613836414341 + - -0.8544447319039934 + - 0.9746039738625945 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9307752958438886 + - 0.043966614701070175 + - -0.36293840446892534 + - 0.012634827705291445 + - - 0.039525144831336775 + - -0.9990251833092636 + - -0.019658230844995128 + - -0.093855092778644 + - - -0.3634489119158062 + - 0.00395220262902924 + - -0.9316057473639783 + - 0.9752378342150843 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929701512128807 + - -0.012100887373625377 + - 0.11774483990833555 + - 0.05405308334465997 + - - 0.013721828023301076 + - -0.9762849219391841 + - -0.21605430481687032 + - -0.09358272589871312 + - - 0.11756696064782692 + - 0.21615115016805486 + - -0.9692557402693369 + - 0.9719226248047934 + - - 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: + - - 0.9971926059762037 + - -0.002635414153393878 + - -0.07483288834882489 + - 0.023696580844139527 + - - -0.008791264998008357 + - -0.9965893071551155 + - -0.08205160890452476 + - -0.034788606759451314 + - - -0.07436141638055581 + - 0.08247913346008423 + - -0.993814656914231 + - 0.9705709898279821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997305525211463 + - -0.011579774144698572 + - -0.02011793196432772 + - 0.09162541492852803 + - - -0.011823836451025778 + - -0.9998574233301656 + - -0.01205528527833422 + - -0.033917534396954226 + - - -0.019975466135811262 + - 0.012289908149388185 + - -0.9997249316238629 + - 0.9685747997896587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8706910858521272 + - 0.031119786159065643 + - -0.4908447737595438 + - 0.10005373088828703 + - - 0.02001980389890667 + - -0.9994115976099407 + - -0.02785078122054676 + - -0.09009910476634725 + - - -0.491422669877462 + - 0.01442281082727861 + - -0.8708017811524887 + - 0.9755849475886782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9301651386997551 + - 0.07315265591859574 + - -0.35977979887664735 + - 0.012651643629965658 + - - 0.00975795581397558 + - -0.9845285237289838 + - -0.17495247429619454 + - -0.09404074751263886 + - - -0.36701171240983277 + - 0.1592239771393858 + - -0.9164879312123639 + - 0.9772229613924837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949121240468302 + - -0.01555208383222106 + - 0.0995389276268361 + - 0.05412161979639126 + - - 0.017382270418496115 + - -0.9466981688158066 + - -0.3216526602344472 + - -0.09356290432997641 + - - 0.09923568964703787 + - 0.321746343956344 + - -0.9416111554410359 + - 0.9732677471383337 + - - 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: + - - 0.9957438585200352 + - -0.003636236606073052 + - -0.09209205179046027 + - 0.023669403927159084 + - - -0.008497007347587742 + - -0.9985876788138983 + - -0.05244471934529973 + - -0.03475762887024249 + - - -0.09177128682636636 + - 0.053004014040607055 + - -0.9943684455018761 + - 0.9704648265159039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998060805491005 + - -0.011113429180187463 + - -0.01625709041934422 + - 0.0916402374015138 + - - -0.0116764040490639 + - -0.9993206880760365 + - -0.03495459872061805 + - -0.03390277945079384 + - - -0.015857581326569954 + - 0.035137644700426164 + - -0.9992566652464107 + - 0.9686140247756713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8526605758321912 + - 0.036349578739765125 + - -0.5211992426576977 + - 0.10001156984429246 + - - 0.013861180923369373 + - -0.9987995521335973 + - -0.046982148962503634 + - -0.09009920181449838 + - - -0.5222813514619544 + - 0.0328353891886007 + - -0.852140849350568 + - 0.9754606265644299 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9629281656994505 + - 0.05105918600687245 + - -0.2648816853370714 + - 0.012658156707986229 + - - 0.019690480576200573 + - -0.9926080409301793 + - -0.11975626102810158 + - -0.09406495886274724 + - - -0.2690383479680359 + - 0.11010102908269356 + - -0.9568156200217275 + - 0.9773113626663825 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999370640779002 + - 0.00461286504185243 + - 0.010226893926069191 + - 0.05411607616188547 + - - 0.007607555901853122 + - -0.9487661932798162 + - -0.315887378004451 + - -0.0936366136228492 + - - 0.008245785376153981 + - 0.3159452990082815 + - -0.9487415744332586 + - 0.9740931395515489 + - - 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: + - - 0.9957059695583554 + - -0.00262051223213553 + - -0.09253515603000075 + - 0.023673863818095425 + - - -0.00814402144140761 + - -0.9982031872923044 + - -0.05936389301795397 + - -0.03476031342682297 + - - -0.0922133238779367 + - 0.05986259094899267 + - -0.9939382139269305 + - 0.9699668602604191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997182500044149 + - -0.013949257272189371 + - -0.019205177157849033 + - 0.09159003617520772 + - - -0.014030711420539105 + - -0.9998931052127659 + - -0.004113062728236486 + - -0.03395385192676538 + - - -0.019145750054350128 + - 0.0043813661713130725 + - -0.9998071033381035 + - 0.9682047591905545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8778570296909443 + - 0.037376509973888215 + - -0.4774620738072968 + - 0.09998323279874896 + - - 0.016757101590979477 + - -0.9987366871896979 + - -0.04737329635584028 + - -0.09009448683907413 + - - -0.4786295383367624 + - 0.03358610074897818 + - -0.8773743436344708 + - 0.9751164374856823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9250529522731537 + - 0.08748087234560632 + - -0.3696270180389611 + - 0.012663524640607113 + - - -0.001722506307952898 + - -0.9721409452976952 + - -0.2343907324271235 + - -0.0941305090356612 + - - -0.37983426446641405 + - 0.21746052388733933 + - -0.8991311651188068 + - 0.9774167606318112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99995314580756 + - 0.006058741467165384 + - -0.00754969147704572 + - 0.054168138204359256 + - - 0.0027081076846761087 + - -0.9238590695227918 + - -0.38272324963771037 + - -0.09380592042392671 + - - -0.009293672166195897 + - 0.3826848720714147 + - -0.9238321905764877 + - 0.9744185271740919 + - - 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: + - - 0.9943568077390146 + - -0.0037250038374813887 + - -0.1060219941780343 + - 0.023669455813158186 + - - -0.007078977084607379 + - -0.9994857185875373 + - -0.0312759719751471 + - -0.03481116474020444 + - - -0.10585096592148792 + - 0.03185000291939284 + - -0.9938717977322443 + - 0.970233716055226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998584816864545 + - -0.014131118614296494 + - -0.009128421899023666 + - 0.09159324291078534 + - - -0.014063830859635505 + - -0.9998737618732038 + - 0.007393847380130457 + - -0.03402139050200604 + - - -0.00923175287848715 + - -0.007264420433715347 + - -0.999930999086714 + - 0.967971002782203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8717262267507206 + - 0.0631288860819049 + - -0.48590958967384973 + - 0.10000835149566595 + - - -0.003894501930097622 + - -0.990741912765159 + - -0.13570296660409034 + - -0.09020936133810943 + - - -0.48997777342412957 + - 0.12018821087150047 + - -0.8634098537298728 + - 0.9755277184249096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9167529524563091 + - 0.07383383989324604 + - -0.3925717619101746 + - 0.012619856144803071 + - - 0.0127646016844783 + - -0.9876821435781777 + - -0.15595207020316304 + - -0.09397818345345188 + - - -0.399250659494104 + - 0.13795849862706605 + - -0.9064029807707433 + - 0.9760772245455056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953749311618787 + - -0.014614225474723195 + - 0.09494825342395329 + - 0.054064620019832824 + - - 0.00990227049342545 + - -0.9674881266710997 + - -0.25272251539884705 + - -0.09362504720761992 + - - 0.09555465165841139 + - 0.25249385965646653 + - -0.9628687134714782 + - 0.9722548483170037 + - - 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: + - - 0.9941977014036629 + - -0.0008453371005980028 + - -0.10756493819483894 + - 0.023704317402783785 + - - -0.00946689450925648 + - -0.9967765956788445 + - -0.07966678238290303 + - -0.03485065842280915 + - - -0.1071508676214233 + - 0.08022283784609324 + - -0.9910010029540316 + - 0.9715036840822526 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993072574320191 + - -0.012657054831708483 + - -0.03499720284084747 + - 0.09159299365868767 + - - -0.01290946488431354 + - -0.9998921968072161 + - -0.006995747311159088 + - -0.033958809993117754 + - - -0.03490488447333658 + - 0.007442696220324929 + - -0.9993629247239845 + - 0.9682056577162484 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.860752842722057 + - 0.021402818711647956 + - -0.5085729673282825 + - 0.0999230434825396 + - - 0.022969873025522888 + - -0.9997310473332275 + - -0.0031965498900497283 + - -0.0900599004248134 + - - -0.5085046004502706 + - -0.008930417078980867 + - -0.8610129609777696 + - 0.9745392075733845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9390954107599674 + - 0.05834763805474018 + - -0.33866703799307246 + - 0.012615480967634887 + - - 0.024053326620779067 + - -0.9942241716807361 + - -0.10459318297206664 + - -0.09392811350358257 + - - -0.34281372050727826 + - 0.09007690924530619 + - -0.9350748116876908 + - 0.9760678364027374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998820500721025 + - 0.018678834464201113 + - -0.044818617587558736 + - 0.054090333634298896 + - - 0.0007247123180851665 + - -0.9286768243890827 + - -0.3708892430829785 + - -0.09369429918583569 + - - -0.048549790230822544 + - 0.37041929888393726 + - -0.9275949875257388 + - 0.9732279246744061 + - - 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: + - - 0.9932181599645563 + - -0.003632067159190745 + - -0.1162088413365014 + - 0.023657141392134363 + - - -0.008683081525688014 + - -0.9990378417662497 + - -0.042988310204663864 + - -0.034752361666120266 + - - -0.11594089361325143 + - 0.04370582120479239 + - -0.9922940644692861 + - 0.970561173567553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991683005625522 + - -0.011948451561743907 + - -0.03898642912883604 + - 0.0916007776730744 + - - -0.012597970899860606 + - -0.9997852025058249 + - -0.016457216641738527 + - -0.033955324664842884 + - - -0.0387814166856674 + - 0.016934679083570194 + - -0.9991042079604056 + - 0.9684895528237235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8571337483987069 + - 0.0297054301857382 + - -0.514236642775933 + - 0.1000525946268535 + - - 0.01973237846512152 + - -0.9994965056609015 + - -0.02484689943951549 + - -0.09010118754148971 + - - -0.5147158153739707 + - 0.011150003996789438 + - -0.8572883451994322 + - 0.9755211423043564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9370431290593593 + - 0.06881727080105861 + - -0.3423658241152858 + - 0.012648336822265516 + - - 0.009189345900867073 + - -0.9849103673406232 + - -0.17282107576008715 + - -0.09395379738100493 + - - -0.3490927243649734 + - 0.15879468361520588 + - -0.9235358781612051 + - 0.9761225585600584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929287722650698 + - -0.01827775846662277 + - 0.11729610715457309 + - 0.05408809575359531 + - - 0.015800375897186834 + - -0.9589367420952429 + - -0.2831795769141372 + - -0.09355489171507843 + - - 0.11765543476477783 + - 0.28303047222021505 + - -0.9518670865541647 + - 0.9732092313751176 + - - 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: + - - 0.997439699715265 + - -0.005882809109424434 + - -0.07127017601286 + - 0.02366128473364699 + - - -0.008072336862546308 + - -0.9995030070963191 + - -0.030472548022660095 + - -0.034715287564094345 + - - -0.07105549105804242 + - 0.030969846018309852 + - -0.9969914672794862 + - 0.9700962055549431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999832015690504 + - -0.012575483141973319 + - -0.013334077546264983 + - 0.09160743688779807 + - - -0.012659939749758086 + - -0.9999002108586726 + - -0.006268512607800677 + - -0.033862697959340105 + - - -0.013253917375491605 + - 0.006436268214393006 + - -0.9998914481710881 + - 0.9683821541443196 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.853342710614122 + - 0.02336289907144666 + - -0.5208266440848818 + - 0.0999874236643321 + - - 0.023564162554623576 + - -0.9997028798130855 + - -0.006235570264458517 + - -0.09000452683908139 + - - -0.5208175769737827 + - -0.006951765272297385 + - -0.8536396924199091 + - 0.9749048321822628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9583960354347489 + - 0.029728616657524264 + - -0.28388950071213515 + - 0.01262745389679017 + - - 0.048387397562305125 + - -0.9970881721463959 + - 0.05893926299934931 + - -0.09391659699035437 + - - -0.2813106806008312 + - -0.07022383012474476 + - -0.9570438415571713 + - 0.9764793032307383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987161555681322 + - -0.005275467806408336 + - 0.05038065151061264 + - 0.05404204673611335 + - - -0.0009288743486261962 + - -0.996302336354462 + - -0.08591153454039427 + - -0.09342836303747945 + - - 0.05064758434175031 + - 0.08575444020028608 + - -0.9950281393941989 + - 0.9725313012212117 + - - 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: + - - 0.9968256224277683 + - -0.003149680300664323 + - -0.0795534913469924 + - 0.023656217277352915 + - - -0.0073359831051650354 + - -0.9986000073610528 + - -0.0523851949541738 + - -0.034803542398593394 + - - -0.0792771204281104 + - 0.05280250763467271 + - -0.9954531798955277 + - 0.9703681773848006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994406427003973 + - -0.011754963104213945 + - -0.03130850620894029 + - 0.09161273361912631 + - - -0.0125704784376509 + - -0.9995834364876219 + - -0.025979541401743966 + - -0.03400446252679576 + - - -0.030990075676984682 + - 0.026358572457835114 + - -0.9991720777060976 + - 0.9682282369677588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.866430895050023 + - 0.058506454534223915 + - -0.49585733722578973 + - 0.1001072362678722 + - - 0.0002938319641353007 + - -0.993170544200098 + - -0.11667126379729302 + - -0.09015470307300566 + - - -0.49929692344895604 + - 0.10094188878317799 + - -0.8605308346150597 + - 0.9757163667230164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9497655685856511 + - 0.048601543457005555 + - -0.3091654164080641 + - 0.012646272881179447 + - - 0.026988425981585292 + - -0.9969072972943516 + - -0.0738069472631677 + - -0.09397549076907873 + - - -0.3117963912430857 + - 0.06175540927617859 + - -0.9481399052001348 + - 0.9762611499639445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9938170878509797 + - -0.007666549981603915 + - 0.11076470514914787 + - 0.05403231573857714 + - - 0.003267489872624817 + - -0.9951616474553949 + - -0.09819683774845783 + - -0.09355634750090164 + - - 0.11098161742077105 + - 0.09795161787966664 + - -0.9889836000406811 + - 0.9717723546759239 + - - 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: + - - 0.9981326352526048 + - -0.0027040984441193253 + - -0.06102401408704 + - 0.023681850409390907 + - - -0.008499656544142082 + - -0.9954492540728164 + - -0.09491332047982427 + - -0.03490881520084769 + - - -0.06048965434123729 + - 0.09525476585178676 + - -0.9936133711359765 + - 0.9710107908114884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997606006838065 + - -0.012337035231811332 + - -0.018070386881402875 + - 0.09161893111970769 + - - -0.012699984669601488 + - -0.9997171050400451 + - -0.020110203374032583 + - -0.03405381553781594 + - - -0.017817174572485342 + - 0.02033488264146391 + - -0.9996344536070239 + - 0.9683724038045001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8583202744431726 + - 0.04638731747757366 + - -0.5110132319784212 + - 0.10000527964610112 + - - 0.008992826455716852 + - -0.9971121896466272 + - -0.07540829086013419 + - -0.09019286999809328 + - - -0.5130355110049735 + - 0.06012901159460405 + - -0.856258761363948 + - 0.9756191769742331 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9671837476233413 + - 0.05075843363641194 + - -0.2489561803772842 + - 0.012667447735615052 + - - 0.024755174256744783 + - -0.9940055557402311 + - -0.10649007702633034 + - -0.09415452359884643 + - - -0.2528690959385648 + - 0.09683251815549121 + - -0.9626425524289275 + - 0.9776887717014039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970640489020495 + - 0.02358484035668977 + - -0.07284941792767377 + - 0.05424321082149886 + - - -0.0014662099056885602 + - -0.9453287544404843 + - -0.3261156179279298 + - -0.09402830583318955 + - - -0.07655803429793556 + - 0.32526497095960466 + - -0.9425187351194055 + - 0.9759118020888781 + - - 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: + - - 0.9971484842898212 + - -0.006219741386354538 + - -0.07520781272978949 + - 0.023680996034498997 + - - -0.008234324222255583 + - -0.9996147254228198 + - -0.026506539239662806 + - -0.034703208253827285 + - - -0.0750139732524214 + - 0.027050240940662204 + - -0.9968155236963044 + - 0.97002264083694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999281427288098 + - -0.01088138673481872 + - -0.0050303878220578115 + - 0.09160513153988911 + - - -0.011053440924314359 + - -0.999306976452426 + - -0.03554417332337942 + - -0.03394515068117545 + - - -0.004640131748742579 + - 0.03559722231069519 + - -0.9993554457454648 + - 0.968408522180177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8653149059511566 + - 0.06439777923115964 + - -0.4970744809068716 + - 0.1001136663721705 + - - -0.0005634336670843065 + - -0.9915865191572216 + - -0.12944441883746294 + - -0.09016688524760237 + - - -0.5012282873913282 + - 0.11229025360983275 + - -0.8579983116900618 + - 0.9760331303378582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.969528063700186 + - 0.047528215429152754 + - -0.24032561751899914 + - 0.012655110342906041 + - - 0.023612448663654376 + - -0.9945621629981514 + - -0.10143252042883141 + - -0.09399127536092043 + - - -0.2438396726660256 + - 0.09266699882136606 + - -0.9653781856679624 + - 0.9763786155753164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999062442086694 + - -0.004746817342672858 + - 0.012844084927631312 + - 0.05418224033679389 + - - -9.331710313514093e-05 + - -0.9403327655191216 + - -0.34025619962475323 + - -0.09374645499792773 + - - 0.013692847929892749 + - 0.34022310006270434 + - -0.9402450468358198 + - 0.9739570169225971 + - - 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: null + base_right_marker_pose: + - - 0.9996822925306695 + - -0.011455363163694209 + - -0.022451918746799377 + - 0.0915876297151957 + - - -0.012158909247176589 + - -0.9994312476620729 + - -0.03145380934880971 + - -0.03393285150943605 + - - -0.022078834356548973 + - 0.031716807081108016 + - -0.9992530056107092 + - 0.968114307814959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8652234364113899 + - 0.02637347967283124 + - -0.5006923652847248 + - 0.09998514912835182 + - - 0.02267218456863581 + - -0.9996521116018622 + - -0.013476936477689175 + - -0.09006685240994425 + - - -0.5008736139300525 + - 0.00030877157368213847 + - -0.865520379614925 + - 0.9751031721874864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.942714491175359 + - 0.06233083316278068 + - -0.32772588449070905 + - 0.012620584457119487 + - - 0.019080960751977263 + - -0.9908562320232657 + - -0.13356588036410466 + - -0.09386449383399517 + - - -0.3330545076481708 + - 0.11966116620646156 + - -0.9352838607809634 + - 0.9756917042004472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928976583338521 + - -0.023591498134092448 + - 0.116609096090065 + - 0.05409125327128575 + - - 0.0014648401370390939 + - -0.9776438697417673 + - -0.2102624983198745 + - -0.09354790218446875 + - - 0.11896257528536366 + - 0.2089399559015255 + - -0.9706657511776867 + - 0.972013628109021 + - - 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: + - - 0.9969262217281348 + - -0.006757312573123685 + - -0.07805412966432174 + - 0.023672376894055103 + - - -0.008841614801994349 + - -0.9996126577022904 + - -0.026388641667527437 + - -0.03465386058100209 + - - -0.07784557969826417 + - 0.02699765338234261 + - -0.996599815589632 + - 0.970185771902721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994951832212703 + - -0.012214550646350665 + - -0.029328884567727018 + - 0.0916225504089532 + - - -0.01286992878237601 + - -0.9996693290563851 + - -0.022262018711119737 + - -0.03390823399917224 + - - -0.029047265802754844 + - 0.022628241126199145 + - -0.9993218796028231 + - 0.9684394065842701 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.8690980956340078 + - 0.024191925410401292 + - -0.4940478224932062 + - 0.1000870711361792 + - - 0.020679103913033126 + - -0.999707078661592 + - -0.012575036193145046 + - -0.09004108520607618 + - - -0.49420731968142173 + - 0.0007124737486463271 + - -0.8693437855960449 + - 0.9756733496869203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9686288013225546 + - 0.05819980614918173 + - -0.241600968153335 + - 0.012644735645767503 + - - 0.011627891507355034 + - -0.9817394526627566 + - -0.1898747988136526 + - -0.0939338401559666 + - - -0.24823987872121658 + - 0.1811088889304706 + - -0.9516178502754385 + - 0.9762740054628751 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977745045485332 + - -0.006547920149772607 + - 0.0663563321367387 + - 0.05392446605140583 + - - 0.0010083834587504828 + - -0.9935709787748773 + - -0.1132064189837876 + - -0.09326449454301308 + - - 0.06667099246095784 + - 0.11302139124097237 + - -0.9913531882665363 + - 0.9708650914819212 + - - 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: + - - 0.9965195999668115 + - -0.002815119795512849 + - -0.08331123563195397 + - 0.023681774037429756 + - - -0.008567578686128102 + - -0.997595672965153 + - -0.06877114130695816 + - -0.03480813092708011 + - - -0.08291732917456429 + - 0.06924556579118635 + - -0.9941477597122153 + - 0.9705661598928597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8575663253858044 + - 0.0280140930480981 + - -0.5136099766894927 + - 0.09998857516907028 + - - 0.016852333295451653 + - -0.9995099610433757 + - -0.02637871561635085 + - -0.09008725917205046 + - - -0.5140972635861697 + - 0.013965971708470644 + - -0.8576181873114925 + - 0.9750294524528809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9483976517888758 + - 0.06406980564654177 + - -0.31054299877112135 + - 0.012630331287222024 + - - 0.01737779389604941 + - -0.9884037310247967 + - -0.15085117425982536 + - -0.09405448836868384 + - - -0.31660686404538474 + - 0.1376703472091072 + - -0.9385131694007665 + - 0.9771362556336631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987878419215097 + - -0.0020041678330932483 + - 0.049181603685423694 + - 0.05404671058412383 + - - 0.009037782349254918 + - -0.9747168521131354 + - -0.22326078181549824 + - -0.09351815209584968 + - - 0.04838559000343784 + - 0.22343464708490673 + - -0.9735172279739389 + - 0.9718756260272727 + - - 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: null + base_right_marker_pose: + - - 0.9994063302052529 + - -0.012174197972236933 + - -0.03223004885819506 + - 0.09162313978488801 + - - -0.01294324817948775 + - -0.9996338726653032 + - -0.023761164675419454 + - -0.034046784084428475 + - - -0.03192897543349999 + - 0.024164219910872285 + - -0.9991979938950367 + - 0.9683724898278765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8844227698494946 + - 0.03045582582431422 + - -0.4656917508879742 + - 0.10001371386846734 + - - 0.016681547136094182 + - -0.999293711600439 + - -0.0336720053006227 + - -0.09014022933816358 + - - -0.46638834693514186 + - 0.02201182930103562 + - -0.8843061626008992 + - 0.9748594651450785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9363618037594647 + - 0.0629382662790566 + - -0.3453481534598215 + - 0.012648933917040152 + - - 0.021067133617416647 + - -0.992097850170866 + - -0.12368521159577348 + - -0.09404751353340104 + - - -0.35040369339016364 + - 0.10853861213472332 + - -0.9302884613572286 + - 0.9766223218426071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988658632763994 + - -0.006965480196897916 + - 0.04710062915418522 + - 0.05403738082257771 + - - 0.00877672643372166 + - -0.9453524456125548 + - -0.3259320828753589 + - -0.09368760568089649 + - - 0.04679696842960098 + - 0.3259758206677128 + - -0.9442191525730723 + - 0.9725558477263448 + - - 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: + - - 0.9941038597410085 + - -7.35226028913856e-05 + - -0.10843205541930945 + - 0.02367020265180185 + - - -0.009866977514870541 + - -0.9959122883783075 + - -0.08978505784262536 + - -0.03482074003115984 + - - -0.1079822152150546 + - 0.0903255692011371 + - -0.9900409752862454 + - 0.970975948067049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991557407606919 + - -0.010968093399332789 + - -0.039591749546297024 + - 0.09157486112601915 + - - -0.012475084857082647 + - -0.999199138991332 + - -0.03801911225673162 + - -0.03399197890059135 + - - -0.03914304488362889 + - 0.038480924705169 + - -0.9984923837822068 + - 0.9680644204940466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8589293815845375 + - 0.05538774378002423 + - -0.5090898892040212 + - 0.10008771458226487 + - - 0.0015599667945082225 + - -0.9944119611648644 + - -0.10555765247413024 + - -0.0902369444990713 + - - -0.5120916753418319 + - 0.08987240583854206 + - -0.8542160538847237 + - 0.9760616623366979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9505552710525174 + - 0.06839006784907886 + - -0.3029314696327764 + - 0.012674140825690274 + - - 0.009927099292431366 + - -0.9816434330659703 + - -0.19046685543184394 + - -0.09411203026636732 + - - -0.3103967290000227 + - 0.17804204261369033 + - -0.9337852545891011 + - 0.9776066394355396 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990624991272056 + - -0.005455456225911762 + - 0.04294602234281627 + - 0.05416604341652958 + - - 0.008104444243111637 + - -0.9509198085429021 + - -0.3093312717851867 + - -0.09373870727496317 + - - 0.04252576655643974 + - 0.3093893270914463 + - -0.9499841069516319 + - 0.9745417861626948 + - - 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: + - - 0.99543553471416 + - -0.0034667650393104747 + - -0.09537335984695385 + - 0.02368591082589558 + - - -0.008517722444718746 + - -0.9985791331065046 + - -0.05260383378249052 + - -0.03477152197458802 + - - -0.09505548186553507 + - 0.05317608921708489 + - -0.9940506822606617 + - 0.970661430070664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996970238811287 + - -0.011747882405871083 + - -0.021629787382034343 + - 0.09159911608161718 + - - -0.012253319045811872 + - -0.9996514311475584 + - -0.023385302585173073 + - -0.03395147735379621 + - - -0.021347520127071706 + - 0.023643254082642326 + - -0.9994925111879569 + - 0.9682355496033388 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8666239142335721 + - 0.0303751140444024 + - -0.4980364883472614 + - 0.10006560856828706 + - - 0.02038375188569888 + - -0.99946729384077 + - -0.025487863811420916 + - -0.09007143979730202 + - - -0.4985453780124178 + - 0.011936540093210468 + - -0.8667814171249049 + - 0.9753887836856286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9478808938073355 + - 0.05960194135374501 + - -0.31300067051345337 + - 0.01263654526707867 + - - 0.01878614385852709 + - -0.9910937964581124 + - -0.13183386295324062 + - -0.09393485267676213 + - - -0.3180705770012897 + - 0.11908272422611033 + - -0.94055856427814 + - 0.9755909956925336 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953111257829749 + - -0.009995806026007236 + - 0.09620731133608133 + - 0.05410575585554402 + - - 0.013554846681830374 + - -0.9704164554434769 + - -0.24105636091161675 + - -0.09358514785911128 + - - 0.09577071067951475 + - 0.24123015331092007 + - -0.9657308031276272 + - 0.9725505785469628 + - - 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: + - - 0.9956241817986564 + - -0.004092238349823477 + - -0.09335813945791774 + - 0.023670662667648227 + - - -0.008826054766880767 + - -0.998692654586529 + - -0.05034960210532708 + - -0.03474680102039046 + - - -0.09303004554985342 + - 0.05095326545179386 + - -0.9943586754108359 + - 0.9705223390002724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994158413731145 + - -0.011786812202161084 + - -0.032078763545073545 + - 0.09158770292193427 + - - -0.012078398789272513 + - -0.9998873454847421 + - -0.008911151562095555 + - -0.03394761881716995 + - - -0.031970115657548905 + - 0.009293406134799247 + - -0.9994456184841956 + - 0.968247131211871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8771219875936769 + - 0.05049729613081331 + - -0.4776055296614506 + - 0.1000819372126128 + - - 0.007774673911248031 + - -0.9958196328291646 + - -0.09100996273794586 + - -0.09012303280700591 + - - -0.48020472022387656 + - 0.07611361215620686 + - -0.8738478956427392 + - 0.9759645673894587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9573107051720267 + - 0.04900198580039609 + - -0.2848772001242899 + - 0.012648071673965219 + - - 0.027755489667388368 + - -0.9965553342029879 + - -0.07814792809086972 + - -0.09388849716367206 + - - -0.2877252970393122 + - 0.06690494196387907 + - -0.9553731638393715 + - 0.9759823806630747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999956898831299 + - 0.0003229803729945098 + - -0.002918201302462384 + - 0.054001462862899086 + - - -5.597271367153856e-05 + - -0.9916531044404455 + - -0.12893454665325982 + - -0.09340910668716979 + - - -0.002935486708938924 + - 0.1289341542699411 + - -0.991648812221583 + - 0.9718318723716264 + - - 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: + - - 0.9954188140731784 + - -0.0037520772499555735 + - -0.09553693791124565 + - 0.0236672248564138 + - - -0.007760384510677209 + - -0.9991034297969524 + - -0.041618661682147264 + - -0.03480153548459048 + - - -0.09529512590575281 + - 0.04216940222811983 + - -0.994555468787101 + - 0.9704328931913305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996764049636581 + - -0.012766451637011724 + - -0.02200234241020973 + - 0.09163764543250968 + - - -0.013450279717293586 + - -0.9994221189515254 + - -0.03121727287847826 + - -0.03404169451410274 + - - -0.02159109386906633 + - 0.03150310878377965 + - -0.9992704232601375 + - 0.968612012596616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8539453598783799 + - 0.010304954912695043 + - -0.5202606368412197 + - 0.09989825437526269 + - - 0.039592935726292675 + - -0.9981923424200472 + - 0.045215561199133864 + - -0.09001509414224058 + - - -0.5188542394379734 + - -0.05921026463567179 + - -0.8528097224932509 + - 0.97437049224682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8946000037181754 + - 0.07261877616768012 + - -0.4409278248141629 + - 0.01261991269658046 + - - 0.013575800316068046 + - -0.9906686569417131 + - -0.1356145633738517 + - -0.09398000050941674 + - - -0.4466615396396012 + - 0.11533484079501112 + - -0.887238042187986 + - 0.9761373566446097 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929453103001586 + - -0.014820393189422696 + - 0.11764338782367882 + - 0.05405796781679991 + - - 0.012161428319835752 + - -0.9741967111832002 + - -0.22537273034033936 + - -0.09365163796659255 + - - 0.11794791398809513 + - 0.2252135072893026 + - -0.9671438185297518 + - 0.9722380067475517 + - - 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: + - - 0.9951481442117662 + - -0.0011299060244561636 + - -0.09838137214053069 + - 0.023655256711881685 + - - -0.008951589692790345 + - -0.9968265980334856 + - -0.07909868832641932 + - -0.034849057611969485 + - - -0.09797979441624494 + - 0.07959558257443684 + - -0.9920002535890737 + - 0.9708350022352072 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995397903602278 + - -0.012783211201067712 + - -0.02750994362082123 + - 0.09160580487328902 + - - -0.013349264026647082 + - -0.9997008934488878 + - -0.02049196885224659 + - -0.03401807380628118 + - - -0.027239762050699556 + - 0.020849775751395388 + - -0.9994114679222651 + - 0.9680987269878032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8687347667630927 + - 0.03871497341958007 + - -0.493762145015387 + - 0.09993793058537116 + - - 0.015039380313181146 + - -0.9985425016651808 + - -0.05183328475061212 + - -0.09010455525789629 + - - -0.4950492117525998 + - 0.03760349985524948 + - -0.8680508364962076 + - 0.9750381393928631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9296293953688359 + - 0.06487114691384284 + - -0.36274084628596087 + - 0.012636783059207476 + - - 0.014320685241312723 + - -0.989998868395806 + - -0.1403465658619539 + - -0.09398589514506803 + - - -0.36821747003692223 + - 0.12527559568051208 + - -0.921261048718821 + - 0.9762821569454425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968469802349327 + - -0.011942644763112917 + - 0.07844406435516839 + - 0.05409725231373995 + - - 0.01552324819550121 + - -0.9401532255293884 + - -0.3403982098838777 + - -0.09370327535304314 + - - 0.07781469502578915 + - 0.3405426342805694 + - -0.9370035151883339 + - 0.9729974269381975 + - - 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: + - - 0.9948792584695823 + - -0.0031950981158139122 + - -0.10102005946862432 + - 0.0236707680700502 + - - -0.009094621204940652 + - -0.9982755600011126 + - -0.057993052770178154 + - -0.03479191926017674 + - - -0.1006605629437503 + - 0.05861482451134991 + - -0.9931927070892899 + - 0.9705723599725466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997463039556888 + - -0.011406217159070422 + - -0.01942230514279571 + - 0.09155981047881966 + - - -0.011834336340882953 + - -0.9996863322039935 + - -0.02207228325067661 + - -0.03393694925628967 + - - -0.01916445173519447 + - 0.0222965336913021 + - -0.9995677007461988 + - 0.9680743675573112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8531661246718573 + - 0.03403335569206599 + - -0.5205278997448093 + - 0.10002898285345783 + - - 0.016305948232053828 + - -0.9991217364120426 + - -0.03859885854839753 + - -0.09005338966735679 + - - -0.5213843877262327 + - 0.024443537577914946 + - -0.8529717660661572 + - 0.9751573535703294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9239451546228211 + - 0.0641303788795059 + - -0.3771109196957604 + - 0.012644522035620031 + - - 0.02004006888302447 + - -0.9926077634805704 + - -0.11970055771492266 + - -0.09395190912843886 + - - -0.3819996687016559 + - 0.10303942149910839 + - -0.9184003107191081 + - 0.9759037019154734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9849784401271093 + - -0.015842806088915303 + - 0.1719490563509891 + - 0.05404140624897362 + - - 0.003081608909334718 + - -0.9940109297996361 + - -0.10923724239192838 + - -0.09352202877435918 + - - 0.17264986583051986 + - 0.10812620835899146 + - -0.9790305137709506 + - 0.9718073144707737 + - - 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: + - - 0.9953770384449062 + - -0.002501109055849178 + - -0.09601195649573262 + - 0.02365177655486482 + - - -0.008857704861466632 + - -0.9977910531609019 + - -0.06583733968384069 + - -0.034793441597136494 + - - -0.09563520482141948 + - 0.06638342176740382 + - -0.9932004575679656 + - 0.9701573166510238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.156906396150589 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8669092078865612 + - 0.019305653993154398 + - -0.49809207683458634 + - 0.09990449081995174 + - - 0.027305038737818532 + - -0.9995885880771926 + - 0.008780059531126504 + - -0.09007445796769514 + - - -0.49771765102417365 + - -0.021211937906294595 + - -0.8670796927325872 + - 0.9749634526793535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9335731684721303 + - 0.05273258735867454 + - -0.35448612573606775 + - 0.012642941314452798 + - - 0.02775428498069401 + - -0.9967832280178857 + - -0.07518574337900533 + - -0.09393483782755335 + - - -0.3573105634796121 + - 0.06035288371488953 + - -0.9320336317178574 + - 0.9756684015757433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922698378025322 + - -0.01696286885903165 + - 0.12293425099380433 + - 0.0540718463292493 + - - 0.016426706260417603 + - -0.9639441536726143 + - -0.2655971233312251 + - -0.09357338690359135 + - - 0.12300704170400305 + - 0.26556341931911354 + - -0.956214064951343 + - 0.9721322236530997 + - - 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: + - - 0.9955625015162636 + - -0.0029294168010208506 + - -0.0940570257444148 + - 0.023663969734491586 + - - -0.007755616021086511 + - -0.9986692044771752 + - -0.050986963520688496 + - -0.03478563921006611 + - - -0.09378249300809335 + - 0.05149017912313424 + - -0.994260330828428 + - 0.9702335863523542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997791019803035 + - -0.012998923000123636 + - -0.016515908824365363 + - 0.09157734635268433 + - - -0.013317753511374132 + - -0.999724197178309 + - -0.01934339726095428 + - -0.033960242405071006 + - - -0.01625991035855287 + - 0.019559079145544358 + - -0.9996764765353386 + - 0.9680563047474628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.872307003836774 + - 0.047809567918930776 + - -0.4866155939473327 + - 0.10001793852437021 + - - 0.007447727403937957 + - -0.9963919241028825 + - -0.0845438639942176 + - -0.09018907438302834 + - - -0.4889018535594101 + - 0.07012402439935458 + - -0.869515726590504 + - 0.9755833664816514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9201157593608014 + - 0.04627543807161417 + - -0.38890303831054873 + - 0.012634678611821876 + - - 0.038629529571143 + - -0.9988761859578474 + - -0.027461328653523298 + - -0.09390279594427885 + - - -0.3897367686285297 + - 0.010244459848368423 + - -0.9208693187534309 + - 0.9753035083043473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960292578084078 + - -0.009260279720821597 + - 0.08854357576427903 + - 0.054008457066810775 + - - 0.01028891404929469 + - -0.975937368867139 + - -0.2178081502064903 + - -0.09349926317849061 + - - 0.08842994875786543 + - 0.2178543074354486 + - -0.9719668949581067 + - 0.9714179797531317 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: &id001 + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9956478206564986 + - -0.00371936134932242 + - -0.09312133790446693 + - 0.023661033621085233 + - - -0.006827863925652143 + - -0.9994292222007881 + - -0.03308489210108217 + - -0.034779517359767885 + - - -0.09294513164323089 + - 0.03357672054088424 + - -0.9951049222778178 + - 0.9704889067486098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991345019700806 + - -0.012377641011253908 + - -0.03971197522153353 + - 0.09157201975850782 + - - -0.013382478144221813 + - -0.9995944159284625 + - -0.025137878258815628 + - -0.03400082239788877 + - - -0.03938472104406216 + - 0.025647566115172316 + - -0.9988949124410681 + - 0.9682645123697594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: *id001 + shoulder_marker_pose: + - - 0.8569267274437921 + - 0.011847549482967006 + - -0.5153020661357004 + - 0.09992954501995249 + - - 0.036447584394912386 + - -0.9986260440431165 + - 0.0376509993303113 + - -0.09004884070445329 + - - -0.5141479917146898 + - -0.05104566318546572 + - -0.8561811624216612 + - 0.9747909272713311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297513232790228 + - 0.08070703242146267 + - -0.35923370078352485 + - 0.012620877174973304 + - - -0.0023046423795739096 + - -0.9743850295935153 + - -0.2248744154579338 + - -0.0941010271399287 + - - -0.36818088690806366 + - 0.20990519055460755 + - -0.9057497698005924 + - 0.9771254904311424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987821518864675 + - -0.0019560025795983703 + - 0.04929895665169818 + - 0.054053629786352024 + - - 0.011014154801811504 + - -0.9651575853773398 + - -0.261437418482101 + - -0.09360086075611969 + - - 0.04809263422852967 + - 0.2616620137553254 + - -0.963960626317522 + - 0.9722541058116076 + - - 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: + - - 0.9954253658691239 + - -0.002647359030898534 + - -0.09550566723751268 + - 0.02367321750288772 + - - -0.009000662097215405 + - -0.9977688617188724 + - -0.06615350834261903 + - -0.03478465198731443 + - - -0.095117448799538 + - 0.06671049448465162 + - -0.9932282622134149 + - 0.9704439799689517 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999395564340643 + - -0.012713385374308014 + - -0.03235546025900323 + - 0.09155692152544301 + - - -0.013054481868400516 + - -0.999861190052343 + - -0.010352831992305203 + - -0.03396545135667934 + - - -0.03221934945642461 + - 0.010768958140768635 + - -0.9994228049535232 + - 0.9679341739084125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8614740732429933 + - 0.04235599563565052 + - -0.5060320056714186 + - 0.10003456900913593 + - - 0.014140540060068355 + - -0.9981297747759965 + - -0.059472664581543745 + - -0.09011633182841321 + - - -0.5076046357717151 + - 0.04407859275580336 + - -0.8604618593544593 + - 0.9754350970247927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9248287758097405 + - 0.06460587159554411 + - -0.3748570618110811 + - 0.012605679332455547 + - - 0.020428183042943124 + - -0.9924844898118756 + - -0.1206533332337926 + - -0.09392085005965642 + - - -0.3798347334984264 + - 0.1039260257983565 + - -0.9191979962934745 + - 0.9754820796145403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966227854144751 + - -0.012943100237489475 + - 0.08108945522652979 + - 0.054018950293116916 + - - 0.0026263531147047202 + - -0.9819704461117406 + - -0.18901625652950435 + - -0.09358729789664309 + - - 0.08207390487852982 + - 0.18859087761435553 + - -0.978620128046955 + - 0.9722602951444445 + - - 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: + - - 0.9973707483774757 + - -0.003526626882019299 + - -0.07238199488677312 + - 0.023683685640365094 + - - -0.007643306987470346 + - -0.9983633395866163 + - -0.05667646802468852 + - -0.03479768310609609 + - - -0.07206365338538644 + - 0.05708068913646079 + - -0.995765346248029 + - 0.9703635966915 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997955849852682 + - -0.013030135793841099 + - -0.015459747900899965 + - 0.09159410317730043 + - - -0.013265877207322689 + - -0.9997957755962201 + - -0.015245445282893497 + - -0.0339916215760345 + - - -0.015257940420828633 + - 0.015447416002280907 + - -0.9997642585094586 + - 0.9681230079865355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.861685427208323 + - 0.035934650058661234 + - -0.5061688704987414 + - 0.10002770500776763 + - - 0.011950053513627218 + - -0.9986498247825211 + - -0.05055416583093623 + - -0.09013367484325721 + - - -0.5073021000920769 + - 0.037513042891798486 + - -0.8609514218904379 + - 0.9752709109298264 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9580429422738986 + - 0.034103388498227735 + - -0.28458861476192304 + - 0.012667571310085576 + - - 0.041080637976420434 + - -0.9989830226552929 + - 0.018582293452236033 + - -0.09385420052939376 + - - -0.28366547541535886 + - -0.029493716948422753 + - -0.9584696232630144 + - 0.974724488756201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999838087971187 + - -0.0018496076990688435 + - 0.01789907241955999 + - 0.05407609609781374 + - - 0.0010156904102591238 + - -0.9873165251931292 + - -0.15876097585224022 + - -0.09367149593141007 + - - 0.01796569550870813 + - 0.15875345045675274 + - -0.9871547881426518 + - 0.9730634576479124 + - - 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: + - - 0.993581270420924 + - -0.0028890075095992485 + - -0.11308365356828584 + - 0.02365702026834367 + - - -0.0069700697867176396 + - -0.9993378818515416 + - -0.03571016695065309 + - -0.034802324732542134 + - - -0.11290561188847476 + - 0.036269154002881145 + - -0.9929435388137662 + - 0.9704065599117324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995778724034431 + - -0.012443914615690731 + - -0.026253113918991263 + - 0.09161432206912395 + - - -0.013260692238199045 + - -0.9994261139515116 + - -0.031170447432511034 + - -0.03401214307504717 + - - -0.025850165236800744 + - 0.03150542399042686 + - -0.9991692435300501 + - 0.9683254964174035 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.8678890920854277 + - 0.04172356977648117 + - -0.49500269450199874 + - 0.10001521037625821 + - - 0.012103603039152377 + - -0.9979467375901062 + - -0.06289524407086729 + - -0.09012288482426428 + - - -0.4966105381811814 + - 0.04859478015559338 + - -0.8666120935626427 + - 0.9754044562024583 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9516056451288218 + - 0.04565802995215378 + - -0.30391123779789236 + - 0.012654649038605359 + - - 0.028026180099839086 + - -0.9976744991417488 + - -0.06212992025805571 + - -0.09395296002006115 + - - -0.3060412217136284 + - 0.0506057117640806 + - -0.9506723055548009 + - 0.9762455700108563 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996883110377836 + - 0.010832994324180703 + - -0.022492821263592346 + - 0.05412616742273458 + - - 0.003939585394335905 + - -0.9581158349151624 + - -0.2863538485017129 + - -0.09368068659635756 + - - -0.024652797840090654 + - 0.28617598277771933 + - -0.9578598782911111 + - 0.9735732753223381 + - - 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: + - - 0.9953138756688646 + - -0.0022017636741289886 + - -0.09667182183939205 + - 0.023653880351706204 + - - -0.008604780407392851 + - -0.9977912584108458 + - -0.06586776444544641 + - -0.03481068135145862 + - - -0.09631327351494404 + - 0.06639093971035169 + - -0.9931344302103374 + - 0.9704508468761933 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997632666423467 + - -0.013526702092333484 + - -0.017042271067238733 + - 0.09160692722665545 + - - -0.013812639023708146 + - -0.9997639003781515 + - -0.016773625245224327 + - -0.03402025873029463 + - - -0.016811355561783717 + - 0.01700505310699596 + - -0.9997140623663371 + - 0.9683111158224028 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8679686629768871 + - 0.03468672143237478 + - -0.4954061277844552 + - 0.10003697577357412 + - - 0.011244957340206448 + - -0.9986747528342084 + - -0.050222395262983006 + - -0.09013258687072781 + - - -0.49649164245184635 + - 0.038020644494895055 + - -0.8672084406690598 + - 0.9754592566232747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9383808229751183 + - 0.0455758937023333 + - -0.3425846887789551 + - 0.01263962943337518 + - - 0.036571153999472285 + - -0.9987958267224738 + - -0.0327024038400376 + - -0.09388942842027358 + - - -0.34366259873266214 + - 0.018158591217482693 + - -0.9389176128912001 + - 0.9753874946276251 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996158851149511 + - -0.0020301733208889627 + - 0.02763983759250233 + - 0.054049827741922386 + - - 0.004661909562137696 + - -0.9707847737937408 + - -0.23990662677273286 + - -0.09359898248796722 + - - 0.027319385518111552 + - 0.23994332948953603 + - -0.9704024164275304 + - 0.9722596635971378 + - - 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: + - - 0.9961786714167752 + - -0.0042389510127808306 + - -0.0872358063447569 + - 0.023662084260480797 + - - -0.008030869723463466 + - -0.9990357860767561 + - -0.04316252158392513 + - -0.03479390322715027 + - - -0.08696872855109151 + - 0.04369816280244845 + - -0.9952521845351043 + - 0.9705622726765079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997413482862157 + - -0.012748586191717138 + - -0.01883374835161053 + - 0.09157820098160563 + - - -0.013108153936403064 + - -0.9997317767910299 + - -0.019093212789643974 + - -0.03396762030255806 + - - -0.01858528523426515 + - 0.019335149970026673 + - -0.9996403048839108 + - 0.9681678924743008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8672570927066552 + - 0.0457200578695397 + - -0.4957568067696158 + - 0.10007064352508135 + - - 0.006159361170582054 + - -0.9966835228381334 + - -0.08114195938562417 + - -0.09020575573056838 + - - -0.4978224557208831 + - 0.06731739456762938 + - -0.8646624607143851 + - 0.9757884957168337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9001756843609883 + - 0.056491478784629665 + - -0.4318477163421758 + - 0.012629086531418225 + - - 0.0342045461750574 + - -0.9976594482967375 + - -0.05920873453477138 + - -0.093920329455226 + - - -0.4341817434049766 + - 0.038527107975766875 + - -0.9000010420243078 + - 0.9759070484753991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959152285431907 + - -0.007136215682548486 + - 0.09001073259059862 + - 0.05395825405427004 + - - 0.010504619441165581 + - -0.9809455764133935 + - -0.19399852856501848 + - -0.09343485668941781 + - - 0.08968004530641356 + - 0.19415161740435788 + - -0.9768636746921816 + - 0.9710817186954459 + - - 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: + - - 0.9938777914370712 + - -0.0010166775864466526 + - -0.11048032428833075 + - 0.023661557218590805 + - - -0.008376219408066257 + - -0.9977731806514535 + - -0.06617037797315248 + - -0.03483094373005391 + - - -0.1101670306243998 + - 0.06669067655502639 + - -0.9916731210555398 + - 0.9709167787784968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997200047547451 + - -0.013058198639155128 + - -0.019733107749991066 + - 0.09163108161645789 + - - -0.013635270556017313 + - -0.9994747826604826 + - -0.029397928883611785 + - -0.03404863509818711 + - - -0.01933885958469624 + - 0.029658763866386204 + - -0.9993729865450046 + - 0.9683894651650162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8728607721772311 + - 0.03669033011113325 + - -0.486588010611137 + - 0.10001486938593485 + - - 0.010243008365353124 + - -0.9983271753532993 + - -0.05690282708908584 + - -0.09013892932370254 + - - -0.4878618177043529 + - 0.04468412052887652 + - -0.8717764485226507 + - 0.9751908110058147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.943622969553624 + - 0.05794558653319476 + - -0.3259110313139528 + - 0.012651859135333789 + - - 0.021010964134748972 + - -0.9930587259682339 + - -0.1157277242689796 + - -0.09395502188744342 + - - -0.3303547043965449 + - 0.10235563384432105 + - -0.9382905165796994 + - 0.975894015699091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958003557490329 + - -0.016992777032460875 + - 0.0899605303387238 + - 0.054153706212632595 + - - 0.016000036989470105 + - -0.9351992140273283 + - -0.35376041171816125 + - -0.0938207583297914 + - - 0.09014238906549439 + - 0.3537141156518813 + - -0.9309998249635564 + - 0.9744048978422474 + - - 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: + - - 0.996279282069813 + - -0.002898329800006241 + - -0.08613473052624246 + - 0.02367454833576771 + - - -0.008067294020939668 + - -0.9981823949973541 + - -0.059722902512571965 + - -0.03479868676519121 + - - -0.08580507494104134 + - 0.060195564634920234 + - -0.9944918215413567 + - 0.9702741641917418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996696944049002 + - -0.013868249524969579 + - -0.02163732292883404 + - 0.09159624551727329 + - - -0.014004766923439152 + - -0.9998828881228801 + - -0.006170619293804218 + - -0.03395293141120722 + - - -0.021549213253239916 + - 0.00647160676819175 + - -0.9997468428127219 + - 0.9681511130466063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8621523528206236 + - 0.02290844954840891 + - -0.506130935099951 + - 0.10000590433306294 + - - 0.027880211744664162 + - -0.9996087448418922 + - 0.0022474493743717258 + - -0.09007496425958805 + - - -0.5058814231803097 + - -0.01604868140707133 + - -0.8624537236896596 + - 0.975300402566672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9278886561586758 + - 0.06964407699837724 + - -0.3662954331016029 + - 0.012659951929037246 + - - 0.013228500815233895 + - -0.9879313848729888 + - -0.154326230917235 + - -0.09395601917156103 + - - -0.372622662405587 + - 0.13835201958042567 + - -0.9176116118161264 + - 0.9756027484569715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960401154409925 + - -0.01459305054191102 + - 0.08769909525289118 + - 0.05407657993033294 + - - 0.014195558288396443 + - -0.9476759637042595 + - -0.31891809911336766 + - -0.09365370715938712 + - - 0.08776431254886685 + - 0.31890015787560266 + - -0.9437161197890712 + - 0.972569795491193 + - - 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: + - - 0.9949705834600466 + - -0.0054517997905898586 + - -0.10001907782127262 + - 0.023684515158621102 + - - -0.007382316410365234 + - -0.9997933385325002 + - -0.01894153189303069 + - -0.03477966389223104 + - - -0.09989514229226423 + - 0.019584639518785404 + - -0.9948052082902097 + - 0.9706336974598184 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992523069367479 + - -0.012617822925172974 + - -0.036546102750037286 + - 0.09156961467342967 + - - -0.012717751324644162 + - -0.9999159930583356 + - -0.002503123530453918 + - -0.03398762080426325 + - - -0.03651144865424837 + - 0.0029660362090136033 + - -0.9993288331407117 + - 0.9681676803857779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8623829051289434 + - 0.01430038503591782 + - -0.5060545661578287 + - 0.09990228917526142 + - - 0.03445040198792035 + - -0.9989415308411528 + - 0.030479300576046007 + - -0.09003002104143654 + - - -0.505083057272994 + - -0.04371861100902867 + - -0.8619627534338168 + - 0.9744756974549104 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9259037670049645 + - 0.06750818028625738 + - -0.37167843607136336 + - 0.012609356491530955 + - - 0.01929383185689782 + - -0.9910692747335285 + - -0.13194483973023188 + - -0.09388902484573108 + - - -0.3772664340996879 + - 0.11499712289269239 + - -0.9189372663180604 + - 0.9752251110902198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987904939991867 + - -0.005156416769084309 + - 0.04889744842999582 + - 0.054067084602712215 + - - 0.011647372956697244 + - -0.9413672268234435 + - -0.33718256622480813 + - -0.0937146845964478 + - - 0.04776910926601199 + - 0.3373442687060846 + - -0.940168578804402 + - 0.9730064401154302 + - - 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: null + base_right_marker_pose: + - - 0.999792805416807 + - -0.013668058588739896 + - -0.015084111216956814 + - 0.09159028097619981 + - - -0.013856670089576613 + - -0.9998262168369457 + - -0.01247111941842148 + - -0.034007922601180844 + - - -0.01491103386151952 + - 0.012677551022759484 + - -0.9998084520393119 + - 0.9681548171461882 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8620064206394293 + - 0.047038930441340394 + - -0.5047100848995728 + - 0.1000135756265226 + - - 0.011444328799165938 + - -0.9972371838934811 + - -0.07339636502263445 + - -0.09010483043366936 + - - -0.5067681502568367 + - 0.05749206974126046 + - -0.8601631844028957 + - 0.9752023556929286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9492852183315272 + - 0.06737096763941426 + - -0.3071135408551596 + - 0.012664718402419988 + - - 0.012488003758894872 + - -0.9840819339050513 + - -0.1772760478006363 + - -0.09407390617971417 + - - -0.31416814609279314 + - 0.16445029668877056 + - -0.9350157623802895 + - 0.9771060211543381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999999065572632 + - 8.40663852799958e-05 + - 0.0013644730505693546 + - 0.05404024087222076 + - - 0.00032311589881568617 + - -0.9843617174508726 + - -0.17615874889793323 + - -0.0936339235016578 + - - 0.0013283260062185852 + - 0.1761590251733133 + - -0.9843608247995295 + - 0.9727321934380659 + - - 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: + - - 0.9946141189046623 + - 0.0005546878420004016 + - -0.10364577558636943 + - 0.02367584720167902 + - - -0.009781744993999267 + - -0.9950200837466159 + - -0.09919349981601377 + - -0.034870494888820804 + - - -0.10318464973228571 + - 0.09967309196706547 + - -0.989655598073062 + - 0.9713134232932114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999048050728246 + - -0.01183805963935608 + - -0.007088098211197955 + - 0.09162283705112431 + - - -0.012114043497333995 + - -0.9991162205492995 + - -0.0402495687607871 + - -0.03401560903886371 + - - -0.0066053571002057864 + - 0.0403316027360639 + - -0.9991645165228398 + - 0.96842753189104 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8603727917958782 + - 0.01534887785699376 + - -0.509434069420075 + - 0.09996142409288183 + - - 0.03084170396003153 + - -0.9992825712300942 + - 0.021980266891352324 + - -0.09002460154010741 + - - -0.5087312143305229 + - -0.034623038345939404 + - -0.8602289211491838 + - 0.9749327397842332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9527028796609869 + - 0.034487951092702654 + - -0.3019400674224781 + - 0.012623833684333811 + - - 0.04301535681462769 + - -0.9988400992537797 + - 0.02163643225695219 + - -0.09395667514953704 + - - -0.30084365069546265 + - -0.03360115105359885 + - -0.9530813504019998 + - 0.9762811561703796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993074585830315 + - 0.009647231033080893 + - -0.03593792083186069 + - 0.05414804882232222 + - - 0.0028771848912444594 + - -0.9829482781395626 + - -0.1838597408612611 + - -0.09376649747731328 + - - -0.03709885479936437 + - 0.18362901033296142 + - -0.9822953026135839 + - 0.9741951306162249 + - - 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: + - - 0.9955152433103871 + - -0.0029547924837987037 + - -0.09455511375932191 + - 0.023663517300891196 + - - -0.007316391171152518 + - -0.998923184340287 + - -0.045814214035524305 + - -0.0348118578313054 + - - -0.09431792383683657 + - 0.04630055063214516 + - -0.9944648753245486 + - 0.9707444206592095 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998006352704949 + - -0.009980894765695922 + - -0.017293682441601538 + - 0.09166078419335694 + - - -0.011166275083194689 + - -0.9974941960616137 + - -0.06986159978243711 + - -0.0340751142105904 + - - -0.016553066588438498 + - 0.07004077785883803 + - -0.9974067803175632 + - 0.9688335706601123 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8537868983956207 + - 0.019558312645669772 + - -0.5202551340779257 + - 0.09992633013014299 + - - 0.02430716082895502 + - -0.9997018735167962 + - 0.002307817029776539 + - -0.09007296886124941 + - - -0.520054895237437 + - -0.014616309160039202 + - -0.8540077689612178 + - 0.9745743359053857 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.8993457387029864 + - 0.07722706892643441 + - -0.4303640576323857 + - 0.01262672550500919 + - - 0.008059717371886523 + - -0.9870390937475476 + - -0.16027747305814957 + - -0.0939734075482439 + - - -0.4371639088862037 + - 0.14067624973339424 + - -0.8883118312441208 + - 0.9760556284372169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9801613419547701 + - -0.031229664385982937 + - 0.1957254500563555 + - 0.05404553380686786 + - - 0.019422484705044457 + - -0.9676215971808214 + - -0.2516569326625431 + - -0.09356468524494023 + - - 0.1972473341399228 + - 0.250465871390847 + - -0.9478187255182916 + - 0.972004025218971 + - - 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: + - - 0.9949465170444978 + - -0.00446119887959385 + - -0.100307157898027 + - 0.023661313854052173 + - - -0.0067861384059037 + - -0.9997158965249574 + - -0.022848950978916795 + - -0.034773632641186936 + - - -0.10017672657138946 + - 0.023414182451192582 + - -0.9946941235945771 + - 0.9700168566067932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991744861285251 + - -0.012592280517936677 + - -0.038623577529215504 + - 0.09159443490089483 + - - -0.013329320966451137 + - -0.9997328096485247 + - -0.01888487529320776 + - -0.03400332611676982 + - - -0.038375454034721916 + - 0.019384111628451668 + - -0.9990753628951144 + - 0.96825516156742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8662940646193483 + - 0.026198226400554935 + - -0.49884691693820626 + - 0.09998629382340311 + - - 0.02125094500496162 + - -0.9996525350942619 + - -0.015595076659362023 + - -0.0900586956814352 + - - -0.49908214849029064 + - 0.0029089539495405744 + - -0.8665497949023095 + - 0.9749025668332225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9315498106288294 + - 0.08988446689568316 + - -0.35232901232835057 + - 0.01263905057398348 + - - -0.004281410329914963 + - -0.9661864808542535 + - -0.25780875419593796 + - -0.09415160489273651 + - - -0.3635885309563258 + - 0.24167016122259175 + - -0.8996660009868489 + - 0.9779166047730494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999728190886686 + - 0.0033394126274305263 + - 0.0065733862783618315 + - 0.05410196945694848 + - - 0.0051480556918602274 + - -0.9544727128182631 + - -0.298253814741639 + - -0.09371256641923555 + - - 0.005278125278382807 + - 0.29827954808979135 + - -0.9544639608622719 + - 0.9732987057339104 + - - 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: + - - 0.9948965717255128 + - -0.0022823524708829724 + - -0.1008741911294477 + - 0.023678991967702224 + - - -0.008442647621690709 + - -0.9981212937836752 + - -0.060684467508077426 + - -0.03483717628698193 + - - -0.10054617481514477 + - 0.06122641393060351 + - -0.993046722449272 + - 0.9708779622660428 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998121619032496 + - -0.014053209312857511 + - -0.013347217626128737 + - 0.09159890459092464 + - - -0.014182204277943648 + - -0.9998531535684847 + - -0.009619583201702161 + - -0.034035137466064014 + - - -0.013210071618613716 + - 0.009807069244417948 + - -0.9998646485403242 + - 0.9681319268384652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.868419666206262 + - 0.04979082980233298 + - -0.4933235820572535 + - 0.10005079378011689 + - - 0.004569434537692339 + - -0.9957066348204368 + - -0.09245224520025218 + - -0.0901213649077782 + - - -0.49580883777340073 + - 0.07803313810271197 + - -0.8649187393874832 + - 0.9753012330399324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9278972474454443 + - 0.05641909310163419 + - -0.36854251330987164 + - 0.012635927356391163 + - - 0.02909331580101425 + - -0.9964269196453216 + - -0.07929043310412309 + - -0.0939466830704891 + - - -0.37169917562307053 + - 0.06285125090024937 + - -0.9262232145122496 + - 0.9762302106430454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990755366584329 + - -0.005269503328921398 + - 0.04266502531735879 + - 0.05407725602733755 + - - 0.008216933819386263 + - -0.9507531805592256 + - -0.30984007432080807 + - -0.09373309600701789 + - - 0.04219661182218551 + - 0.3099042142197852 + - -0.9498309449368054 + - 0.9732129507673386 + - - 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: + - - 0.9933162971738871 + - -0.0007298532998709886 + - -0.11542183971380218 + - 0.02366709132044481 + - - -0.008090890312025877 + - -0.9979605120555048 + - -0.06331945887224516 + - -0.034817232965112105 + - - -0.11514022434717044 + - 0.0638301158707694 + - -0.9912963457237236 + - 0.9708409612831572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999137413910787 + - -0.012557686676448793 + - -0.039581973535953385 + - 0.09159882159644411 + - - -0.012879294680909101 + - -0.9998860033913579 + - -0.007880608515890633 + - -0.03398192290275431 + - - -0.0394784991126446 + - 0.008383598713831781 + - -0.9991852497812502 + - 0.9682164611348258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8614789976966685 + - 0.033520567014567244 + - -0.5066856107238149 + - 0.0999701296696987 + - - 0.021293721820908496 + - -0.9993258218900547 + - -0.029907843699957033 + - -0.0900681210098768 + - - -0.5073465422554462 + - 0.014975756768497562 + - -0.8616119850435312 + - 0.9751963881316187 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9412607956091871 + - 0.04009089632731772 + - -0.3352921631664425 + - 0.012616227584709696 + - - 0.037834616573228334 + - -0.9991960161608368 + - -0.013261337680237711 + - -0.0939136342055515 + - - -0.33555425259995864 + - -0.00020327317766802647 + - -0.9420208608317004 + - 0.975534777264283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955900812231906 + - -0.011659440700263783 + - 0.09308301462972633 + - 0.054027013987486494 + - - 0.007601333630586479 + - -0.9789571128197541 + - -0.203924473731447 + - -0.09356063450910168 + - - 0.09350192456328014 + - 0.20373273841522904 + - -0.9745513641675303 + - 0.9721603660725442 + - - 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: + - - 0.9959528764260387 + - -0.0014643127905023387 + - -0.08986503061119687 + - 0.023662346847011805 + - - -0.008556482748041317 + - -0.9968706259436578 + - -0.07858588762419272 + - -0.03485216422440722 + - - -0.08946873499542872 + - 0.07903676940988508 + - -0.9928486967003414 + - 0.971033554423578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998166852490379 + - -0.012358768841704726 + - -0.01462384116241758 + - 0.09161570125382522 + - - -0.01289908762578117 + - -0.9992152742983494 + - -0.037449287674086715 + - -0.03400174602482367 + - - -0.014149538368750035 + - 0.03763105687582256 + - -0.9991915202414199 + - 0.968229310336871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8583427577839358 + - 0.038982707358085136 + - -0.511593646057984 + - 0.09999973385986921 + - - 0.01024668935563881 + - -0.998213026539271 + - -0.058870697333721356 + - -0.09014839186026016 + - - -0.5129743809559273 + - 0.04528909553461499 + - -0.8572083657481071 + - 0.9754143099840169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9343410047072531 + - 0.06024338463704117 + - -0.3512515075129421 + - 0.012621318303224795 + - - 0.023016012647368852 + - -0.9937515833673464 + - -0.10921562945251355 + - -0.0939550737404572 + - - -0.35563626092463785 + - 0.09396023181307132 + - -0.9298894153355964 + - 0.9761185591360667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.984212365978423 + - -0.023082240533687903 + - 0.17547999551829177 + - 0.05403958410793984 + - - 0.00787469112203193 + - -0.9847670067378725 + - -0.17370069568157956 + - -0.09355378205848168 + - - 0.17681631116751453 + - 0.17234022343166758 + - -0.9690381001243639 + - 0.9716968733986843 + - - 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: + - - 0.9977154801296735 + - -0.003701644283675145 + - -0.06745456648153764 + - 0.023645583819101576 + - - -0.0073050716441609344 + - -0.9985543858216726 + - -0.0532519904283027 + - -0.03480831327950674 + - - -0.06715993327787576 + - 0.053623095638908255 + - -0.9963002092623547 + - 0.9704657197936049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995502748648983 + - -0.011873560578311772 + - -0.02753664062116779 + - 0.09160086717713671 + - - -0.012852385989126545 + - -0.999281829579515 + - -0.035646055133830304 + - -0.033991457984355225 + - - -0.02709361902538476 + - 0.03598393574097651 + - -0.9989850310073205 + - 0.9682227419973386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8557252699071557 + - 0.027812403770140798 + - -0.5166824291950058 + - 0.09991618570363027 + - - 0.02237483053888665 + - -0.9996093129681993 + - -0.01675077268668343 + - -0.09006292573857226 + - - -0.5169464473237839 + - 0.0027733776828070345 + - -0.8560132469626548 + - 0.9746764712252037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9384140363358872 + - 0.04105061158416237 + - -0.34306550933656177 + - 0.012610710320413384 + - - 0.03697546141592968 + - -0.9991465016906651 + - -0.01841421766965259 + - -0.09389250610524419 + - - -0.3435286184015349 + - 0.004595154825735998 + - -0.9391309668471489 + - 0.975337577862316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933187326206719 + - -0.014207434882582616 + - 0.11452529947098683 + - 0.05402229163740554 + - - 0.006505457181633572 + - -0.9839212201585897 + - -0.17848448545599396 + - -0.09358925960354075 + - - 0.11521967909918848 + - 0.17803702231752297 + - -0.9772549535472259 + - 0.9719571384209558 + - - 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: + - - 0.9954069495621073 + - -0.005067517458035223 + - -0.0955998171037623 + - 0.023655305090249355 + - - -0.008234700784487969 + - -0.9994291848438747 + - -0.032764221115380604 + - -0.034771566052128944 + - - -0.09537921401673556 + - 0.033400969284140644 + - -0.9948804856787719 + - 0.9703216457949722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996055506412697 + - -0.012716610702752887 + - -0.02504058584375929 + - 0.09158916570195505 + - - -0.013002212532063472 + - -0.9998518866421864 + - -0.011275958820939493 + - -0.03399216687746903 + - - -0.024893485019882186 + - 0.01159709404528144 + - -0.9996228397817198 + - 0.9682538950658067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8708815851072433 + - 0.039593813309313074 + - -0.4898954936195296 + - 0.10003811299425991 + - - 0.008813687900240022 + - -0.997847708303928 + - -0.06497899613102512 + - -0.09008424016607432 + - - -0.4914138618585077 + - 0.05227122516476802 + - -0.8693561614166435 + - 0.975322975693919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9289709811043221 + - 0.08949356188975047 + - -0.3591710158773375 + - 0.012677643881790907 + - - -0.005798816392596225 + - -0.9666946945852906 + - -0.25586664727763364 + - -0.09409803676840771 + - - -0.37010713313109517 + - 0.2397754571279918 + - -0.8975123621235224 + - 0.9770212181222871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972925654739292 + - -0.011333931636861796 + - 0.07265728348954259 + - 0.05405646653351398 + - - 0.011363826560553738 + - -0.9524283740498479 + - -0.3045505799545704 + - -0.09363002216098741 + - - 0.0726526138299956 + - 0.3045516939674026 + - -0.9497209397529653 + - 0.9722741888065602 + - - 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: + - - 0.9941075841711086 + - -0.0014056851104373267 + - -0.10838881465747503 + - 0.02365849853540286 + - - -0.008343965893004015 + - -0.9979414823579622 + - -0.06358597347191028 + - -0.034807792865097664 + - - -0.10807631251416087 + - 0.06411569104801404 + - -0.9920729251596266 + - 0.9705998956197773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996766721167875 + - -0.012168853422289494 + - -0.022326446915972548 + - 0.09162306027251887 + - - -0.012879956190796628 + - -0.999405264470134 + - -0.03198787391974759 + - -0.03399652456314507 + - - -0.021923912835715854 + - 0.032265095006358525 + - -0.9992388631804727 + - 0.968567042584755 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8649093069371451 + - 0.029549337118300312 + - -0.501057608912764 + - 0.10001178877018303 + - - 0.020265940337155317 + - -0.9995074243640412 + - -0.0239624769882079 + - -0.09010272668941274 + - - -0.501518875453116 + - 0.010570965756664401 + - -0.8650821187882757 + - 0.9751276959503214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9413708957918024 + - 0.0613777779227035 + - -0.3317432816703461 + - 0.012636839294445838 + - - 0.0209806067526545 + - -0.9920590026459625 + - -0.12401108583263318 + - -0.09403567167473936 + - - -0.3367204340345708 + - 0.10978025162281937 + - -0.9351832150210999 + - 0.9763861829608544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978336884819649 + - -0.009675585204459929 + - 0.06507160042159996 + - 0.054104970134637234 + - - 0.0042083090758349845 + - -0.9777118305924423 + - -0.2099091862075085 + - -0.09371962807531872 + - - 0.065652267784132 + - 0.20972829892631914 + - -0.9755530843394806 + - 0.9734756116556338 + - - 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: + - - 0.9963749359841086 + - -0.0047953344361880874 + - -0.08493522067027715 + - 0.023644273982256474 + - - -0.007410233934877594 + - -0.9995073426922426 + - -0.030498530084616324 + - -0.03475436734682289 + - - -0.08474712606156007 + - 0.0310173608151462 + - -0.9959195991405978 + - 0.9700756646429393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998735094248189 + - -0.013991434673751324 + - -0.007563392510422752 + - 0.09161859551996372 + - - -0.014123920094873522 + - -0.9997425747304574 + - -0.01775666501542708 + - -0.03400209099809976 + - - -0.007313004283480065 + - 0.017861243716119357 + - -0.9998137306224913 + - 0.9683753141844377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8618280296890343 + - 0.05973970802017636 + - -0.5036701445668396 + - 0.1001067630334184 + - - -0.0006558323305878265 + - -0.9929072483038474 + - -0.11888972264092365 + - -0.09020229363076365 + - - -0.5072001746118303 + - 0.10279281857866177 + - -0.8556761182377259 + - 0.9759449625265458 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9164926813975666 + - 0.05555744468101527 + - -0.3961748796746388 + - 0.012605499508699818 + - - 0.027974583910497536 + - -0.9967858832440092 + - -0.07506880590828309 + - -0.09400006704046653 + - - -0.3990721583870931 + - 0.05771718380150641 + - -0.9151011633116255 + - 0.9763070494288522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9886439062674928 + - -0.025322132868448376 + - 0.1481283773864606 + - 0.05410305777089951 + - - 0.02199209146296149 + - -0.9507096664759059 + - -0.30930159712222105 + - -0.09362207524631806 + - - 0.14865925639945124 + - 0.30904679201743 + - -0.9393564317289246 + - 0.9727278074174036 + - - 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: + - - 0.9942744584075033 + - -0.0011524264227928578 + - -0.10685023758422799 + - 0.023670496134154898 + - - -0.008427690201816341 + - -0.9976727108620218 + - -0.0676619245889965 + - -0.03482804737446544 + - - -0.10652359079719442 + - 0.06817502412588416 + - -0.991970206553154 + - 0.9708158581233184 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995395884927033 + - -0.013859075305682764 + - -0.026991425814668537 + - 0.09158980250617796 + - - -0.014104834852552523 + - -0.9998605903141191 + - -0.008936082502133694 + - -0.03400986513075245 + - - -0.026863817108139353 + - 0.009312677830470382 + - -0.9995957229610418 + - 0.9680828196701325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8602948369918263 + - 0.048873938190095445 + - -0.5074486492355633 + - 0.09995639261511739 + - - 0.011356758109680887 + - -0.9969842159054825 + - -0.0767691167108769 + - -0.09004442931653629 + - - -0.50967030273545 + - 0.06028110318433773 + - -0.8582554229997231 + - 0.9747152450384847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9425294716796858 + - 0.06545054863545705 + - -0.32764984464902475 + - 0.012621673043427668 + - - 0.013928068161951534 + - -0.9874703605067381 + - -0.15718872745196957 + - -0.09399717313296617 + - - -0.3338325986665898 + - 0.14359147886978255 + - -0.9316315168903965 + - 0.9761199067610062 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.994457239118998 + - -0.010039352024542408 + - 0.10466141110623105 + - 0.054046654076036524 + - - 0.015839802001860814 + - -0.9697649153277507 + - -0.2435264044655185 + - -0.09368888742082201 + - - 0.10394181178121743 + - 0.243834411866514 + - -0.9642307189430079 + - 0.9722814647817317 + - - 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: + - - 0.9975447587796196 + - -0.003801829731915821 + - -0.0699285372505394 + - 0.023668017153933553 + - - -0.008088264728059633 + - -0.9980978496434749 + - -0.06111679401572464 + - -0.03482034868905064 + - - -0.06956316701386862 + - 0.06153233806512807 + - -0.99567802886638 + - 0.9706580134569819 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999713195840586 + - -0.010313138475105624 + - -0.021614005574983327 + - 0.09162079666936644 + - - -0.011679545900451248 + - -0.9978766213838709 + - -0.06407680315894401 + - -0.03400631135776263 + - - -0.02090727791371624 + - 0.0643108674354817 + - -0.9977108789924737 + - 0.9683931577077732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8652728511251553 + - 0.02836832660124572 + - -0.5004978832638456 + - 0.100050258497543 + - - 0.023345161086689444 + - -0.9995946143886082 + - -0.016297556231754246 + - -0.09010925502148473 + - - -0.5007573230214226 + - 0.0024176292386809796 + - -0.8655843451156472 + - 0.9753559350244884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9537708688148738 + - 0.050572075373009895 + - -0.2962492109569027 + - 0.012643835161509171 + - - 0.026323772010154244 + - -0.9960094339540482 + - -0.08527758498981718 + - -0.09407202736955317 + - - -0.2993796733702512 + - 0.07353687963875456 + - -0.9512960309523626 + - 0.9773473400041487 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997571913312822 + - 0.006832185406518055 + - -0.020949454025273616 + - 0.05409968921028639 + - - 0.0010494225833179247 + - -0.9644024223062801 + - -0.2644368857818828 + - -0.09373397158451095 + - - -0.022010386039951993 + - 0.26435069338352385 + - -0.9641754268876708 + - 0.9734854175846491 + - - 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: + - - 0.9950234394715158 + - -0.001112179113601652 + - -0.09963492339483153 + - 0.023668818548386324 + - - -0.008401973528227224 + - -0.9973129649820033 + - -0.07277538539668608 + - -0.03483396753052527 + - - -0.09928626160303171 + - 0.07325034427512604 + - -0.9923591211453994 + - 0.9710159262439728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994742833006497 + - -0.013333275470854552 + - -0.02955301652743618 + - 0.09161874778298218 + - - -0.01402522189027245 + - -0.999629399850669 + - -0.023331440271030804 + - -0.03401585768185763 + - - -0.029230979654832477 + - 0.023733662157584608 + - -0.9992908801290088 + - 0.9684099226533687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8730295720591729 + - 0.05709743170684514 + - -0.48431317306331834 + - 0.10004660027451445 + - - 0.00394981943750761 + - -0.9939174812585729 + - -0.11005652808909665 + - -0.09016727317239243 + - - -0.4876512742079002 + - 0.0941696540351359 + - -0.8679448778708904 + - 0.975642164018432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9481375369339258 + - 0.08838207303940376 + - -0.30532576082297125 + - 0.012632358884832261 + - - -0.00492040800482621 + - -0.9563696242047474 + - -0.2921180095159094 + - -0.09403361536775375 + - - -0.3178222783914538 + - 0.2784703773540884 + - -0.9063350640322471 + - 0.9767728369350491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988053046159886 + - -0.00333470612177887 + - 0.04875287895133392 + - 0.05409988952758987 + - - 0.007713472411068468 + - -0.9744029815615158 + - -0.22467605984481737 + - -0.09367818219788905 + - - 0.0482541792420691 + - 0.2247836943799742 + - -0.9732131446536081 + - 0.9733119197946719 + - - 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: null + base_right_marker_pose: + - - 0.9990911640887772 + - -0.010906792420097221 + - -0.04120543312279388 + - 0.09160373689999332 + - - -0.01209822909749531 + - -0.9995126481382849 + - -0.028776710449560306 + - -0.0340158564625541 + - - -0.040871489970842105 + - 0.02924906991167797 + - -0.9987362080233525 + - 0.968314705053908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8653421876154341 + - 0.03494360544028407 + - -0.49996184131568344 + - 0.10006247433063648 + - - 0.019562660578940537 + - -0.9991612154300851 + - -0.03597454504714564 + - -0.09015332660989703 + - - -0.5007995613456626 + - 0.02134970770548614 + - -0.8652999418333986 + - 0.9758428409048513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9189912630911858 + - 0.0525893914335208 + - -0.39075492865825606 + - 0.012643311005403274 + - - 0.03541452946776605 + - -0.9980687541122432 + - -0.05103501903018541 + - -0.09389927251059921 + - - -0.3926841854017597 + - 0.033062334664790166 + - -0.9190788935460709 + - 0.9757926025046826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9852407802506953 + - -0.02445261847716784 + - 0.16941863646190536 + - 0.05408150112463239 + - - 0.018371888452819427 + - -0.9689210261200352 + - -0.2466870869283097 + - -0.0936707695887558 + - - 0.1701854243044284 + - 0.24615871829392583 + - -0.9541712669967659 + - 0.9725558196064967 + - - 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: + - - 0.9960168831042269 + - -0.0026292704130912157 + - -0.089126065258351 + - 0.023653268797324267 + - - -0.0073703603366849675 + - -0.9985721882764075 + - -0.05290805788699658 + - -0.03477633984815641 + - - -0.0888597004262811 + - 0.053354210124049284 + - -0.9946141371920015 + - 0.9701133653921982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997518268660033 + - -0.013338929111190393 + - -0.01784257964129074 + - 0.09159875782773366 + - - -0.013488342880990885 + - -0.9998747450111986 + - -0.008280029898247016 + - -0.033975014275012094 + - - -0.017729898037326323 + - 0.008518641849360697 + - -0.9998065230116419 + - 0.9683114761059075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8654314393255629 + - 0.03816549284831269 + - -0.49957163548637346 + - 0.10008942315732125 + - - 0.010693786013923907 + - -0.998274421572729 + - -0.05773926025090455 + - -0.0901421971000912 + - - -0.5009132327734744 + - 0.0446270589360163 + - -0.8643462031172164 + - 0.9756055410371278 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9412377178889533 + - 0.05618941842894487 + - -0.3330379973513718 + - 0.012630768422168714 + - - 0.027447038968134357 + - -0.9955279793518703 + - -0.09039193757998464 + - -0.0938552577091919 + - - -0.3366277149538895 + - 0.07593939415217292 + - -0.9385707165369714 + - 0.9752804741883241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952995857036053 + - -0.008879415603587362 + - 0.09643594079372275 + - 0.054007202657794365 + - - 0.004670363724901138 + - -0.9902282214848754 + - -0.13937810831539607 + - -0.09345035755531061 + - - 0.09673118628916302 + - 0.13917336438212566 + - -0.9855322684953811 + - 0.9710797073571763 + - - 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: + - - 0.9958531067945946 + - -0.002598616579714195 + - -0.0909386434879326 + - 0.023680178403771276 + - - -0.00831590497933607 + - -0.9980073450045174 + - -0.06254746230990312 + - -0.034774484509549085 + - - -0.09059489727312639 + - 0.0630443217816302 + - -0.9938903249751282 + - 0.9705475796097046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999022428959219 + - -0.012480409281629606 + - -0.006304287102276469 + - 0.09159657487951786 + - - -0.012585089564282913 + - -0.9997788686355749 + - -0.0168472356910299 + - -0.03395397201227492 + - - -0.006092632629979684 + - 0.016924928771878126 + - -0.9998382002172668 + - 0.968226002998001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8645368369508053 + - 0.03859859485255045 + - -0.501085028743132 + - 0.10004323547470864 + - - 0.012371398907814751 + - -0.9983786809377485 + - -0.05556039900923235 + - -0.09010968469532188 + - - -0.5024171633654254 + - 0.041834888841851284 + - -0.8636126655112403 + - 0.975364834257197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9594490687576145 + - 0.04142238019364926 + - -0.2788219339995318 + - 0.012632772913494883 + - - 0.03325544595718384 + - -0.9988697747122107 + - -0.03395951237233243 + - -0.09393157130979969 + - - -0.27991348623161283 + - 0.023310074763298133 + - -0.9597421948837065 + - 0.9758650321755621 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999991681047657 + - 0.002635630879850478 + - 0.003113082932776736 + - 0.05404998923357091 + - - 0.003026913885531205 + - -0.9910800253102935 + - -0.13323370903520643 + - -0.09356176254056764 + - - 0.002734159434039206 + - 0.1332420237042865 + - -0.9910797583905021 + - 0.9724073752658556 + - - 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: + - - 0.9940814004068593 + - -0.004073761985733608 + - -0.10856138276763592 + - 0.02366010237793262 + - - -0.007112155478189388 + - -0.9995933232669859 + - -0.027615309603862128 + - -0.03475164146034649 + - - -0.10840473518067202 + - 0.028223971076846908 + - -0.9937061038592154 + - 0.9704327608290836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998603264155332 + - -0.013549095240110817 + - -0.00978517646226375 + - 0.09159181235291843 + - - -0.013561350232699488 + - -0.9999073359495877 + - -0.0011871369188515908 + - -0.03394456629532189 + - - -0.009768185097002188 + - 0.001319671312276408 + - -0.9999514193337283 + - 0.9683256828460708 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8689835233275041 + - 0.042435450898637296 + - -0.49301812207295836 + - 0.1000454149447806 + - - 0.0038627384729117004 + - -0.9968675443222692 + - -0.07899479937552062 + - -0.09014210065628286 + - - -0.49482594458739426 + - 0.06674077901791534 + - -0.866425388004804 + - 0.975426468647609 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.929918750021037 + - 0.07207986945769626 + - -0.3606322375748924 + - 0.012657778217530512 + - - 0.009907777507005507 + - -0.9851592481058596 + - -0.17135662174649077 + - -0.0939534855175433 + - - -0.3676315469382134 + - 0.15577467153057875 + - -0.9168322078795865 + - 0.9758569296303593 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99199166091202 + - -0.021154661753899337 + - 0.12451917509801441 + - 0.05399337642120783 + - - 0.012001270558395694 + - -0.9656255398262672 + - -0.2596599436574984 + - -0.09347048783488174 + - - 0.12573191395185251 + - 0.2590748870911829 + - -0.9576386002520448 + - 0.9717546734243252 + - - 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: + - - 0.9937726105166197 + - -0.003907215257251949 + - -0.11135857513418683 + - 0.023669709373402115 + - - -0.007195962468781585 + - -0.9995492525347335 + - -0.029146352797628266 + - -0.03477052351980083 + - - -0.11119449946436526 + - 0.02976617923398003 + - -0.9933527862057268 + - 0.9707659293762845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991863411595634 + - -0.01113141664459477 + - -0.038765283484698064 + - 0.09156230377599364 + - - -0.011791875841876331 + - -0.9997884817344536 + - -0.016850621805901963 + - -0.03393582162685462 + - - -0.03856951262712998 + - 0.01729402655832944 + - -0.9991062552807408 + - 0.9681643994296821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8550887860675919 + - 0.024300955102708893 + - -0.5179117989798536 + - 0.1000371615886386 + - - 0.024935009459392848 + - -0.9996726114531893 + - -0.005737178193214204 + - -0.09008210225859617 + - - -0.5178816594982991 + - -0.008008338870004825 + - -0.8554147843378853 + - 0.9752681236075669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.910045754148979 + - 0.049735535924866396 + - -0.4115131854773094 + - 0.012634693259593256 + - - 0.0344577638959039 + - -0.9984164335669676 + - -0.04446670316890862 + - -0.09381221818640095 + - - -0.4130731023229548 + - 0.026286910234639804 + - -0.9103184115943204 + - 0.9747104539779909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976779749473093 + - -0.00572461781788908 + - 0.06786668590608672 + - 0.05399252811771661 + - - 0.006593304610017478 + - -0.9836631479086317 + - -0.17989813723549775 + - -0.09338541563479039 + - - 0.06778780597833098 + - 0.17992787498695573 + - -0.9813413132867299 + - 0.9713557252383735 + - - 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: + - - 0.9963363549326081 + - -0.003032987744475041 + - -0.08546735531737257 + - 0.023673475989399062 + - - -0.007959289735803851 + - -0.9983219502573943 + - -0.057357940524173194 + - -0.034793404209093486 + - - -0.0851499709131229 + - 0.05782806083221991 + - -0.9946885933968881 + - 0.9705083458616525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993888778183814 + - -0.011810516874715123 + - -0.03289958334186928 + - 0.09159922892430261 + - - -0.013109203865652924 + - -0.9991318969747169 + - -0.03954239777394463 + - -0.034010194500286 + - - -0.032404006957863773 + - 0.03994951988267418 + - -0.9986761317835823 + - 0.9683031915111223 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8778625640179468 + - 0.04602021706970162 + - -0.4766964005703146 + - 0.100070820580276 + - - 0.008249882138293845 + - -0.9966778000951189 + - -0.08102655269884756 + - -0.09020684027842928 + - - -0.4788415793772932 + - 0.06719748818529162 + - -0.8753257904580715 + - 0.9762122657990988 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9255998468581821 + - 0.05478814174025531 + - -0.374517266652366 + - 0.012608950331149801 + - - 0.03097838583849074 + - -0.9971143162339774 + - -0.06930642085759281 + - -0.09391904178950508 + - - -0.37723369826534764 + - 0.05254807214254271 + - -0.9246261066004741 + - 0.975747692973347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.994582187036458 + - -0.0111962150519547 + - 0.1033485268317185 + - 0.05399200267740806 + - - -0.005658551997429366 + - -0.9985399584324536 + - -0.05372087306630957 + - -0.09343949914206112 + - - 0.10379910413422866 + - 0.05284502041086313 + - -0.9931934100660894 + - 0.9707489523425716 + - - 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: + - - 0.9966022435852918 + - -0.004130093925654483 + - -0.08226123269759533 + - 0.023668243088744125 + - - -0.008978936939157871 + - -0.9982375170854876 + - -0.05866206759434404 + - -0.0347887956672159 + - - -0.08187396883140136 + - 0.05920136659880441 + - -0.9948828330113192 + - 0.970403352585344 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999463431189357 + - -0.011797274582209201 + - -0.03055608004357789 + - 0.09159081742208619 + - - -0.012661748712571155 + - -0.9995205765926092 + - -0.028254151686389683 + - -0.03398208009510989 + - - -0.030208108758035167 + - 0.028625884796976583 + - -0.9991336391518667 + - 0.9683241321852906 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8625644347265222 + - 0.022630339571928795 + - -0.5054408607105033 + - 0.09996261368341613 + - - 0.026300342041365624 + - -0.9996540783489072 + - 0.00012509558177897697 + - -0.09013728791768105 + - - -0.5052631868179419 + - -0.013401170518152445 + - -0.8628612406843417 + - 0.9751308581840441 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9743240636367039 + - 0.059168294157249696 + - -0.21723658067871876 + - 0.012651691681527006 + - - 0.010101269003623164 + - -0.9753676812911982 + - -0.22035392135641352 + - -0.09405423691430528 + - - -0.22492350562574992 + - 0.21250176295540046 + - -0.9509218776313175 + - 0.976679596056425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990165690756209 + - 0.014863687735994249 + - -0.04177278419332568 + - 0.05409123524421948 + - - 0.003042780995983474 + - -0.9628973550573999 + - -0.2698507459824316 + - -0.0936415083794751 + - - -0.04423388063674481 + - 0.2694582609799729 + - -0.9619956389680069 + - 0.9728414280983524 + - - 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: + - - 0.9957598859137123 + - -0.003877442383513501 + - -0.09190873215137522 + - 0.02367139118287372 + - - -0.008083856289005343 + - -0.9989343924806177 + - -0.045439308829228135 + - -0.034765477169924355 + - - -0.09163460521336582 + - 0.045989617958206545 + - -0.9947301413787806 + - 0.9704178216822276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996115079119489 + - -0.010396520487544171 + - -0.02586011623624282 + - 0.09163826339710562 + - - -0.011615762963323877 + - -0.9988059231857467 + - -0.04745315437194456 + - -0.03398703508112454 + - - -0.02533588957940472 + - 0.04773510417732219 + - -0.998538658504717 + - 0.9688481881002101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8832105824216075 + - 0.027599879411444747 + - -0.4681637680929168 + - 0.10002952221228734 + - - 0.01880375256890649 + - -0.9995480913063169 + - -0.02345276220888424 + - -0.09011299686052478 + - - -0.46859949422487857 + - 0.011910492112957992 + - -0.8833304331844429 + - 0.9755479353783765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9403818604095556 + - 0.09673194777543773 + - -0.32607497127536944 + - 0.012663924373049239 + - - -0.008588034796162845 + - -0.9516454963059483 + - -0.30707832065931595 + - -0.09418141128170139 + - - -0.3400120619492828 + - 0.29157122567252025 + - -0.8940794249331665 + - 0.978221715821635 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997497994529323 + - 0.010285549823047722 + - -0.019863180980377572 + - 0.05410199163689394 + - - 0.004423929055764881 + - -0.961387868753427 + - -0.27516139748419105 + - -0.0936424288078693 + - - -0.021926407492591886 + - 0.27500467864852957 + - -0.9611928315254372 + - 0.9730214682544106 + - - 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: + - - 0.9952529844960822 + - -0.003539924786057978 + - -0.0972572145609266 + - 0.023679775361699577 + - - -0.006616765700300237 + - -0.9994871359015001 + - -0.0313318301266212 + - -0.034788353347726474 + - - -0.09709642250520044 + - 0.031826625644657484 + - -0.9947659778243154 + - 0.9708060378230003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998257665565294 + - -0.011684248313854837 + - -0.014557296142782762 + - 0.09158049586864334 + - - -0.01167522317112901 + - -0.9999315938658675 + - 0.000704806902613864 + - -0.033919458738738924 + - - -0.014564535473293672 + - -0.0005347244204450354 + - -0.9998937885476843 + - 0.9682268325803036 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8635111298210305 + - 0.028905754240968553 + - -0.5035007309299244 + - 0.10001775294991294 + - - 0.02327158807500127 + - -0.999576454330951 + - -0.01747412760717469 + - -0.0900561457240738 + - - -0.5037925782141643 + - 0.0033718420670450257 + - -0.8638180762275122 + - 0.9749801199517898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9267409121888963 + - 0.07543212593335631 + - -0.3680506433257067 + - 0.012657402779984513 + - - 0.003898690957543166 + - -0.9815150774885733 + - -0.19134511457421224 + - -0.09407249594479519 + - - -0.37568082448284457 + - 0.17589243030834248 + - -0.9099042647862003 + - 0.9772247547324557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967263193742822 + - -0.010552635617554183 + - 0.08015788263246201 + - 0.05405587521256884 + - - 0.006506196144148043 + - -0.9777608657471383 + - -0.20962194261370046 + - -0.09355314763261768 + - - 0.08058730469701975 + - 0.20945723022834703 + - -0.9744913314271912 + - 0.9725748326865963 + - - 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: + - - 0.9945721278173258 + - -0.0030628716445247456 + - -0.10400433349724447 + - 0.023664400718086873 + - - -0.008480865833476908 + - -0.9986270763813522 + - -0.05169175207659724 + - -0.0347980892560851 + - - -0.10370321828965312 + - 0.052293222651917305 + - -0.993232632056079 + - 0.9709102761347977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994956509904677 + - -0.01155280385849109 + - -0.029579999563023228 + - 0.09162034837863013 + - - -0.012293194431084996 + - -0.9996125677223998 + - -0.02497182056059068 + - -0.03396867928753729 + - - -0.02928004477149517 + - 0.02532285873352438 + - -0.9992504349780096 + - 0.9683066644322772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8847570375405092 + - 0.04634987157090238 + - -0.46374203381611084 + - 0.1000877899176289 + - - 0.004416496320271662 + - -0.9958315146205345 + - -0.09110482450905033 + - -0.0901349030135673 + - - -0.46603162884378896 + - 0.07855751965237118 + - -0.8812736448023804 + - 0.9754583180647075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9542732404349252 + - 0.042216358256551935 + - -0.29593979402132103 + - 0.012674122331960575 + - - 0.033408755939535205 + - -0.9988372025141197 + - -0.03475770274830735 + - -0.09399850683967043 + - - -0.29706301960425846 + - 0.023281365280446525 + - -0.9545740099197537 + - 0.9766973068019734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994179058741843 + - 0.010865152081012491 + - -0.032338798498343084 + - 0.05408777967792987 + - - 0.0014008511006324059 + - -0.9601988684636741 + - -0.2793137494239664 + - -0.09368157613877562 + - - -0.034086464091392994 + - 0.2791058606896976 + - -0.9596551628029778 + - 0.9733617159534698 + - - 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: + - - 0.9953392969391026 + - -0.003752775928661793 + - -0.09636182149379595 + - 0.023671266509410545 + - - -0.0075216505107548945 + - -0.9992195296609173 + - -0.03877829699469463 + - -0.034767570270505935 + - - -0.0961410876907839 + - 0.03932236281105115 + - -0.9945906912094987 + - 0.9705944418276687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8663376858053011 + - 0.039727930091765486 + - -0.497876195177214 + - 0.10005776798602832 + - - 0.010769390535429873 + - -0.9980856153252868 + - -0.060902583756688944 + - -0.0900854386328679 + - - -0.49934260220915544 + - 0.047400380287176094 + - -0.8651070278107915 + - 0.9752953927073633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9105218882562405 + - 0.03619331720841093 + - -0.4118736879138334 + - 0.012619939568226237 + - - 0.04917191746509117 + - -0.9985704980045085 + - 0.020954308574483015 + - -0.09384567007168065 + - - -0.41052650771795085 + - -0.039331975598483934 + - -0.9109999902065993 + - 0.9750271884807677 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9927776259717778 + - -0.016466179424628347 + - 0.11883370862258295 + - 0.054006052363723314 + - - 0.008005683136445386 + - -0.9792350963372715 + - -0.20256982780970495 + - -0.09353917389863127 + - - 0.11970168924188095 + - 0.20205813776359177 + - -0.97203087119502 + - 0.9716586204162974 + - - 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: + - - 0.9920925917380656 + - -0.0016625744833243597 + - -0.12549711257449384 + - 0.02367041283743117 + - - -0.009200172032675544 + - -0.9981855343547474 + - -0.059506267228726914 + - -0.034798479511004114 + - - -0.12517046877365665 + - 0.060190321904895 + - -0.9903077697847111 + - 0.9708675025990502 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996325640977015 + - -0.013045580905565856 + - -0.023760252824647284 + - 0.0916263787440216 + - - -0.013591218592560999 + - -0.9996442373013923 + - -0.02294945766866885 + - -0.03399848274843711 + - - -0.02345241080622732 + - 0.023263956003937394 + - -0.9994542374608364 + - 0.9683951080272675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8607301096304049 + - 0.03969861835768922 + - -0.5075112787674001 + - 0.10009304833442849 + - - 0.009959226348777332 + - -0.9980769976278656 + - -0.06118104785535318 + - -0.09017752640671792 + - - -0.5089641364439788 + - 0.047605950328039215 + - -0.859470291113776 + - 0.9757297034333425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9297458250336406 + - 0.06921090743225562 + - -0.3616387024710144 + - 0.012602897474584374 + - - 0.011218807489028638 + - -0.987043685262831 + - -0.16005905704237272 + - -0.09407713537407 + - - -0.3680310302013122 + - 0.14475708506036294 + - -0.9184762093455594 + - 0.9771219094713401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973164051096324 + - -0.009943063316939088 + - 0.07253360318552458 + - 0.05401642294060932 + - - 0.006494373183175616 + - -0.9748138787372951 + - -0.22292537975320034 + - -0.09355128578881365 + - - 0.07292332422591179 + - 0.22279819863056857 + - -0.972133299229492 + - 0.9719688355944203 + - - 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: + - - 0.9953334584595789 + - -0.002892979587096095 + - -0.09645173476927457 + - 0.023664314491988622 + - - -0.008075794323312447 + - -0.9985411964253771 + - -0.05338783182921088 + - -0.03477997469180482 + - - -0.09615658072613334 + - 0.0539176196663502 + - -0.9939048255605631 + - 0.9705918823713466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991591350266036 + - -0.008926567164606368 + - -0.04001673764245658 + - 0.09160975301086668 + - - -0.010976148709673757 + - -0.9986232473736782 + - -0.05129458026295356 + - -0.03395965591650794 + - - -0.03950375997791295 + - 0.05169067811032497 + - -0.9978815193920079 + - 0.9685611518362791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8687237195509077 + - 0.03499176581807113 + - -0.494059384502075 + - 0.100039806379023 + - - 0.01414179266796925 + - -0.998846976960579 + - -0.04587729631145519 + - -0.09007759773297906 + - - -0.49509505025779854 + - 0.03286781011333366 + - -0.8682169073846594 + - 0.9755105713649936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9492252524738947 + - 0.06873603945339771 + - -0.3069963793697442 + - 0.012662604821242436 + - - 0.010623233076570048 + - -0.9822861619323173 + - -0.18708565684006426 + - -0.0939192861756706 + - - -0.3144178223079471 + - 0.17432513575654648 + - -0.9331410290296906 + - 0.9756023121687765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979243064650982 + - -0.00264968367385282 + - 0.06434328047730664 + - 0.05400195361665748 + - - 0.01012310709422078 + - -0.9802765374537473 + - -0.1973713069836931 + - -0.09350803577417008 + - - 0.06359717972451112 + - 0.1976129785568772 + - -0.9782149607509424 + - 0.9716204270593166 + - - 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: + - - 0.994723733959358 + - -0.0024602931464602807 + - -0.10256042148697407 + - 0.023669712799961856 + - - -0.006750127490456243 + - -0.9991156463502993 + - -0.04150133729035099 + - -0.03483128520329626 + - - -0.10236761634821277 + - 0.04197466111427668 + - -0.9938606536871897 + - 0.9706699561351225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994881209196687 + - -0.011171635147682464 + - -0.02997817053452388 + - 0.09160975782418673 + - - -0.012310326660780592 + - -0.9991991586130502 + - -0.03807226397889089 + - -0.034005970037988796 + - - -0.029528833332436357 + - 0.038421816655391815 + - -0.9988252159446744 + - 0.9684465486133784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8498880586845667 + - 0.031158636882498758 + - -0.5260412788489159 + - 0.10001010207998842 + - - 0.015585709967651474 + - -0.999299954395702 + - -0.03401009834671853 + - -0.09011217668899407 + - - -0.5267327342687016 + - 0.02070604965641213 + - -0.8497787277623775 + - 0.9749236841726032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9093211235728186 + - 0.06761420650376052 + - -0.4105647492212813 + - 0.012626201983098533 + - - 0.022047882593359387 + - -0.9931524295094508 + - -0.11472638158952489 + - -0.0940067767332299 + - - -0.41551051141627715 + - 0.09527103882262786 + - -0.9045852331672464 + - 0.9767380567020321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968515402223047 + - -0.011127837275245151 + - 0.07850591056725885 + - 0.05405470649782673 + - - 0.002944227361011146 + - -0.9842254282311185 + - -0.1768944259961835 + - -0.09357087313917954 + - - 0.07923596583411761 + - 0.17656862026092923 + - -0.9810938711751732 + - 0.9720469970486544 + - - 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: + - - 0.9931749154893461 + - -0.0029690520352300474 + - -0.11659662076039057 + - 0.02366697563746199 + - - -0.007343390040393643 + - -0.9992843825215564 + - -0.03710522161671215 + - -0.034766700525596377 + - - -0.11640301484688828 + - 0.03770818980702695 + - -0.992485985067815 + - 0.97065905237443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999829790271857 + - -0.01097151990013879 + - -0.014832944280051902 + - 0.09162097410617548 + - - -0.011623852453171447 + - -0.9989358528536723 + - -0.04463236424002302 + - -0.03400858880829623 + - - -0.014327474972274986 + - 0.044797183333196794 + - -0.998893355582232 + - 0.9685745681147536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8646049032018107 + - 0.04380779094751382 + - -0.5005389483463665 + - 0.10010711521995838 + - - 0.00824827687298101 + - -0.9972951329181232 + - -0.07303686594076422 + - -0.0901408719791294 + - - -0.5023846407763819 + - 0.0590194485752065 + - -0.8626276006492396 + - 0.97568965315879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9476944536287509 + - 0.03033729014998765 + - -0.3177339632265628 + - 0.01265718204610441 + - - 0.04838864785403568 + - -0.9976223109780417 + - 0.04907406033425507 + - -0.09392342835595054 + - - -0.31548971666309733 + - -0.06188193165365348 + - -0.9469091113801005 + - 0.9753990045774283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992877605938937 + - -0.0034511482472098483 + - 0.03757740149367525 + - 0.0539993749615143 + - - 0.0028986014508611494 + - -0.9858468911141297 + - -0.16762310518015008 + - -0.09344210008038252 + - - 0.03762405662432153 + - 0.16761263930975603 + - -0.9851347286065743 + - 0.9713375019807916 + - - 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: + - - 0.9972386705994781 + - -0.003902655072833962 + - -0.07416065765868168 + - 0.023690895568737564 + - - -0.00830351367835351 + - -0.9982159371160875 + - -0.05912693589257443 + - -0.03478569662808586 + - - -0.07379759834560401 + - 0.05957946098139604 + - -0.9954919398506384 + - 0.9705680249488297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997517947994355 + - -0.01171052622812027 + - -0.018952898743144618 + - 0.09157236239205352 + - - -0.01205915844893155 + - -0.9997582344127411 + - -0.018386120347238508 + - -0.033920453789264955 + - - -0.018733005439890003 + - 0.018610112825560257 + - -0.999651308310958 + - 0.9681484524874864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8598974997562501 + - 0.024868777828784747 + - -0.5098606023240593 + - 0.0999815421521548 + - - 0.02644519223874558 + - -0.9996416195660612 + - -0.00415743175499757 + - -0.0900341219970005 + - - -0.5097812685068035 + - -0.009908396471892712 + - -0.8602469889275693 + - 0.9751621450997149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9448300298535239 + - 0.06441853914203761 + - -0.321164236025425 + - 0.012663562705064106 + - - 0.013796625389321387 + - -0.9874276642569725 + - -0.15746828565741836 + - -0.09393609712475527 + - - -0.32727032834471237 + - 0.1443497823857914 + - -0.9338400679507807 + - 0.9756583229569884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994858671363085 + - 0.003736552831764415 + - 0.03184398793676902 + - 0.05415340633859374 + - - 0.015084876810365244 + - -0.9311977098384716 + - -0.36420224008537133 + - -0.0937330355861998 + - - 0.02829218772731728 + - 0.3644953543798903 + - -0.9307753159324119 + - 0.9737628664478519 + - - 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: + - - 0.9968220961216061 + - -0.0019844150719505794 + - -0.07963523579766436 + - 0.023664040022951634 + - - -0.008203911134768281 + - -0.9969314155109531 + - -0.07784888316103875 + - -0.034827694069035166 + - - -0.07923638385123473 + - 0.07825480729099302 + - -0.993779543264013 + - 0.9704458721287605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992356316959234 + - -0.009380658112490118 + - -0.037949382111245204 + - 0.0916119608082058 + - - -0.011599954702776687 + - -0.9982088854165962 + - -0.058689540177526915 + - -0.03404570904002844 + - - -0.037330863908329966 + - 0.0590848908667232 + - -0.9975547013929233 + - 0.9685851470737716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.87198933771468 + - 0.023914245216062193 + - -0.4889403887874879 + - 0.09996081599297382 + - - 0.025967538190274444 + - -0.9996594508599512 + - -0.0025824923462186644 + - -0.09006345025710202 + - - -0.4888356389137871 + - -0.01044467242797428 + - -0.8723133765715293 + - 0.9747304923406719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9498860860431807 + - 0.043479517156250265 + - -0.30955767657970673 + - 0.012632891574659518 + - - 0.036357335878183634 + - -0.9989254284729523 + - -0.028742520383041585 + - -0.09393697276402058 + - - -0.3104747456225834 + - 0.016047427768585185 + - -0.950446164910251 + - 0.975497545571204 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994884702529028 + - -0.0026773416143614187 + - 0.03186894528208315 + - 0.05410737244967282 + - - 0.004706689327591981 + - -0.9733247848494596 + - -0.22938332605777295 + - -0.09376159541350176 + - - 0.0316329718345579 + - 0.22941598688764708 + - -0.9728142988532195 + - 0.9734614203964956 + - - 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: + - - 0.9944322474454762 + - -0.0012668818221969339 + - -0.10537030061164196 + - 0.023673423921816164 + - - -0.00904446125362817 + - -0.9972640078249595 + - -0.07336686184873766 + - -0.03483312515082707 + - - -0.10498906115005899 + - 0.07391139091742709 + - -0.9917229468614112 + - 0.9713652617588326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996616867136089 + - -0.013887628089839192 + - -0.021991950867094805 + - 0.09157423215446256 + - - -0.013813953318806636 + - -0.9998984625584192 + - 0.003498466380585675 + - -0.03398183342292778 + - - -0.02203830326064676 + - -0.003193487020259594 + - -0.9997520266696356 + - 0.9680348915308858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8718405313688362 + - 0.049129440269108884 + - -0.4873195932459 + - 0.10006997901182568 + - - 0.0033252258628501986 + - -0.99552730439864 + - -0.0944157246953016 + - -0.09017006224572124 + - - -0.48977855275161486 + - 0.08069500787299058 + - -0.8681044205445058 + - 0.9756811703246627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9262840245538557 + - 0.022563609120414534 + - -0.37614995600129086 + - 0.012632539026976078 + - - 0.06028889622670969 + - -0.9942210076753091 + - 0.08882475380691376 + - -0.0939121930840621 + - - -0.3719719812675102 + - -0.10495461609931675 + - -0.922291371374236 + - 0.9755238674927269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901411144490045 + - -0.022902931838421976 + - 0.13818838298094333 + - 0.05411093396918929 + - - 0.01749660381737717 + - -0.9585934097761026 + - -0.28424029198669903 + - -0.09369683466096781 + - - 0.13897640926625288 + - 0.28385582686820215 + - -0.9487420235345484 + - 0.9730279480895412 + - - 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: + - - 0.9955640424277183 + - -0.003765339189270219 + - -0.09401095492425392 + - 0.023656408233036646 + - - -0.00815620023604411 + - -0.9988912484815066 + - -0.04636539770957021 + - -0.03480041808878079 + - - -0.09373213868620468 + - 0.046926494945252514 + - -0.9944909201443034 + - 0.9705804755970168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998448407968729 + - -0.01279961632012938 + - -0.0121022375589548 + - 0.09163119003648977 + - - -0.013054344087538724 + - -0.9996898404125898 + - -0.02120865569279106 + - -0.033986485373688584 + - - -0.011827021278413319 + - 0.021363351747998104 + - -0.9997018199292086 + - 0.9685846138369626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8729233240302253 + - 0.046170722387610164 + - -0.4856677205232281 + - 0.10003141884403052 + - - 0.009296187713282073 + - -0.9969050388673709 + - -0.07806359186487194 + - -0.0901538236252159 + - - -0.4877688502334088 + - 0.06362867180015713 + - -0.8706508719727595 + - 0.9756426921204908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9436027699088441 + - 0.06308285100226066 + - -0.3250144097263746 + - 0.012656116807673595 + - - 0.017765506987043832 + - -0.9899132228933578 + - -0.14055674264288695 + - -0.09403731705234687 + - - -0.33060278187252207 + - 0.12685568592030885 + - -0.9352055579218066 + - 0.9766263424736298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999744317987918 + - 0.0037953026629183174 + - 0.006060645706554204 + - 0.05405146990011145 + - - 0.005486608585738421 + - -0.9507615989805027 + - -0.3098746182414173 + - -0.09365568501482836 + - - 0.004586161239035347 + - 0.30989994769559753 + - -0.9507581130568148 + - 0.972578622031228 + - - 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: + - - 0.9974866657616019 + - -0.0053867140045167706 + - -0.07064938032308264 + - 0.02367281503316202 + - - -0.007833810980091623 + - -0.999377235334723 + - -0.034406000933758125 + - -0.03472765929919542 + - - -0.07042004709832443 + - 0.03487298104491659 + - -0.9969076648113959 + - 0.9702963726767658 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996282866342836 + - -0.010774873014873699 + - -0.02504377511718445 + - 0.09158838960825648 + - - -0.011369405483663433 + - -0.9996539928996682 + - -0.023719846093487564 + - -0.0339188613468747 + - - -0.024779531463585105 + - 0.02399576194381083 + - -0.9994049120497566 + - 0.9684632617941975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8634184190639691 + - 0.04205190679749636 + - -0.5027328025460155 + - 0.10004217453386714 + - - 0.01044121312179409 + - -0.9977959703154828 + - -0.06553001366342973 + - -0.09004841138655995 + - - -0.5043804265528368 + - 0.051330680463819015 + - -0.8619544921592437 + - 0.975501425401688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.943122161739269 + - 0.06873428298227273 + - -0.32526325703829645 + - 0.012621382388097247 + - - 0.01721104963214182 + - -0.9871761156617813 + - -0.1587044310581087 + - -0.0939266252245452 + - - -0.3320005539254535 + - 0.14407954403672604 + - -0.9322106613761515 + - 0.9759895042830133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974050133580582 + - -0.007130952052785858 + - 0.07164069270346757 + - 0.05407700797514972 + - - 0.012220509325545508 + - -0.9638735687307137 + - -0.266079692299397 + - -0.09351601891923254 + - - 0.07094997167043873 + - 0.2662647048054593 + - -0.9612851858292757 + - 0.9720960079781671 + - - 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: + - - 0.9974618247556207 + - -0.005678929372962438 + - -0.07097646029751244 + - 0.023669007754508586 + - - -0.008446112104297666 + - -0.9992133092871511 + - -0.03874823523389868 + - -0.03475383853012219 + - - -0.07070057528414526 + - 0.03924936056290363 + - -0.9967250956757806 + - 0.9700945329642856 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998382580007558 + - -0.010530051017869663 + - -0.014579981604072227 + - 0.09159488425712418 + - - -0.010933021942925732 + - -0.9995525879158662 + - -0.0278404924864792 + - -0.033916808253456075 + - - -0.014280296537870876 + - 0.027995392768369265 + - -0.9995060435607855 + - 0.9683679981047633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8469504724285811 + - 0.01224984336889206 + - -0.5315306563035107 + - 0.09998704109543409 + - - 0.030575951306833146 + - -0.999202190162592 + - 0.025692301881327578 + - -0.09002759128356853 + - - -0.5307918692431954 + - -0.038012162681393326 + - -0.8466493176242439 + - 0.974924393704732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9412267916922825 + - 0.07760511650273502 + - -0.3287393686391237 + - 0.012647159178469652 + - - 0.0042429114078431016 + - -0.975888413816068 + - -0.218228782433357 + - -0.09403921751261757 + - - -0.33774861110512044 + - 0.20400796472725566 + - -0.9188615924198846 + - 0.9766842160593492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999400043863755 + - 0.008932610409939487 + - 0.006340039356315992 + - 0.0540656366739089 + - - 0.010511044519063031 + - -0.9453680950677986 + - -0.325835361449613 + - -0.09366482359043153 + - - 0.003083110587324112 + - 0.32588245319308906 + - -0.9454052681945243 + - 0.9733516601802563 + - - 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: + - - 0.9940255540989631 + - -0.0019476970002373474 + - -0.10913021705579358 + - 0.023655936343531993 + - - -0.007222359830899601 + - -0.9988231806166232 + - -0.0479592679402601 + - -0.034851495284678485 + - - -0.10890838037874938 + - 0.0484609155844988 + - -0.9928698325279048 + - 0.9705191934779756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993492942639766 + - -0.011572977916668151 + - -0.034162175519603453 + - 0.09155628860426626 + - - -0.01280955250263313 + - -0.9992623539889892 + - -0.036203083640316505 + - -0.03406354738103148 + - - -0.033717998439619264 + - 0.036617128267052546 + - -0.9987603729116917 + - 0.9680127373314376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8609383714770038 + - 0.04418773187753065 + - -0.5067865081768101 + - 0.10006906503028612 + - - 0.006573010815454881 + - -0.9971034218382017 + - -0.07577309342615508 + - -0.09018272937941281 + - - -0.5086668025803773 + - 0.061904850456716023 + - -0.8587350426310706 + - 0.9756365674798156 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9555157117605901 + - 0.0437670367395504 + - -0.2916747693471132 + - 0.012642556893383883 + - - 0.03892627242247615 + - -0.998991389866549 + - -0.022381874090267255 + - -0.09392125187779934 + - - -0.2923601715246864 + - 0.010032420821529005 + - -0.956255656526285 + - 0.9753674745274417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996387184537399 + - 0.0011634466578910679 + - 0.026852913436698576 + - 0.05416749890667608 + - - 0.007197985654559076 + - -0.9741590398416645 + - -0.225748430996282 + - -0.09396814640593379 + - - 0.02589636211287884 + - 0.22586015913976631 + - -0.9738154686298005 + - 0.9745124090093112 + - - 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: + - - 0.9967952589692715 + - -0.0056980318957910924 + - -0.07979188009376417 + - 0.023663437631597416 + - - -0.00707535354263347 + - -0.9998306363730967 + - -0.01698934789846384 + - -0.034759872792157365 + - - -0.07968156040533994 + - 0.01749945719966311 + - -0.9966667536990923 + - 0.9700890117714809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997131615113303 + - -0.014203607201286455 + - -0.019283470732531647 + - 0.09160891862602083 + - - -0.014196192131945807 + - -0.9998990930595473 + - 0.0005213709310950258 + - -0.03396368698726019 + - - -0.019288930244410158 + - -0.0002474695263553411 + - -0.999813920651668 + - 0.9682175499886967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8605560511647157 + - 0.03540262336169811 + - -0.5081239386831732 + - 0.1000133470718757 + - - 0.012970268295128104 + - -0.9987812202005463 + - -0.04762191003164433 + - -0.09009329626609928 + - - -0.5091905880357018 + - 0.03439081903385523 + - -0.8599664043566112 + - 0.9752023091057744 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9232924518920325 + - 0.05888729015999711 + - -0.3795567616797403 + - 0.012629305257603711 + - - 0.025763719218679898 + - -0.9954469318817939 + - -0.09176947520360414 + - -0.09393937517110364 + - - -0.3832326696032319 + - 0.07495126993411251 + - -0.9206057940747737 + - 0.975792025914716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939496218645997 + - -0.011265587905561623 + - 0.10925765750903452 + - 0.05408108039885048 + - - 0.012506073049621542 + - -0.9766496072531057 + - -0.21447410750305368 + - -0.09359047935247819 + - - 0.10912262520713545 + - 0.21454284229844622 + - -0.9705996195581402 + - 0.971980452882815 + - - 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: + - - 0.9956427999772742 + - -0.005311410269393127 + - -0.09309781831151454 + - 0.023669018811198674 + - - -0.006756559472031217 + - -0.9998614229062164 + - -0.015214594574197922 + - -0.034744834224762655 + - - -0.09300410613254928 + - 0.015777322488511568 + - -0.9955407135509723 + - 0.9701551529672121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996903851084993 + - -0.009708412648425252 + - -0.022910273797321832 + - 0.09160343575558022 + - - -0.0109732243604487 + - -0.9983848303200007 + - -0.055743330848085526 + - -0.03398728094737803 + - - -0.022332090559453 + - 0.05597747145729043 + - -0.9981822480992601 + - 0.968351050093287 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8650242526411869 + - 0.00299172949743615 + - -0.5017211296100356 + - 0.0998895991073388 + - - 0.04244424873000892 + - -0.9968339816418141 + - 0.06723465470925492 + - -0.0899489212992799 + - - -0.49993152340325675 + - -0.0794547833597309 + - -0.862412551687971 + - 0.9740937333040376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9517572233732196 + - 0.05965431575805533 + - -0.3009975919643505 + - 0.012642805585036405 + - - 0.02526598835762573 + - -0.9928251446092745 + - -0.11687541257204213 + - -0.09404497066643377 + - - -0.30581010053497537 + - 0.10363201649592164 + - -0.9464357281758635 + - 0.9769220698131384 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993802283959508 + - 0.0038697146773820842 + - -0.03498834662531375 + - 0.05399746361524112 + - - 0.0011452990494655194 + - -0.9969875354699064 + - -0.0775534809517179 + - -0.09345012035407389 + - - -0.03518305531565932 + - 0.07746534338629651 + - -0.9963740628863728 + - 0.9712592279762501 + - - 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: + - - 0.9960171541245365 + - -0.004741573461773008 + - -0.08903564550653832 + - 0.023662215992108996 + - - -0.007706073348270672 + - -0.9994262542872558 + - -0.032981489882905314 + - -0.03473892499498863 + - - -0.08882817752948903 + - 0.03353624490684256 + - -0.9954822324654206 + - 0.9704955375535252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995492136131767 + - -0.011275684244985358 + - -0.027824961996154373 + - 0.0916139838183456 + - - -0.011748980766082997 + - -0.9997880632928788 + - -0.01690532306795846 + - -0.03391487809153816 + - - -0.02762844578035938 + - 0.017224617321764387 + - -0.9994698502415567 + - 0.9685059954642514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8585348563439152 + - 0.04504340028223407 + - -0.5107729363753989 + - 0.10006961745524767 + - - 0.01232790675839305 + - -0.9976593912913262 + - -0.06725891526910914 + - -0.09008096006278242 + - - -0.512606987035379 + - 0.05144736202406565 + - -0.857080653021217 + - 0.9755103493147069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9334228403066431 + - 0.04636225097367189 + - -0.35577007023994206 + - 0.012644823286592798 + - - 0.03344404162452147 + - -0.9985416915071983 + - -0.04237907976539063 + - -0.09387649461394822 + - - -0.3572160372571426 + - 0.027659211966329166 + - -0.9336121629026188 + - 0.9756108448093865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996359490456694 + - -0.009593078063759674 + - 0.0847097316141411 + - 0.05399422730848948 + - - 0.003736289210929177 + - -0.9877801342067122 + - -0.15580900683048474 + - -0.09337324630815237 + - - 0.08516927802799255 + - 0.15555828271047592 + - -0.9841482686873753 + - 0.9714695653775189 + - - 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: + - - 0.9953007119160825 + - -0.002954011306417199 + - -0.0967872237257628 + - 0.023666444612569358 + - - -0.007812906539852577 + - -0.99872558846244 + - -0.04986138226876632 + - -0.034820038632861997 + - - -0.09651658588418278 + - 0.05038325880244424 + - -0.9940553686197297 + - 0.9705119535974575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997325287367599 + - -0.01119090702549022 + - -0.020239431453236187 + - 0.09161738061497449 + - - -0.01208797755387136 + - -0.9989247361877113 + - -0.044757705827805916 + - -0.03401510655140548 + - - -0.019716789400420008 + - 0.04499038822079826 + - -0.998792827959573 + - 0.9682195024122282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8593388696230588 + - 0.04566114441703806 + - -0.5093640810319175 + - 0.10003690144726232 + - - 0.01086314992188623 + - -0.9974111534744388 + - -0.07108433652052608 + - -0.09016100325215134 + - - -0.5112912077561456 + - 0.05555223501638047 + - -0.8576101970335626 + - 0.9757327022553894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9411964031855986 + - 0.07638882400358163 + - -0.32911104235172944 + - 0.012654528330005578 + - - 0.00886824898319076 + - -0.9793550302723139 + - -0.20195316001560282 + - -0.09397631736427416 + - - -0.3377435192427298 + - 0.18715894915195846 + - -0.9224428670448218 + - 0.975821975813962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898057485710119 + - -0.020816637703895705 + - 0.14089445585431465 + - 0.05400734136036453 + - - 0.012890547995665533 + - -0.9721069831283493 + - -0.23418336218756022 + - -0.09353571999620917 + - - 0.14183939462698686 + - 0.2336122448584477 + - -0.9619287422590335 + - 0.971457723134663 + - - 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: + - - 0.9937109824012983 + - -0.0004792823238107648 + - -0.11197434413070115 + - 0.023663573979182614 + - - -0.009490012989517758 + - -0.996753516693749 + - -0.07995227709141466 + - -0.034868508445227764 + - - -0.11157250157859414 + - 0.08051209379402356 + - -0.9904894646811728 + - 0.9705622130311052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997014974120244 + - -0.010750057089652662 + - -0.021939743497254954 + - 0.09160987229640312 + - - -0.011729290571355732 + - -0.9989179712647692 + - -0.045003449056380936 + - -0.03405962746176475 + - - -0.02143221441775996 + - 0.0452473530369101 + - -0.9987458822084346 + - 0.9684922370103553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8688772215130633 + - 0.05305461371880876 + - -0.49217637275562814 + - 0.10003790197637195 + - - 0.002674734174437577 + - -0.9947288097569527 + - -0.10250580879449023 + - -0.09018597705663797 + - - -0.49502042355122594 + - 0.0877485213702458 + - -0.864439111369043 + - 0.9752215824181742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9233846564531237 + - 0.056512554121753156 + - -0.3796934387813181 + - 0.012584329582054646 + - - 0.029358019769904316 + - -0.996603755762585 + - -0.07693543185749604 + - -0.09382557068227142 + - - -0.3827517248846001 + - 0.0598939498325618 + - -0.9219077133158815 + - 0.9746724893108467 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936568173250828 + - -0.01725292317335112 + - 0.11112365196195378 + - 0.05412153405733588 + - - 0.026503689634333492 + - -0.9243953325145999 + - -0.3805138941760075 + - -0.09391205777529985 + - - 0.10928716218821821 + - 0.3810454118175383 + - -0.9180744579355475 + - 0.9736259321936619 + - - 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: + - - 0.9950987910106525 + - -0.0031763253405527126 + - -0.09883474635202302 + - 0.023662680193172622 + - - -0.0077060133521543285 + - -0.9989353903340475 + - -0.04548300008113244 + - -0.03480193338085011 + - - -0.09858505712000265 + - 0.04602170026731777 + - -0.9940638760246501 + - 0.9703856390895865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996649295116415 + - -0.01369082432807625 + - -0.021967931939588802 + - 0.09159863154424495 + - - -0.013984405558186504 + - -0.9998141999288284 + - -0.013266575362964446 + - -0.03401208410163346 + - - -0.0217822199435414 + - 0.013569338594596584 + - -0.9996706497364203 + - 0.9682668893897861 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8638687711632689 + - 0.050464893698356286 + - -0.5011826420706103 + - 0.10001822823155496 + - - 0.00729318526419968 + - -0.9961176160787519 + - -0.0877297235051278 + - -0.09014158375739159 + - - -0.5036641298102991 + - 0.07213175057904607 + - -0.8608829507551166 + - 0.9753676972149896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9313165921983805 + - 0.0645351029792862 + - -0.3584475213743964 + - 0.012660630398001709 + - - 0.019748625099226574 + - -0.991676461845881 + - -0.12723123369489864 + - -0.09405377926759337 + - - -0.363674850522669 + - 0.11141371326855881 + - -0.9248392225641311 + - 0.9764464668023501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936708859661114 + - -0.01343443962079931 + - 0.11152437498322167 + - 0.054043716221628936 + - - 0.018409593903957595 + - -0.9599220994938541 + - -0.27966167015807275 + - -0.09357088225710068 + - - 0.11081181000062452 + - 0.2799447780105684 + - -0.9535993204847616 + - 0.9716992756374729 + - - 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: + - - 0.997283334996627 + - -0.0030068282443976237 + - -0.07359965164261498 + - 0.023672939758481677 + - - -0.008252512231219873 + - -0.9974369552864312 + - -0.07107331616582559 + - -0.034806198447003715 + - - -0.07319730719008147 + - 0.07148761580051842 + - -0.9947520671037976 + - 0.9705557527321886 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995203670556221 + - -0.009233319703386249 + - -0.029559797838440642 + - 0.09163407658666467 + - - -0.010912739032706849 + - -0.998305004616474 + - -0.05716668509286821 + - -0.03401190453050777 + - - -0.028981855837721247 + - 0.05746184442704727 + - -0.9979269454560512 + - 0.968581345966801 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8621229187984704 + - 0.0680542833099455 + - -0.502108242718217 + - 0.1001319812358056 + - - -0.007650064787699095 + - -0.9890783551521074 + - -0.14719199665180796 + - -0.0902168337994183 + - - -0.5066414406571479 + - 0.13073875436446344 + - -0.8521864987877233 + - 0.9761191351569932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9400498197273205 + - 0.07499084509488885 + - -0.3326901104370051 + - 0.012655310806406223 + - - 0.006815413222718246 + - -0.9794606611857971 + - -0.20152013133204566 + - -0.09408972855955994 + - - -0.34096904049082793 + - 0.1871715425523755 + - -0.9212529115749533 + - 0.9768868658602411 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999378457411469 + - 0.003179795172329622 + - 0.010686138554983847 + - 0.054147577175722175 + - - 0.0056326717332056565 + - -0.9712327821198083 + - -0.2380654446679809 + - -0.09373828911645274 + - - 0.009621728727220955 + - 0.23811083939728483 + - -0.9711903266084464 + - 0.974059754717438 + - - 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: + - - 0.9950095010988913 + - -0.0015500077086931813 + - -0.09976818229795761 + - 0.02367603797698281 + - - -0.009511938460175937 + - -0.9967991864168447 + - -0.07937823999966703 + - -0.03479003795198863 + - - -0.0993258060609897 + - 0.07993109179047853 + - -0.9918394047503433 + - 0.9705789576303395 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998926838683652 + - -0.012900941440922669 + - -0.006941646523370306 + - 0.0916124631823659 + - - -0.012986800796776526 + - -0.9998379180849702 + - -0.012469184599511605 + - -0.033952557719217236 + - - -0.006779657187673987 + - 0.012557996235456392 + - -0.9998981613039237 + - 0.968387647768612 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8619038746682668 + - 0.01705143054844799 + - -0.5067849243496496 + - 0.10002929309941251 + - - 0.02910222690672151 + - -0.9994504950836572 + - 0.015867207255951178 + - -0.09007514607680821 + - - -0.5062358849596682 + - -0.028424577275397954 + - -0.8619264888526269 + - 0.975127220574443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9325997498733726 + - 0.03705611240654979 + - -0.3590049457450917 + - 0.01261812140539522 + - - 0.042940574745060876 + - -0.9990420777108989 + - 0.00842816727734702 + - -0.09388793272208924 + - - -0.35834873179165416 + - -0.023275985401358404 + - -0.9332976025507136 + - 0.9755774957465165 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975943135579212 + - -0.008098649407986566 + - 0.06884763928172566 + - 0.054086414054836315 + - - 0.0064086390443647105 + - -0.9781251086526959 + - -0.20791873693525514 + - -0.09364720899921802 + - - 0.06902546560870951 + - 0.20785976931796907 + - -0.9757201450193506 + - 0.972940958957091 + - - 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: + - - 0.9957705185425202 + - -0.0030080817720686864 + - -0.0918260629974571 + - 0.023649674685902893 + - - -0.008223308634602935 + - -0.9983704732065195 + - -0.05646924317264069 + - -0.03482979850572247 + - - -0.09150656586639278 + - 0.056985521612452676 + - -0.9941726201872071 + - 0.9703532341189933 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992613524464018 + - -0.013401253179377015 + - -0.03601605086916547 + - 0.09157177220574518 + - - -0.013602382260834944 + - -0.9998931963099285 + - -0.005345200645910171 + - -0.03403900656312366 + - - -0.03594057183488042 + - 0.005831156517977643 + - -0.9993369166151347 + - 0.9681205604251343 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8623647197794847 + - 0.02573759556870294 + - -0.5056329362828261 + - 0.09992026296330164 + - - 0.024620975928789576 + - -0.9996573037223331 + - -0.00889284312852252 + - -0.09010164771207396 + - - -0.5056885381575943 + - -0.00478030218045142 + - -0.862702875320987 + - 0.9747302953896405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9400049795468421 + - 0.06132584419588516 + - -0.3356036043620551 + - 0.012617123170329078 + - - 0.023580854944641228 + - -0.9930377449016631 + - -0.11541221980665153 + - -0.09405964646497855 + - - -0.3403447982667292 + - 0.10057424140544674 + - -0.934906540921871 + - 0.9769338058022354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985841286322817 + - -0.004666014286192351 + - 0.052990247729065056 + - 0.05403134620868551 + - - 0.004596981262280123 + - -0.9848497666718915 + - -0.1733487953508619 + - -0.09364792576384144 + - - 0.0529962810674568 + - 0.17334695093079022 + - -0.9834338965055136 + - 0.9718680895495422 + - - 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: + - - 0.996441397461294 + - -0.005416332555446702 + - -0.08411423641115925 + - 0.023646005876015407 + - - -0.00717756555322255 + - -0.9997609949727251 + - -0.020650314377176286 + - -0.034786717826852935 + - - -0.08398228371575028 + - 0.021180563561808946 + - -0.9962421190398907 + - 0.970147962690872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997984635939158 + - -0.01475643264974758 + - -0.013611755606786789 + - 0.09160368415550695 + - - -0.014557385346958296 + - -0.9997873194417127 + - 0.014608162629709813 + - -0.03398895775221054 + - - -0.013824425018986933 + - -0.014407066981497314 + - -0.9998006409749327 + - 0.9681561637490433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.859789757961695 + - 0.0344274787503397 + - -0.5094863303476009 + - 0.10000214816228481 + - - 0.019631815343777344 + - -0.9992156517925953 + - -0.03439001365231408 + - -0.09009803021473313 + - - -0.5102706771219347 + - 0.019566039956859665 + - -0.8597912573118713 + - 0.9750890605694335 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9455569121814564 + - 0.08685323665174094 + - -0.313653696150685 + - 0.012653603727257108 + - - -0.0035796147458581687 + - -0.9609000643596213 + - -0.2768722677913913 + - -0.09401386139186087 + - - -0.32543710941461607 + - 0.2629212459973391 + - -0.9082747966442022 + - 0.976035555153037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9951883778524752 + - -0.013060430296435784 + - 0.09710570399225307 + - 0.05402707254914799 + - - 0.014228713426537407 + - -0.9613057877038745 + - -0.27511584149455887 + - -0.09360358379100718 + - - 0.09694140653809705 + - 0.2751737772526766 + - -0.9564945143652994 + - 0.9718993729698489 + - - 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: + - - 0.9952409400739906 + - -0.003988558891561123 + - -0.09736304534374464 + - 0.02367397400128767 + - - -0.006860512729475597 + - -0.9995506166298177 + - -0.029180441395582814 + - -0.034780273486972726 + - - -0.09720290410130876 + - 0.029709530338275097 + - -0.9948210589052445 + - 0.970318169726889 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999160338302632 + - -0.012831080014638431 + - -0.0018134703785657226 + - 0.09165063042234396 + - - -0.012895943311908194 + - -0.9990342276110653 + - -0.04200365112294303 + - -0.03402301874494247 + - - -0.0012727667704805136 + - 0.042023510648443084 + - -0.999115811414036 + - 0.9686687001405568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8613351998390316 + - 0.04079872842475819 + - -0.5063962255755647 + - 0.10002322346110419 + - - 0.016197820339139406 + - -0.9984688406660773 + - -0.05289238919920087 + - -0.09015036427740587 + - - -0.5077787944907866 + - 0.03735556153856621 + - -0.8606772088812514 + - 0.9757197800856546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9242089472917759 + - 0.07344416346416706 + - -0.37475829090078333 + - 0.012622553458702742 + - - 0.009222545869901455 + - -0.9853387324651318 + - -0.17035999222729709 + - -0.09402495973878043 + - - -0.3817758064538728 + - 0.153992003549067 + - -0.9113362148238371 + - 0.9767795931466148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993631296507732 + - -0.0007913022281368924 + - 0.03567504639654353 + - 0.054052776052835906 + - - 0.006472621150439563 + - -0.9791499745490794 + - -0.20303554495698498 + - -0.09358924317965182 + - - 0.03509188325032828 + - 0.20313714869841196 + - -0.9785212611633046 + - 0.9723837050156746 + - - 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: + - - 0.9973327376656157 + - -0.004278535646360998 + - -0.0728636021147113 + - 0.023664492059155023 + - - -0.008526090738501375 + - -0.998275303237736 + - -0.05808377331342574 + - -0.03473964812893618 + - - -0.0724894210014605 + - 0.05855009033579201 + - -0.9956491203052127 + - 0.9700840772240485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997744402065826 + - -0.012541093242399678 + - -0.01714029433527449 + - 0.09157902021704946 + - - -0.012557364339962017 + - -0.9999207986916103 + - -0.0008419885777388094 + - -0.033928850374178955 + - - -0.017128377344274498 + - 0.0010570355798313837 + - -0.9998527398398899 + - 0.9683104400071613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8587885709319113 + - 0.030298283305975202 + - -0.5114334800005144 + - 0.09999435363540198 + - - 0.01940342650766848 + - -0.9994570839554928 + - -0.02662788709126098 + - -0.0900709988984685 + - - -0.5119625938254543 + - 0.012944163159289188 + - -0.858910211351349 + - 0.9750836421603069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9247200873809176 + - 0.07760167631923365 + - -0.3726536459323496 + - 0.012597042234058303 + - - 0.007717885591614675 + - -0.9826196305106021 + - -0.18546993281177224 + - -0.09401580724064346 + - - -0.3805695655674831 + - 0.16863167427163098 + - -0.9092470314475183 + - 0.9770327578510803 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997424204251401 + - -0.00554930224889532 + - 0.07151336950535822 + - 0.054152625355898015 + - - 0.014373572865897813 + - -0.9613167346816825 + - -0.27507005657471556 + - -0.09363406188615563 + - - 0.07027344574252936 + - 0.2753894349198947 + - -0.9587608158232029 + - 0.9732309668836352 + - - 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: + - - 0.9965124009041789 + - -0.004871223722740637 + - -0.0833024971032198 + - 0.02367899127025332 + - - -0.007993466091375615 + - -0.9992763004559585 + - -0.0371884370053242 + - -0.034783884354575786 + - - -0.08306105792749668 + - 0.03772461433197093 + - -0.9958301632956641 + - 0.9705778109513391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990830894748756 + - -0.01059223294523696 + - -0.04148234475739811 + - 0.09157232069285504 + - - -0.012238970791963509 + - -0.9991388028153504 + - -0.039646693464428395 + - -0.03400835779817134 + - - -0.04102667326619673 + - 0.04011804219977244 + - -0.9983523199606272 + - 0.9681525844996357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8556978630802967 + - 0.011200679026869304 + - -0.5173545321239109 + - 0.09996789132724718 + - - 0.03080575068505069 + - -0.9990952036497827 + - 0.029322001444810203 + - -0.09005524281948679 + - - -0.5165580053048683 + - -0.041028268709951715 + - -0.8552686761024979 + - 0.9746652769746925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9220071598298052 + - 0.09213468965807572 + - -0.37605052344623335 + - 0.012640247519822793 + - - -0.00730693848525734 + - -0.9669592529902306 + - -0.2548262382615829 + - -0.09413291697897183 + - - -0.3871038696171206 + - 0.23769939423184577 + - -0.8908701320109828 + - 0.9775633091546359 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932182907223795 + - -0.020270501344538977 + - 0.11448377068281636 + - 0.054067915882741506 + - - 0.015408480950527832 + - -0.9530486221666925 + - -0.3024250361675878 + - -0.09366525628930858 + - - 0.11523890701196303 + - 0.30213809849373613 + - -0.9462729858498963 + - 0.9727758184224256 + - - 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: + - - 0.9952080114205493 + - -0.002158368811985954 + - -0.097756613323229 + - 0.023654303069508397 + - - -0.00828492858125178 + - -0.9980225127558678 + - -0.06230910038563457 + - -0.03487091331749477 + - - -0.0974288148483775 + - 0.06282042244791876 + - -0.9932578822041663 + - 0.9706238495956996 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992262327404227 + - -0.012958038035631881 + - -0.03713522658675534 + - 0.09156120985568093 + - - -0.013729499899650287 + - -0.9996936217581531 + - -0.020595228781763054 + - -0.0340362915980256 + - - -0.03685697540341646 + - 0.02108914095772457 + - -0.9990979989459383 + - 0.9680114804837523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8625936340361113 + - 0.027209324633634173 + - -0.5051651959244191 + - 0.09999995654707536 + - - 0.02054799501692351 + - -0.9996129455937892 + - -0.01875470346587029 + - -0.09009385919838707 + - - -0.5054799723244826 + - 0.005797555889316554 + - -0.8628188604362741 + - 0.9748615693588785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9396387535361238 + - 0.0010013356728884593 + - -0.34216664095137883 + - 0.012594394266264979 + - - 0.07687616298588355 + - -0.9750476982559177 + - 0.20825955365938176 + - -0.09363056116147533 + - - -0.33342025795930197 + - -0.22199320587060145 + - -0.9162695826718498 + - 0.9728808208187594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948120084848638 + - -0.009166902894134936 + - 0.10131651230495786 + - 0.053952844227804185 + - - -0.004881266322455368 + - -0.9990859570421544 + - -0.04246673616199282 + - -0.09345578267141313 + - - 0.10161319310699984 + - 0.041751866215686044 + - -0.9939474536685063 + - 0.970789101967217 + - - 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: + - - 0.9959939343561327 + - -0.003081939116993449 + - -0.08936769202049978 + - 0.02368088727912326 + - - -0.00850193721553101 + - -0.998142203080104 + - -0.06033124807244864 + - -0.03481420563626824 + - - -0.08901572776411439 + - 0.06084935563894917 + - -0.9941697823455256 + - 0.9706676487786163 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998357471130211 + - -0.010846390801406744 + - -0.014520144680058775 + - 0.09162783428605197 + - - -0.011695493354268907 + - -0.9981460443835726 + - -0.05973013909767807 + - -0.03404585775137139 + - - -0.013845368545002037 + - 0.05989014850550028 + - -0.9981089499056918 + - 0.9688234207828805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8660535505541658 + - 0.041682411197129246 + - -0.49821062229675145 + - 0.10001025835862318 + - - 0.010558351950557746 + - -0.9978210548610845 + - -0.06512805601275418 + - -0.09010139529090216 + - - -0.49983974309433526 + - 0.051144101054820854 + - -0.8646065649477125 + - 0.9750010387816016 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9285226685799812 + - 0.0635344270016816 + - -0.3657991669190601 + - 0.012629924337335967 + - - 0.023239432230348692 + - -0.99326308790083 + - -0.11352694395305171 + - -0.09394243992549497 + - - -0.3705476794188859 + - 0.09691137600548402 + - -0.9237437969902706 + - 0.9754983739897342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993629347326103 + - 0.010645999569825166 + - -0.03406445912947698 + - 0.05402225086547828 + - - 0.00014500542104668203 + - -0.9556764773706723 + - -0.29441883359223153 + - -0.09367700232766799 + - - -0.035688985080167136 + - 0.29422633004804577 + - -0.9550691928077282 + - 0.9727009545321921 + - - 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: + - - 0.9954140324793004 + - -0.001632934551978014 + - -0.09564641900273733 + - 0.02366819250439438 + - - -0.007504323545286396 + - -0.9981059528617653 + - -0.06105892228032957 + - -0.03484439736744468 + - - -0.09536555495264472 + - 0.06149666972004762 + - -0.9935409254489307 + - 0.9708393655963392 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993715362337384 + - -0.011618282473076788 + - -0.033489521916467445 + - 0.09159411660389126 + - - -0.012582737938824392 + - -0.9995079146911812 + - -0.02873331125453398 + - -0.03399378816009572 + - - -0.03313921048819097 + - 0.029136643287497217 + - -0.999025949986364 + - 0.9681488478015443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8605970050176313 + - 0.0336018410736318 + - -0.5081768503495073 + - 0.09994962951050819 + - - 0.017786307781972356 + - -0.999195369189929 + - -0.03594803812290457 + - -0.09006764884542484 + - - -0.5089758758626662 + - 0.021898184076841652 + - -0.8605021948397157 + - 0.9749679200224698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.95360810998186 + - 0.05288770992609779 + - -0.29636879511108766 + - 0.012624350401934535 + - - 0.026046759298609726 + - -0.9952506853209502 + - -0.09379573390202978 + - -0.09398719813044008 + - - -0.2999218880089701 + - 0.0817249258607986 + - -0.9504566784373619 + - 0.9760575727535323 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995856682295627 + - 0.0010552030001104683 + - 0.028764186355381686 + - 0.05407657448075815 + - - 0.007947136321061511 + - -0.9706004397689014 + - -0.24056522887713688 + - -0.09370338381993477 + - - 0.02766468677489469 + - 0.2406941479700812 + - -0.970206675012393 + - 0.97281247984518 + - - 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: + - - 0.995470654133797 + - -0.003185119208065125 + - -0.09501595536572091 + - 0.023673675038051064 + - - -0.007835866245555545 + - -0.9987868961720239 + - -0.04861414645180011 + - -0.0347612644164229 + - - -0.0947458492949006 + - 0.04913848848596912 + - -0.99428800304072 + - 0.9710301782573649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992804830785813 + - -0.011477759631710221 + - -0.03614937305229173 + - 0.09156193729599554 + - - -0.01168907114748837 + - -0.9999157767605044 + - -0.005639592285467702 + - -0.03391037839134787 + - - -0.036081598550314085 + - 0.0060580870969337425 + - -0.9993304847880805 + - 0.9682108246169054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8680856498422984 + - 0.03963076373136116 + - -0.4948299779762172 + - 0.1000839278473182 + - - 0.011543855603504146 + - -0.9981502109820586 + - -0.05968999676895947 + - -0.09009676881583692 + - - -0.49628020707628473 + - 0.04610378382022428 + - -0.866937366354559 + - 0.9755487372562937 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9623417656072175 + - 0.056027855557666054 + - -0.2660060254385089 + - 0.012633332443426787 + - - 0.01859548516322443 + - -0.9898056647738571 + - -0.1412053607804157 + - -0.09387966522502803 + - - -0.271205704400788 + - 0.1309413051072593 + - -0.9535731962032491 + - 0.9757942085763732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999567152467654 + - 0.001680405009738685 + - 0.029371481860965297 + - 0.054089411811484814 + - - 0.010230776218212468 + - -0.9559095240683276 + - -0.293483071084919 + - -0.09361007789489231 + - - 0.027583308823972273 + - 0.29365653071993136 + - -0.9555129528372992 + - 0.9730552865013946 + - - 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: + - - 0.9955082354604253 + - -0.0027238243458219597 + - -0.0946357961418581 + - 0.023663431425834002 + - - -0.008203219819103888 + - -0.9983083948376259 + - -0.05755915202052828 + - -0.0348120018441162 + - - -0.09431892872096076 + - 0.058076928101062054 + - -0.993846572719992 + - 0.9707203416606593 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995145371301498 + - -0.012145312018791012 + - -0.028691139075826932 + - 0.09160142076812083 + - - -0.012974797803108128 + - -0.9994979852841369 + - -0.028903841179340885 + - -0.0339965878351521 + - - -0.028325689532131305 + - 0.029262071165901977 + - -0.9991703490914909 + - 0.9683256850111281 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.796843528747559 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8688277867342216 + - 0.03369869859524072 + - -0.49396626879929884 + - 0.10002775265286226 + - - 0.02020413036618493 + - -0.9992631451890013 + - -0.032633721564222666 + - -0.09008095921397254 + - - -0.49470200132469677 + - 0.01837292518822544 + - -0.8688684396992261 + - 0.975388512712404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9252034668522162 + - 0.04553240333416929 + - -0.37672980393281136 + - 0.012610059502005354 + - - 0.035834242033170136 + - -0.998822116332269 + - -0.03271524145463443 + - -0.09387527639001082 + - - -0.3777756636186986 + - 0.01676842783749803 + - -0.9257453039607115 + - 0.9749161314871587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930562882442346 + - -0.01156583725482975 + - 0.1170702344201047 + - 0.05396584200016878 + - - 0.006394792711068298 + - -0.9883767227761786 + - -0.15188996181579636 + - -0.09340057700032296 + - - 0.11746622920978583 + - 0.15158392158410602 + - -0.9814397585753383 + - 0.9704674598502365 + - - 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: + - - 0.9930734952516855 + - -0.001802990575771333 + - -0.11748098677481517 + - 0.02366465865109869 + - - -0.006702232212113897 + - -0.9991234549127965 + - -0.041320720304616754 + - -0.03484791931679999 + - - -0.11730350852372456 + - 0.041821896993096144 + - -0.9922151056197057 + - 0.9704811684350665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999514534561068 + - -0.011174614771671513 + - -0.029083039488275203 + - 0.09160899786615333 + - - -0.012601431071774307 + - -0.9987021265721998 + - -0.04934841755425949 + - -0.03406220741809102 + - - -0.028493843828363258 + - 0.049690948520540096 + - -0.9983581073437598 + - 0.9683779506248071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8661097765853967 + - 0.05022348152944271 + - -0.49732429742197 + - 0.10004456737316278 + - - 0.008606212836854497 + - -0.9962902912666607 + - -0.08562469636967839 + - -0.09019137808781719 + - - -0.4997797394891084 + - 0.06988030789038198 + - -0.8633289955546175 + - 0.9758160330438257 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9351294005451266 + - 0.05344519982556133 + - -0.3502522160553989 + - 0.012610315259605157 + - - 0.03270769450571528 + - -0.9973580710896152 + - -0.06486204400512612 + - -0.09395092399914526 + - - -0.35279343950282416 + - 0.04919846184595544 + - -0.934406924415567 + - 0.9756415844651865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9864299363648713 + - -0.022610903372317012 + - 0.16261834980064124 + - 0.054043492539519615 + - - 0.021353941380133197 + - -0.9643894926200595 + - -0.2636226767779249 + - -0.0937899631152735 + - - 0.16278817472632898 + - 0.2635178429873624 + - -0.9508198339309915 + - 0.9727121057510301 + - - 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: + - - 0.9928315144744295 + - -0.0005729009433107198 + - -0.11952094231104295 + - 0.0236676329070253 + - - -0.008384119251987752 + - -0.9978590348696753 + - -0.06486179980025976 + - -0.03479964382486262 + - - -0.11922789275492103 + - 0.06539891676067487 + - -0.9907107000914807 + - 0.9705809092521144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999470460627475 + - -0.014464855279732519 + - -0.029147320543049044 + - 0.09158905225196283 + - - -0.014283340183760184 + - -0.9998773380160656 + - 0.006426127535401742 + - -0.03398412473489874 + - - -0.029236698279693555 + - -0.006006403553097409 + - -0.99955447004656 + - 0.9681983591328345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.16671304404735565 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8662019457973639 + - 0.0588311449400236 + - -0.4962187879170907 + - 0.0999821906075086 + - - -0.004498237937950043 + - -0.9920868553252926 + - -0.1254728550174308 + - -0.09014567761955276 + - - -0.49967384857756386 + - 0.11091694133818134 + - -0.859082927994654 + - 0.9754743908930461 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9256070032067629 + - 0.07455610277574357 + - -0.3710701593411793 + - 0.01259234661420969 + - - 0.011325106871042663 + - -0.9854232160610474 + - -0.16974341578471186 + - -0.09390972049517765 + - - -0.37831655735502107 + - 0.15291328518737302 + - -0.9129589857404604 + - 0.9754732127787895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9893389262279764 + - -0.020462489959265036 + - 0.14418659977522708 + - 0.0540087747274806 + - - 0.009398084489842327 + - -0.9790448111660084 + - -0.20342795711710024 + - -0.0935589068110925 + - - 0.1453277848795485 + - 0.20261427450597344 + - -0.968414833998541 + - 0.9715005753731821 + - - 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: + - - 0.995993014007771 + - -0.00185512236981467 + - -0.08941182566478155 + - 0.023680267800645163 + - - -0.00882504395215953 + - -0.9969438848526417 + - -0.07762093180428183 + - -0.034794764605778725 + - - -0.08899457650305849 + - 0.07809896910917281 + - -0.992965516207449 + - 0.9705760008179257 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995846889167685 + - -0.013350930047344983 + - -0.025538252681769312 + - 0.091595922419253 + - - -0.013530901883448604 + - -0.9998847328165822 + - -0.006887363394811726 + - -0.03396605900978272 + - - -0.025443356252418503 + - 0.007230058587771358 + - -0.9996501197296129 + - 0.9682992183112256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8627168114124345 + - 0.02836246428173292 + - -0.5048913486347625 + - 0.09997655411506735 + - - 0.023677838033956934 + - -0.9995964482203645 + - -0.015693969901500165 + - -0.09004804638948422 + - - -0.5051327184932685 + - 0.0015847160941049494 + - -0.8630402223433743 + - 0.9751580676221188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9365211378160792 + - 0.08449213818637694 + - -0.34027817592136383 + - 0.012633255487253725 + - - 0.0015424546554100582 + - -0.9715122411908059 + - -0.23698435823921757 + - -0.09401851064682006 + - - -0.3506077284620413 + - 0.22141599716622098 + - -0.9099720748141538 + - 0.9765194533850224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993534707819465 + - -0.0023440568412853163 + - 0.03587681470814031 + - 0.054093423444620564 + - - 0.009334967758126395 + - -0.946733500798582 + - -0.32188279985519075 + - -0.0937007442640293 + - - 0.03472029396523236 + - 0.3220096021288602 + - -0.9460995282335689 + - 0.9731181966503455 + - - 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: + - - 0.9969869652476454 + - -0.00407062940387738 + - -0.07746238508170643 + - 0.023682351116456918 + - - -0.008596920163274546 + - -0.9982685848763472 + - -0.05818870519853306 + - -0.0347541412072475 + - - -0.07709140088230702 + - 0.05867931854777962 + - -0.9952957618139304 + - 0.9705339588931774 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997770310557752 + - -0.01131014703278435 + - -0.01783167819910346 + - 0.09159048674034652 + - - -0.011626449634709568 + - -0.99977511353251 + - -0.017735501964923194 + - -0.03391913774149976 + - - -0.017627076961060334 + - 0.017938866607259 + - -0.9996836915858213 + - 0.9684947864775074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8618244534677053 + - 0.025635894620318983 + - -0.5065583997054109 + - 0.10001100770368399 + - - 0.02280965362446148 + - -0.9996703685466247 + - -0.011784479258263411 + - -0.09000834194628025 + - - -0.5066935277923165 + - -0.0013982692416875586 + - -0.8621251148971972 + - 0.9753359060434649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9673391094388499 + - 0.07543892788689582 + - -0.2420000320440649 + - 0.012657334842607415 + - - 0.0022441224446595673 + - -0.9571999945480475 + - -0.2894186143835109 + - -0.09416546091511292 + - - -0.2534758593328092 + - 0.2794228669892529 + - -0.9261062844722524 + - 0.978294129965926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998537513058814 + - 0.002641906113144451 + - 0.016896636696282302 + - 0.054134244900004236 + - - 0.007439547881548261 + - -0.956806646742451 + - -0.29062982275875676 + - -0.09365096859243265 + - - 0.015398997593186853 + - 0.2907130218644454 + - -0.9566863696068681 + - 0.9743763493312432 + - - 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: + - - 0.9944025384998832 + - -0.0029807663017074695 + - -0.10561584377943886 + - 0.023660955203187964 + - - -0.007698858308843896 + - -0.9989889306785167 + - -0.04429270778056023 + - -0.034806695458844766 + - - -0.10537703262916723 + - 0.04485790247044952 + - -0.9934200770974094 + - 0.9703609393071281 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8705999749050595 + - 0.04479311346018979 + - -0.48994822244993647 + - 0.10003705269367474 + - - 0.006281910117360963 + - -0.9967777074275722 + - -0.07996711562080265 + - -0.09014797546615659 + - - -0.4919514420149485 + - 0.0665415581571095 + - -0.8680760333850007 + - 0.9750547979067626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9475104860468911 + - 0.07041882051619472 + - -0.31187348163685225 + - 0.012616667160922787 + - - 0.01478858707182968 + - -0.9840524896207236 + - -0.17726250411092237 + - -0.0940126762477151 + - - -0.3193824925126657 + - 0.1633459132894478 + - -0.9334414475948845 + - 0.9761069954318604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942651439600283 + - -0.01778841368688691 + - 0.10545328750042936 + - 0.054030327675303795 + - - 0.012991393036825664 + - -0.9586759042824592 + - -0.2842036844503832 + - -0.0935924431048504 + - - 0.1061510584643731 + - 0.28394380233897415 + - -0.9529469397087017 + - 0.9719678894450103 + - - 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: + - - 0.9953258145603543 + - -0.00335554804152961 + - -0.09651561100209859 + - 0.023640157859130498 + - - -0.008686089726720716 + - -0.9984561177693758 + - -0.05486285386457534 + - -0.034838989458005634 + - - -0.09618250732345661 + - 0.05544475796905763 + - -0.993818295312944 + - 0.9704586217440073 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997048064012075 + - -0.0108337228124044 + - -0.021746965497472088 + - 0.09161170326492174 + - - -0.011961886535666091 + - -0.9985526693363893 + - -0.05243548256361952 + - -0.034090706596639854 + - - -0.021147418963838194 + - 0.05268013867859295 + - -0.9983874947433848 + - 0.9683451625642759 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8616742079524906 + - 0.029575199473081324 + - -0.506599315954508 + - 0.09998398090400165 + - - 0.01806564103722055 + - -0.9994552293005536 + - -0.027620232397498105 + - -0.09014726104822304 + - - -0.5071402093734653 + - 0.014647600482842282 + - -0.8617390880288143 + - 0.9750584837784056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.929390535020107 + - 0.044918769760686095 + - -0.36635438790633557 + - 0.012578040598760979 + - - 0.0437167710860869 + - -0.9989768353660935 + - -0.011581292145198117 + - -0.09387980177360342 + - - -0.3664997644485546 + - -0.00525228760943491 + - -0.9304033190686836 + - 0.9748171079044109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872257778671465 + - -0.011173466787433247 + - 0.15893526089121227 + - 0.05404109440038045 + - - 0.0022610487090100728 + - -0.9964549844822517 + - -0.08409727438633949 + - -0.09371032475331592 + - - 0.15931149102730494 + - 0.0833823574890151 + - -0.9837007834124314 + - 0.9721037426300582 + - - 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: + - - 0.9976969074605393 + - -0.0029822142208903862 + - -0.06776420324933217 + - 0.023688789117216787 + - - -0.008008017390667336 + - -0.9972249004145678 + - -0.07401600942111167 + - -0.034830434930635305 + - - -0.06735541924111861 + - 0.07438820062009863 + - -0.9949520808096021 + - 0.9706699099804376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997611065439092 + - -0.013097035928942138 + - -0.017498499706382207 + - 0.09159403612124568 + - - -0.013413297922824866 + - -0.9997465622154563 + - -0.01808023166917003 + - -0.03400433747070007 + - - -0.01725726748160906 + - 0.01831062500990383 + - -0.9996834037488146 + - 0.9682409910713585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8713846090377323 + - 0.06087927148769943 + - -0.4868085634366815 + - 0.10006360432491258 + - - -0.004413135296833327 + - -0.9912579724938602 + - -0.13186415814850666 + - -0.09019726227239871 + - - -0.49058066346831325 + - 0.11705274994842933 + - -0.8634982723552497 + - 0.9757947833217729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.970517291073335 + - 0.040428384985458046 + - -0.23761677847985205 + - 0.012615250602180914 + - - 0.03249138516748917 + - -0.9987785168402272 + - -0.037226122391856256 + - -0.09397127903534808 + - - -0.23883152559403323 + - 0.028408097189061926 + - -0.9706453947742827 + - 0.9764942748746968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949378754962646 + - 0.01939405773874906 + - -0.09860271004087938 + - 0.05411379559271666 + - - -0.005312926995351972 + - -0.9696765765093573 + - -0.2443340127281392 + - -0.0938560756336948 + - - -0.10035136625737452 + - 0.24362103253520312 + - -0.9646649137378014 + - 0.9745722666315658 + - - 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: + - - 0.9977973399032835 + - -0.0035730770580059447 + - -0.06623972827743874 + - 0.023695139612689188 + - - -0.008212519614836065 + - -0.9975201373554909 + - -0.06990085902088719 + - -0.034791277837674474 + - - -0.06582570169399865 + - 0.07029088625575555 + - -0.9953522835186911 + - 0.9704861560882436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996748384605051 + - -0.013059486324525018 + - -0.021901305118707713 + - 0.0915911572856727 + - - -0.013508876379252239 + - -0.9996986254026893 + - -0.020498015195248395 + - -0.033973741064112536 + - - -0.02162701107257472 + - 0.020787212052463824 + - -0.9995499808449568 + - 0.9683311298177362 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.861972605148626 + - 0.025830520051620818 + - -0.5062963679576952 + - 0.09995639707472373 + - - 0.01797566325820264 + - -0.9996303701452887 + - -0.020396044067933158 + - -0.09005711741088893 + - - -0.5066360661300365 + - 0.008479818220703938 + - -0.8621183150700519 + - 0.974669954907202 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9451386064639834 + - 0.0744630911203038 + - -0.31806958771961985 + - 0.01268431627405719 + - - 0.007301311501113995 + - -0.9782457581567 + - -0.20732083228365522 + - -0.09415519246865409 + - - -0.3265879750108434 + - 0.19362459737655524 + - -0.9251215108671316 + - 0.9781948264737328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985922738766431 + - -0.007152122163210026 + - 0.05255775587330638 + - 0.05411841436841457 + - - 0.010665729505204734 + - -0.9435537252445271 + - -0.3310477454858993 + - -0.09376250089667063 + - - 0.05195876026232109 + - 0.33114228773404564 + - -0.9421491774163285 + - 0.9741733475025735 + - - 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: null + base_right_marker_pose: + - - 0.9998752840519219 + - -0.010865919089774894 + - -0.011460721810723872 + - 0.09160668621290524 + - - -0.011255570578817056 + - -0.9993412827878548 + - -0.034500907913714206 + - -0.03392342784253513 + - - -0.011078288362089345 + - 0.03462560206349898 + - -0.9993389511115371 + - 0.9685697242644842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.787036895751953 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8539694039471827 + - 0.01942477512839999 + - -0.5199605131481665 + - 0.09991291106414366 + - - 0.025150506685194904 + - -0.9996758308256479 + - 0.003960464180967673 + - -0.08998849921972384 + - - -0.5197150268518042 + - -0.016459385597945464 + - -0.8541811163273084 + - 0.9747689642970516 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9292180857220095 + - 0.04674340754116106 + - -0.36656350475540406 + - 0.012631492223725066 + - - 0.03285323304384925 + - -0.9984892485530383 + - -0.044044132441855274 + - -0.09387165462405511 + - - -0.36806849124271795 + - 0.028883808187807985 + - -0.9293499402156754 + - 0.9753134854989434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939399427437408 + - -0.02411227175465168 + - 0.10724732429948643 + - 0.05407275125304676 + - - 0.0005197762719700103 + - -0.9746037148692819 + - -0.22393599263098454 + - -0.09353905047473389 + - - 0.10992324618203596 + - 0.22263467230830666 + - -0.9686850275682897 + - 0.9718121687060604 + - - 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: + - - 0.9952403228602468 + - -0.0023986186191615414 + - -0.0974214882957121 + - 0.023663667364594014 + - - -0.008681430821345763 + - -0.9979045312276695 + - -0.06411847872633691 + - -0.03480062474383003 + - - -0.09706354883232915 + - 0.06465905338005917 + - -0.993175651284338 + - 0.9707847969926107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992994542364152 + - -0.01277751215275303 + - -0.035175786359213736 + - 0.09158305239421777 + - - -0.013193178110494454 + - -0.9998455600657705 + - -0.011610170890676117 + - -0.033977454410819646 + - - -0.03502200471343079 + - 0.012066117849257966 + - -0.9993136984880676 + - 0.9681651153657135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8793943013971612 + - 0.05674491549824908 + - -0.47270040959924625 + - 0.10004408239985435 + - - -0.0030000144388509925 + - -0.9921914783570078 + - -0.12468789110856736 + - -0.09020657455201661 + - - -0.4760847220648498 + - 0.11106792894815244 + - -0.8723572963961514 + - 0.9754767340412707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9219721254534623 + - 0.08909719460349586 + - -0.37686746980949676 + - 0.012631980686110461 + - - 0.0006530536080805935 + - -0.9735297089582658 + - -0.22855957493970888 + - -0.09400537997113767 + - - -0.38725569512637276 + - 0.210479442438976 + - -0.8976254402047487 + - 0.9764104512882632 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989812913595015 + - -0.0024381116519379452 + - 0.04506034981305919 + - 0.05408054020646548 + - - 0.010384986069689198 + - -0.9593170232216026 + - -0.2821400379626668 + - -0.0938208709125499 + - - 0.04391504956202304 + - 0.2823205705732676 + - -0.9583144389255278 + - 0.9728462340300883 + - - 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: + - - 0.995693344571126 + - -0.0029777362410970745 + - -0.09266011366085991 + - 0.023670685897194142 + - - -0.00839404415547971 + - -0.9982743827503152 + - -0.05811881594796333 + - -0.034794009864399345 + - - -0.09232715526583107 + - 0.058646311319262324 + - -0.9940001542098288 + - 0.9702428476584545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987630494052322 + - -0.008477040713770232 + - -0.04899500916929017 + - 0.091567540026959 + - - -0.01168477653143904 + - -0.997780230437743 + - -0.06555972654774571 + - -0.03404649581970968 + - - -0.048330499068104785 + - 0.06605112813829862 + - -0.9966450779146439 + - 0.9682098293743407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8729090171668298 + - 0.04291072893309575 + - -0.48599230147325345 + - 0.10002113317973255 + - - 0.006817774334570082 + - -0.9971002361117951 + - -0.07579338426884817 + - -0.09012110529572935 + - - -0.4878353879147782 + - 0.06284734273008512 + - -0.8706703427875587 + - 0.9750894205504604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9248307044518932 + - 0.04755022628572707 + - -0.377395209406785 + - 0.012612045715420184 + - - 0.0354559554432389 + - -0.9986125478208011 + - -0.03893397691548913 + - -0.09386687041242867 + - - -0.37872291101360905 + - 0.02262642956864678 + - -0.925233484780114 + - 0.9750928443712592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983395233115226 + - -0.006700551756023529 + - 0.05721275032968271 + - 0.05404045089099034 + - - 0.007662827027170169 + - -0.9689363219728925 + - -0.24719159581910272 + - -0.09361836338263 + - - 0.05709183195583611 + - 0.24721955134618262 + - -0.9672760806285444 + - 0.9715682803559146 + - - 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: + - - 0.9954079657245029 + - -0.0037125561439347787 + - -0.09565144378986275 + - 0.023668612137353242 + - - -0.007754672594640248 + - -0.9990907998940523 + - -0.04192181556197268 + - -0.03481966820511838 + - - -0.09540884039310547 + - 0.04247105477781604 + - -0.9945317303539902 + - 0.9701417270683361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8689934982802204 + - 0.048450333988624764 + - -0.4924457991323466 + - 0.10003085569467281 + - - 0.007726839242327779 + - -0.9964021638763997 + - -0.08439800813853807 + - -0.09015624028308429 + - - -0.49476317152959953 + - 0.06953627081473543 + - -0.8662413700229012 + - 0.9754911274195885 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9524623256159012 + - 0.0373166266754306 + - -0.30236234497026176 + - 0.01262521336467057 + - - 0.03985598988016519 + - -0.9992029446272445 + - 0.00223058712356017 + - -0.0938060844778861 + - - -0.3020381074517274 + - -0.014175500760472774 + - -0.9531904514970597 + - 0.9742812305097399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966735979091612 + - -0.008043857396075044 + - 0.08109892470926662 + - 0.05403171105206685 + - - 0.004886750628399791 + - -0.9874278213370671 + - -0.15799499143273388 + - -0.09362608047152306 + - - 0.08135022371882895 + - 0.15786574678417553 + - -0.984103931042434 + - 0.972114101259276 + - - 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: + - - 0.9970020451380865 + - -0.005683520184369932 + - -0.077166181639282 + - 0.023644739515309817 + - - -0.00761235362046696 + - -0.9996653135283049 + - -0.024724744704693536 + - -0.03472504860374796 + - - -0.07699983157663247 + - 0.025238037298275933 + - -0.9967116270067791 + - 0.9700033155407102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999778021312307 + - -0.009062477783078187 + - -0.01902050465364621 + - 0.09164332963272136 + - - -0.00995219310801194 + - -0.9988351468426698 + - -0.04721549834665748 + - -0.0339603930921748 + - - -0.01857045915396285 + - 0.04739431324762065 + - -0.9987036182564863 + - 0.9688866569365813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8672658574959204 + - 0.03509717219149677 + - -0.49660660580184224 + - 0.10006468371744859 + - - 0.015756213753384735 + - -0.9989472360631244 + - -0.04308319034150401 + - -0.09011599108663393 + - - -0.4975958944264146 + - 0.02953994018282774 + - -0.8669058298246538 + - 0.9758339660150316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9188186266142532 + - 0.06916155952948613 + - -0.38857304341673904 + - 0.012637500250168897 + - - 0.011841330973233345 + - -0.9889141582687668 + - -0.1480154399255691 + - -0.09397473682052981 + - - -0.39450236281609263 + - 0.13139812121574174 + - -0.9094517136569121 + - 0.9765852065266791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993421068915997 + - -0.016673808259190626 + - 0.11329856112031486 + - 0.05400815347176288 + - - 0.008480540309512046 + - -0.9759160657309122 + - -0.21798145123921878 + - -0.09352490413599555 + - - 0.11420446694353387 + - 0.21750819930851553 + - -0.9693541782876419 + - 0.9721042069867138 + - - 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: + - - 0.9966587522548349 + - -0.0037319441582653315 + - -0.08159291725778174 + - 0.023654338686687586 + - - -0.009117461445394878 + - -0.9977956467882152 + - -0.06573217741167915 + - -0.03477609556921006 + - - -0.08116774883306403 + - 0.06625647019943272 + - -0.9944957901902278 + - 0.9707870303678325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995800140856266 + - -0.011879582194450398 + - -0.026432384823619655 + - 0.09159467844191264 + - - -0.012235961472423512 + - -0.9998358552294081 + - -0.013362029955174803 + - -0.03390931064086044 + - - -0.026269310752739382 + - 0.013679843733132276 + - -0.9995612963635659 + - 0.9684385245889531 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.8463057613409413 + - -0.0032905724035659015 + - -0.5326872726604107 + - 0.0998725768869744 + - - 0.046959868911410095 + - -0.9956269217400001 + - 0.08075768333945361 + - -0.08990314461566189 + - - -0.5306235285331334 + - -0.0933606171776364 + - -0.8424502751659936 + - 0.9742036474856458 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9313351536774503 + - 0.040193613629089485 + - -0.3619382612380674 + - 0.01261047543026473 + - - 0.0384703684361404 + - -0.9991880528686329 + - -0.011969367442624758 + - -0.0938703729281503 + - - -0.3621254786354968 + - -0.0027764055943656912 + - -0.9321252218961714 + - 0.9753173739558658 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9845198474021248 + - -0.02318403518076665 + - 0.1737330440187872 + - 0.05406339016146405 + - - 0.012243538566161732 + - -0.9796950856414411 + - -0.20011905190008222 + - -0.09349300616089412 + - - 0.1748449765783272 + - 0.19914828566358755 + - -0.9642454015874683 + - 0.9726921663165777 + - - 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: + - - 0.9951610527059239 + - -0.0018496673454234578 + - -0.09823979798405849 + - 0.023651536815344775 + - - -0.009178396902330412 + - -0.9972010660720727 + - -0.07420101653633111 + - -0.03490304290461009 + - - -0.09782758408312373 + - 0.07474364558564738 + - -0.992392639652787 + - 0.9708382397614945 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9975550250188235 + - -0.009641336726331681 + - -0.06921717045519787 + - 0.09154859255857631 + - - -0.013005931415836862 + - -0.9987470156600464 + - -0.04832436712630301 + - -0.03407499749423854 + - - -0.06866453092901004 + - 0.04910644902943661 + - -0.9964304987584526 + - 0.9679309154732689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8470491739948875 + - 0.02367481803828534 + - -0.5309870053263385 + - 0.09997045162041712 + - - 0.02073230962112898 + - -0.9997189097493799 + - -0.011500992447852444 + - -0.09014243706796495 + - - -0.5311100339593976 + - -0.0012666808461468584 + - -0.8473019103880755 + - 0.9751084828114684 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.90083132520571 + - 0.05158725228525452 + - -0.43109358488590616 + - 0.012563559824805568 + - - 0.03073982168522451 + - -0.9980024717799251 + - -0.055191753767404345 + - -0.0938037495548705 + - - -0.4330796542102678 + - 0.036466720757681134 + - -0.9006176721485635 + - 0.9742897156210575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942189229286871 + - -0.013859364254675901 + - 0.10647371183995406 + - 0.05397289798032253 + - - 0.0005946664474556782 + - -0.9909084735099859 + - -0.1345364021294099 + - -0.09347476044967015 + - - 0.10737029227089602 + - 0.1338219531637699 + - -0.9851717135551022 + - 0.9705800503049021 + - - 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: + - - 0.9951117179254153 + - -0.0030131412349565442 + - -0.0987096237832312 + - 0.023652230066195764 + - - -0.008133231383983724 + - -0.9986394120454508 + - -0.051508982292137816 + - -0.034839473167517086 + - - -0.09842011681959853 + - 0.052060020067374056 + - -0.9937822874834317 + - 0.9706711531254524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999807193424417 + - -0.014671697614592541 + - -0.013050565730883364 + - 0.09160121302217517 + - - -0.014755045818798523 + - -0.9998712067456558 + - -0.006313362327018422 + - -0.034020240631619764 + - - -0.012956257163058468 + - 0.006504706764568161 + - -0.9998949065728021 + - 0.9682017999019263 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8627757125753415 + - 0.01935079749423926 + - -0.5052164055396942 + - 0.09990284844369182 + - - 0.02878880386300538 + - -0.9995263052506305 + - 0.010879792468643845 + - -0.09001266087925247 + - - -0.5047665545202547 + - -0.02393139670726087 + - -0.8629241065640653 + - 0.9743486443327152 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9498537281754071 + - 0.04382550185826222 + - -0.30960817246666994 + - 0.012619970896618067 + - - 0.034493077993641465 + - -0.9987722583409461 + - -0.03555564004558541 + - -0.09398968602877959 + - - -0.3107862973842386 + - 0.023093318414600456 + - -0.950199229637026 + - 0.9761066540203907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990764782558939 + - 0.0013102330537781608 + - 0.042947338510613844 + - 0.05394655990979533 + - - 0.011095384108338102 + - -0.9735016869895513 + - -0.22841050299841095 + - -0.09362667276127191 + - - 0.041510035500935266 + - 0.22867607814951577 + - -0.9726171745526956 + - 0.9713056817393861 + - - 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: + - - 0.9959829046522171 + - -0.0015923179793467142 + - -0.08952942624626452 + - 0.02366801056694471 + - - -0.008904868412023976 + - -0.996646818621664 + - -0.08133770497057408 + - -0.034816490036536335 + - - -0.089099702351339 + - 0.08180821141406444 + - -0.9926573727052724 + - 0.9707642761023437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996602216579227 + - -0.012845812365849507 + - -0.022680968663048844 + - 0.09162095129858917 + - - -0.013704308667962245 + - -0.9991795609769606 + - -0.03811032471421914 + - -0.03405327202010643 + - - -0.02217280223079687 + - 0.038408202646718514 + - -0.9990161043800466 + - 0.9685840011987485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8623676798876109 + - 0.029216848563591642 + - -0.5054387801161198 + - 0.09998152349132414 + - - 0.019874585761017742 + - -0.9995175556171716 + - -0.023867485286527632 + - -0.09010903758548472 + - - -0.5058922667189991 + - 0.010537161528932516 + - -0.8625323082069601 + - 0.9753410696464486 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9225992474777572 + - 0.05077444719438319 + - -0.3824036925365403 + - 0.012611599110042563 + - - 0.037189613975650807 + - -0.9983896044612259 + - -0.0428384210271416 + - -0.0938815492563511 + - - -0.3839629684824021 + - 0.02530124929447878 + - -0.923001779856529 + - 0.9753302275009799 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942248258040061 + - -0.01553564537641891 + - 0.10618681404831777 + - 0.05404537681571972 + - - 0.011378536975561935 + - -0.9686286414684725 + - -0.24825205703727138 + - -0.093604841282498 + - - 0.10671234535558495 + - 0.2480266087533332 + - -0.9628578694174083 + - 0.971954038819355 + - - 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: + - - 0.996327820696039 + - -0.004181192051961383 + - -0.08551836843688201 + - 0.02366927961898749 + - - -0.008441672512663034 + - -0.998737520540991 + - -0.04951871594481047 + - -0.034763772844441314 + - - -0.08520335599183071 + - 0.05005879240112063 + - -0.9951052735419862 + - 0.9703433115168383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994849283869038 + - -0.011060405307148009 + - -0.030125493553920073 + - 0.09158597777277926 + - - -0.012087088061323638 + - -0.9993448515996994 + - -0.034114071632867 + - -0.03396172949345745 + - - -0.029728441426073372 + - 0.03446062993643884 + - -0.998963805527888 + - 0.9683270281395164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8724615071193299 + - 0.04767114589467417 + - -0.486352115698242 + - 0.10003232056039142 + - - 0.00872159602757177 + - -0.9965910354285569 + - -0.08203805133088705 + - -0.09010364052819542 + - - -0.48860500648048966 + - 0.06733327522500375 + - -0.869903085228277 + - 0.9754665307394177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9471411621290162 + - 0.06902235294428069 + - -0.3133042192421479 + - 0.012663756017753046 + - - 0.013595232123612331 + - -0.9843400141206861 + - -0.17575524533962802 + - -0.09408093034075647 + - - -0.32052892016852685 + - 0.16220558373534152 + - -0.9332473198143542 + - 0.9772569757352867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992603636874459 + - 0.004508936089404323 + - -0.038188938955869486 + - 0.05400059313862661 + - - -0.0038814936798554278 + - -0.976203101335866 + - -0.2168235202856278 + - -0.09359351783609862 + - - -0.038257804041093385 + - 0.21681137986180632 + - -0.975463564666756 + - 0.9727855170359068 + - - 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: + - - 0.9922515904428588 + - -0.0025483390969888915 + - -0.12421870725242594 + - 0.02366724674894368 + - - -0.0076826484416547755 + - -0.9991348808146938 + - -0.040871345125037366 + - -0.034805489454495506 + - - -0.12400708921887925 + - 0.04150898586155453 + - -0.9914127525487084 + - 0.9709969553100728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.861956152719912 + - 0.05831881281815372 + - -0.5036174211241793 + - 0.10001614719592007 + - - 0.001540662335414493 + - -0.9936586102853008 + - -0.11242861097360554 + - -0.0901193074772868 + - - -0.5069804899084935 + - 0.09613262857826813 + - -0.8565800024368874 + - 0.9752908098214237 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9184033206711053 + - 0.06120278359424382 + - -0.39088305138570906 + - 0.01261002328416986 + - - 0.022723797166721137 + - -0.9944917179790878 + - -0.10232229431227473 + - -0.09396289453524899 + - - -0.3949923665371426 + - 0.08509078769948138 + - -0.9147352558123409 + - 0.9758274374611385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922708008434032 + - -0.015174480919701727 + - 0.1231600297272158 + - 0.0540538322643335 + - - 0.008452954008481837 + - -0.9819241916913397 + - -0.18908577244161204 + - -0.09359883367746874 + - - 0.12380309108467998 + - 0.18866535691569933 + - -0.9742064348677603 + - 0.9723226819719273 + - - 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: + - - 0.9979167163383044 + - -0.0025198766789515954 + - -0.0644660955394302 + - 0.023662910907548258 + - - -0.008499010544727655 + - -0.9956630817277792 + - -0.09264337269390531 + - -0.034866722631504435 + - - -0.06395306147743574 + - 0.09299826829497475 + - -0.993610249555528 + - 0.9703247050515638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994799002168561 + - -0.013219819439454978 + - -0.02941369470997679 + - 0.09159405627267023 + - - -0.013322923907807057 + - -0.9999057604110784 + - -0.0033120983211036422 + - -0.03399006463242376 + - - -0.02936713743370796 + - 0.0037022521159535728 + - -0.999561836290391 + - 0.9681887433623694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8587625715450002 + - 0.03080581649130157 + - -0.5114468177471851 + - 0.09990736792336347 + - - 0.02004752362459112 + - -0.9994467660111004 + - -0.026537873058600052 + - -0.09012199291721298 + - - -0.5119813888316056 + - 0.012536489949629519 + - -0.8589050552359111 + - 0.9748495494363845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9406230320942356 + - 0.039297662911215885 + - -0.3371705876608502 + - 0.012599683499463133 + - - 0.04265608189783957 + - -0.9990865477051336 + - 0.0025551657015401427 + - -0.09388909998530043 + - - -0.3367621863733685 + - -0.016785823910489803 + - -0.9414401021544995 + - 0.9748854609597797 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989587660009107 + - -0.005624790133715504 + - 0.04527411584878545 + - 0.054112232894248005 + - - 0.008972889374086091 + - -0.9487643726761689 + - -0.3158570125811313 + - -0.09378809648121189 + - - 0.04473109752977231 + - 0.31593437115380174 + - -0.9477260163345916 + - 0.9738864993848448 + - - 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: null + base_right_marker_pose: + - - 0.9990105101406735 + - -0.010402044480032811 + - -0.04324116209246135 + - 0.09160502337285248 + - - -0.012278067409609981 + - -0.9989845657749769 + - -0.04334843023761517 + - -0.03402218401791571 + - - -0.042746341237071626 + - 0.04383645530851844 + - -0.9981237976808426 + - 0.9685622909144106 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.16671304404735565 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8593213587246504 + - 0.0403717054563887 + - -0.5098401002649391 + - 0.10000478492163378 + - - 0.011325919726845013 + - -0.9981372450440161 + - -0.05994800745882275 + - -0.09012989276211412 + - - -0.5113105963912361 + - 0.04574019517322373 + - -0.8581779003001383 + - 0.9750963904264027 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9239090119535686 + - 0.06356042986638648 + - -0.37729591753182373 + - 0.0126189501413488 + - - 0.022760863648811334 + - -0.9934891220755969 + - -0.11163022620876406 + - -0.09397579207979878 + - - -0.3819346550353094 + - 0.09454859106649754 + - -0.9193402434411317 + - 0.9760902628602333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9937536726215641 + - -0.022354413704988342 + - 0.10933397614218231 + - 0.054093885639206224 + - - 0.017556725291091112 + - -0.9362131483182409 + - -0.35099387788549957 + - -0.0937360557284148 + - - 0.11020616837639453 + - 0.35072100180051097 + - -0.9299727841973872 + - 0.9733004439664041 + - - 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: + - - 0.9952276026031909 + - -0.003137369236216127 + - -0.09753038465514677 + - 0.023666646293110955 + - - -0.007804744993678838 + - -0.9988402224086012 + - -0.04751100982214468 + - -0.03478142262469152 + - - -0.09726821151994566 + - 0.04804546818391853 + - -0.9940978462981898 + - 0.9706770679836433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999395439676294 + - -0.013636071260391533 + - -0.031981443288390234 + - 0.09157208950368416 + - - -0.013801497254893 + - -0.9998924650733709 + - -0.004957515811472886 + - -0.033987811781253256 + - - -0.03191040312735296 + - 0.005395910495861359 + - -0.9994761679610827 + - 0.9681623362989049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8577924852397768 + - 0.04438878244691626 + - -0.5120758618203436 + - 0.09995079409294091 + - - 0.010403754548986066 + - -0.9975593095513428 + - -0.06904481022301247 + - -0.09013970569797616 + - - -0.5138908582154889 + - 0.05389860777726725 + - -0.8561606893114282 + - 0.9751950614351721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.956677833034815 + - 0.04827273991652285 + - -0.287118906310195 + - 0.01261274673272777 + - - 0.027989219925896532 + - -0.9968403180508407 + - -0.07433696170976509 + - -0.0939098937336161 + - - -0.2898001507034642 + - 0.06308028922929115 + - -0.9550061516885632 + - 0.9757163422164724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996991774026561 + - 0.003956508704277564 + - 0.024205386576661676 + - 0.05414003666531532 + - - 0.010761963800570252 + - -0.9575837692370524 + - -0.28795399811239925 + - -0.09373849269309263 + - - 0.022039392813956397 + - 0.2881278725368884 + - -0.9573382862038683 + - 0.9735517019614349 + - - 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: + - - 0.9978247357066065 + - -0.004875553079531112 + - -0.06574211583307615 + - 0.02368234633609305 + - - -0.008671394484522447 + - -0.9983033939398989 + - -0.05757725736584625 + - -0.03476821182420902 + - - -0.06534985638648888 + - 0.05802208743442257 + - -0.9961740980571706 + - 0.9705591385658572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996505170765679 + - -0.010798248872504431 + - -0.024129681511322932 + - 0.09161401705891514 + - - -0.011425565531773726 + - -0.9995963115241421 + - -0.026012889874245597 + - -0.033962753276313894 + - - -0.023839046978215536 + - 0.026279494070813876 + - -0.9993703457830599 + - 0.9685667392924298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.8662476176449144 + - 0.030442708242065006 + - -0.49868658137090344 + - 0.10004919701253896 + - - 0.02102124099071411 + - -0.9994788213460106 + - -0.02449883891126236 + - -0.09008110692478312 + - - -0.4991724875749068 + - 0.010739050036114424 + - -0.8664360913838952 + - 0.9756534504303134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9477051886071284 + - 0.05639514332501826 + - -0.3141249167074747 + - 0.01264635022888846 + - - 0.019322674911493167 + - -0.9925971921532618 + - -0.11990599803064517 + - -0.0939475500138184 + - - -0.3185616262536843 + - 0.10756580283162012 + - -0.9417792142215694 + - 0.9762263910779617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966751143491298 + - -0.012071918226286423 + - 0.08057906196703173 + - 0.053988970482259355 + - - 0.0024487665151225503 + - -0.984078433492054 + - -0.17771786707694925 + - -0.09340155296653502 + - - 0.08144151263147868 + - 0.17732429479956674 + - -0.9807769239200798 + - 0.9715201792769461 + - - 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: + - - 0.9966619286593176 + - -0.00464654859016378 + - -0.08150711347660713 + - 0.023654879325109904 + - - -0.007207213279775418 + - -0.9994887224848685 + - -0.03115043663105612 + - -0.03477722706864327 + - - -0.08132069870475225 + - 0.03163389340193302 + - -0.9961858464917107 + - 0.9699340567161658 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998766420096881 + - -0.01238146802370541 + - -0.009664368215676174 + - 0.09161618457041724 + - - -0.012626671735574376 + - -0.9995889942211064 + - -0.025737322955555614 + - -0.033996710871730215 + - - -0.009341730263300187 + - 0.025856176856110864 + - -0.9996220236639811 + - 0.9684766796513683 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8637741897263649 + - 0.043832185009335174 + - -0.5019690117127443 + - 0.10001435885118465 + - - 0.013207102714989434 + - -0.9978364331105025 + - -0.06440516435182363 + - -0.0902056924797322 + - - -0.5037059872588746 + - 0.04900196235475786 + - -0.8624842526591111 + - 0.9758690112603677 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9299060021277108 + - 0.06824735405528512 + - -0.36140991390844607 + - 0.012640428243047374 + - - 0.01598776761558726 + - -0.9892052914408813 + - -0.14566153463434203 + - -0.09396572002864201 + - - -0.36744961354385425 + - 0.12967339761807048 + - -0.9209590606843817 + - 0.9761818080521829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9917372001554449 + - -0.01730657099551796 + - 0.12711336840874002 + - 0.05399829390707478 + - - 0.011127861796016117 + - -0.9755182163667382 + - -0.21963692819857755 + - -0.09355028801157686 + - - 0.1278025685175683 + - 0.21923661221847834 + - -0.9672651194699814 + - 0.9715412744965998 + - - 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: + - - 0.9937385466382213 + - -0.0018200150234069959 + - -0.11171565902177898 + - 0.023646735925286592 + - - -0.008293351467318553 + - -0.9983106297647204 + - -0.05750745012784605 + - -0.034851921376598684 + - - -0.11142226548942243 + - 0.05807386713558645 + - -0.9920748483401455 + - 0.9708102109501906 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987901155846028 + - -0.01060738257606381 + - -0.04801862602554098 + - 0.09160566130254308 + - - -0.013252415301070453 + - -0.9983926346328651 + - -0.05510463319481066 + - -0.034059427733036225 + - - -0.047356926623079096 + - 0.05567432573216934 + - -0.9973252683829308 + - 0.9683222227090552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.8622116925269787 + - 0.04870376433419503 + - -0.5042012897736794 + - 0.0999814993029953 + - - 0.008770203808173546 + - -0.996653123844705 + - -0.08127505309598501 + - -0.09013272703410714 + - - -0.5064721915317028 + - 0.06565435301845018 + - -0.8597531187118799 + - 0.9753376484371199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9257057316200495 + - 0.06975563921960727 + - -0.3717567070583297 + - 0.012609085704925287 + - - 0.013596262926116057 + - -0.98834904476789 + - -0.15159586848210127 + - -0.09391250768246474 + - - -0.37800005301617706 + - 0.13527866241008824 + - -0.9158687915942457 + - 0.9751489643313828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991615039361357 + - -0.01277520622727815 + - 0.12859396493702588 + - 0.05404370546955877 + - - 0.01139238061061496 + - -0.9825849736115629 + - -0.18546423724477537 + - -0.09366657890244749 + - - 0.1287238415228407 + - 0.18537411830839265 + - -0.9742004972719877 + - 0.9715736361291183 + - - 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: + - - 0.9935709143839369 + - -0.0015671434222802594 + - -0.11320062787706507 + - 0.02365533451843515 + - - -0.008748859621151786 + - -0.9979768513916454 + - -0.0629734987256409 + - -0.03481411485161526 + - - -0.11287291768000478 + - 0.06355901311311338 + - -0.991574483489007 + - 0.9708631182391904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989409054878614 + - -0.007440087345828896 + - -0.0454060837705484 + - 0.09163224248186637 + - - -0.010730293904156044 + - -0.9972994810984457 + - -0.07265401429722115 + - -0.03407388322193763 + - - -0.044742911570684066 + - 0.07306428745328883 + - -0.9963230810149489 + - 0.9687554225627546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.8685450730674698 + - 0.03568794795527375 + - -0.49432360496031896 + - 0.09999274715780913 + - - 0.01971760002303008 + - -0.9991025991024229 + - -0.03748616699685155 + - -0.09009057044437238 + - - -0.49521780289036016 + - 0.0228115505287499 + - -0.8684693206227376 + - 0.9754207924832926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.935203298917102 + - 0.0404767510011988 + - -0.3517903101606928 + - 0.012598897552835959 + - - 0.04527671130036722 + - -0.998959756085043 + - 0.005424494108653563 + - -0.09394820193210514 + - - -0.3512047965338638 + - -0.021000913096781523 + - -0.936063113545614 + - 0.9755913575895079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955283080595487 + - -0.014158282137126018 + - 0.0933966321610028 + - 0.05406152232580676 + - - 0.009139211466329218 + - -0.9696300749756915 + - -0.24440538561253145 + - -0.09366911539292017 + - - 0.09402054385008546 + - 0.24416605159104737 + - -0.9651647924497525 + - 0.9727251224113231 + - - 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/data/testrig_collected_data_202204261559.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204261559.yaml new file mode 100644 index 0000000..3fb4802 --- /dev/null +++ b/stretch_camera_testrig/data/testrig_collected_data_202204261559.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: + - - 0.999894519279895 + - -0.012553946710662359 + - -0.00730402190669235 + - 0.023916097641310224 + - - -0.012776292722420507 + - -0.9994303728085986 + - -0.03123613695603337 + - -0.03452451299956911 + - - -0.0069077245384147135 + - 0.03132616046774483 + - -0.9994853450711771 + - 0.9680745129271944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994444383824284 + - -0.008083406435837326 + - -0.03233377687226559 + - 0.09184083141258217 + - - -0.00842306617585431 + - -0.9999106247217191 + - -0.010382414209551433 + - -0.03383344611879807 + - - -0.03224696175811874 + - 0.010648995681029278 + - -0.999423199824957 + - 0.9682694934633488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9806578320094618 + - 0.015458751777695734 + - -0.19511853707932952 + - 0.09981120218608461 + - - 0.008196227211073853 + - -0.9992451221231043 + - -0.037973777435063694 + - -0.08964539465664817 + - - -0.1955582736117461 + - 0.03564004638968486 + - -0.980044258549243 + - 0.9710474140588305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989972261368789 + - 0.021116621157376066 + - 0.03947949444607224 + - 0.012889756529672032 + - - 0.021054637212716526 + - -0.9997763556241577 + - 0.0019851918595958154 + - -0.09300648434699296 + - - 0.03951258562360205 + - -0.001151974728182224 + - -0.9992184088233982 + - 0.9688330573395174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899497087234497 + - -0.0017693255709457217 + - 0.14140878220740472 + - 0.054169582432119265 + - - -0.019421143853129826 + - -0.9921487534161557 + - 0.12354622724391259 + - -0.09292220629658558 + - - 0.1400799534901167 + - -0.1250508719753383 + - -0.9822117317810934 + - 0.9691284466161959 + - - 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: + - - 0.9998712184148355 + - -0.011488952788251211 + - -0.011204934156955785 + - 0.023906818743702506 + - - -0.01159736845612093 + - -0.9998860938744928 + - -0.009659209144683222 + - -0.03457217431362919 + - - -0.0110926836484843 + - 0.009787912966362926 + - -0.999890568577 + - 0.9686063877597961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9932332949736127 + - 0.012437708668534182 + - -0.11546828637741659 + - 0.09973285786105465 + - - 0.004252137504439389 + - -0.9974766681103614 + - -0.0708675941604868 + - -0.08961817746279933 + - - -0.11605835205836658 + - 0.06989706702379431 + - -0.9907799245740537 + - 0.9705307311693332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972274406115916 + - 0.013584779297538874 + - 0.07316341614968307 + - 0.0129322408311704 + - - 0.02468935469380016 + - -0.9879040905146712 + - -0.1530880260150477 + - -0.09322166395603335 + - - 0.07019877104378876 + - 0.15446993790319638 + - -0.9855004671881816 + - 0.9708043814022926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999954831423212 + - -0.0029412629053209983 + - 0.0006186012264618686 + - 0.054211833230040155 + - - -0.0029579357438749864 + - -0.9995766666089366 + - 0.02894370721075937 + - -0.09298382875748232 + - - 0.0005332082995454761 + - -0.02894540625883216 + - -0.9995808517300743 + - 0.9697544119792585 + - - 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: + - - 0.999921548167364 + - -0.012507166225358107 + - -0.0006843271097647483 + - 0.023914285643018434 + - - -0.012525262132901702 + - -0.9989192586943187 + - -0.04475971869990238 + - -0.03454487153017015 + - - -0.00012377028721067938 + - 0.04476477859437656 + - -0.9989975471833312 + - 0.9684265894466861 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992293306005633 + - -0.009387064657808926 + - -0.03811335572552437 + - 0.09180245313588806 + - - -0.009679851501177058 + - -0.9999249868221077 + - -0.007504745413550356 + - -0.033861107534993086 + - - -0.038040049191153884 + - 0.007867893359544182 + - -0.9992452406249513 + - 0.9679227566587556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.984801008663894 + - 0.016711016860792162 + - -0.17288063873683307 + - 0.09976347829840478 + - - 0.0037495224254038883 + - -0.997174215696489 + - -0.07503015814773245 + - -0.08961216157620869 + - - -0.17364594557938418 + - 0.0732415555922365 + - -0.9820808317640006 + - 0.9710283747205988 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996575674832342 + - 0.022853532541034994 + - 0.01274612976157673 + - 0.012890422935777867 + - - 0.022566681441886272 + - -0.9994985569637422 + - 0.02221214793974523 + - -0.09299059964841568 + - - 0.013247364349315803 + - -0.021916903928077002 + - -0.9996720245460526 + - 0.9687752037052171 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987701287085986 + - -0.005812137776480902 + - 0.04923869468087606 + - 0.054266184990218486 + - - -0.006304328594114263 + - -0.9999316474490362 + - 0.00984661722797011 + - -0.0930790251134415 + - - 0.04917809919452726 + - -0.010144924066937521 + - -0.998738501848852 + - 0.9707738955925007 + - - 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: + - - 0.9999124219251125 + - -0.010705782911957817 + - -0.007780404365941085 + - 0.02393764569135836 + - - -0.011109649736836666 + - -0.998486375293878 + - -0.053865889347700174 + - -0.03459720721794883 + - - -0.007191951235953154 + - 0.05394760944412556 + - -0.9985178672776389 + - 0.9685905340639864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994261124263162 + - -0.012973962703244864 + - -0.031290926675238626 + - 0.09179614388751313 + - - -0.012011555922396468 + - -0.9994549000355153 + - 0.030751021435409955 + - -0.03388549562667927 + - - -0.031672832597408954 + - -0.03035752109070685 + - -0.9990371627664727 + - 0.9680722394459095 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9981054528898063 + - 0.015778252489838947 + - 0.05946891339180056 + - 0.012907463800486347 + - - 0.02166687680115955 + - -0.9947801203196311 + - -0.09971488688527275 + - -0.09303918818344162 + - - 0.057585166156901554 + - 0.10081447795443993 + - -0.9932373279702364 + - 0.9694634542845383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999533801431593 + - -0.003303158608570123 + - 0.00907340528562077 + - 0.054217370449462905 + - - -0.003953814544087415 + - -0.9973493039332532 + - 0.07265489174451083 + - -0.0930081557393818 + - - 0.008809363814797563 + - -0.07268737914564159 + - -0.9973158677280315 + - 0.9702245770317491 + - - 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: + - - 0.9998539041385232 + - -0.012586405956581026 + - -0.011565153005862486 + - 0.023912211141637944 + - - -0.013087011844015119 + - -0.99893338413344 + - -0.04428119448149456 + - -0.03455423474567995 + - - -0.010995476340180832 + - 0.04442607847660514 + - -0.9989521625439545 + - 0.9687635983086155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997838555632218 + - -0.010828730662112915 + - -0.01774769696006713 + - 0.0918052739971475 + - - -0.010730224522057064 + - -0.9999265449332689 + - 0.005636223870812317 + - -0.03380230284236358 + - - -0.017807426452051002 + - -0.005444568859247255 + - -0.9998266110846881 + - 0.9680593206940259 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9823224948744496 + - 0.014177832457581953 + - -0.1866587933381167 + - 0.09980194381807855 + - - 0.0024206300657971342 + - -0.9980064549200464 + - -0.06306549363959668 + - -0.08968297859363636 + - - -0.18718081262170433 + - 0.06149882116533768 + - -0.9803985099853795 + - 0.9714550706737316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985163333078814 + - 0.02540205121264887 + - 0.04816500712731 + - 0.012752742122393839 + - - 0.027817006575256386 + - -0.9983542257826196 + - -0.05015031412841034 + - -0.09307694150048897 + - - 0.04681181755257962 + - 0.05141571409769638 + - -0.9975796098964973 + - 0.9693386269050381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980361626596297 + - -0.005370072065705493 + - 0.06240977767666148 + - 0.05424345984006348 + - - -0.009343960467836287 + - -0.997934412286455 + - 0.0635578411941729 + - -0.09306960227898509 + - - 0.061939554619134106 + - -0.06401617842777962 + - -0.9960248091654577 + - 0.9708504667297408 + - - 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: + - - 0.999890252282673 + - -0.012983835381242866 + - 0.007134662492741518 + - 0.02390591707926305 + - - -0.012611335838737716 + - -0.9986703850761761 + - -0.04998415929237382 + - -0.03454600504877003 + - - 0.007774162234936722 + - 0.049888696020196965 + - -0.9987245267895197 + - 0.9678978239545011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993313740357613 + - -0.011406063958678799 + - -0.03473768231715783 + - 0.0918084894204315 + - - -0.010271367250411717 + - -0.9994134188983363 + - 0.03266982002929597 + - -0.03379970190584738 + - - -0.03508993990596764 + - -0.03229117264686972 + - -0.9988623410092538 + - 0.9680919223954995 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.986945702429145 + - 0.016264012204531 + - -0.1602300295314593 + - 0.09977748144887727 + - - 0.005352420026086535 + - -0.9976506656378623 + - -0.06829715186005311 + - -0.08962090838409237 + - - -0.16096438132862126 + - 0.06654796209758548 + - -0.9847140888014922 + - 0.9708182091910991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972029496570565 + - 0.022198222372436682 + - 0.07136887359886053 + - 0.01279577709685766 + - - 0.029296576775488983 + - -0.9945554997644754 + - -0.10000534224466531 + - -0.09316326023436536 + - - 0.0687603649241637 + - 0.10181648595261286 + - -0.9924240098887962 + - 0.9696927373490214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997730862706452 + - -0.007547728171546369 + - 0.019920034345287184 + - 0.05421849354796268 + - - -0.010427525102087146 + - -0.9888301793416441 + - 0.1486813476647856 + - -0.09304901759156581 + - - 0.018575324737789056 + - -0.14885532648387143 + - -0.9886845043229237 + - 0.9702975528053143 + - - 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: + - - 0.9998726213358157 + - -0.012657920069391777 + - -0.009722045184093349 + - 0.02391677632549052 + - - -0.013000952789265111 + - -0.9992646560992912 + - -0.03607107286092238 + - -0.03452751746768095 + - - -0.009258311380374041 + - 0.03619287402629915 + - -0.999301936123463 + - 0.9680272922681177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997047864959305 + - -0.008526921827169562 + - -0.022751515582026535 + - 0.09182400583669856 + - - -0.008787819391889964 + - -0.9998964926180347 + - -0.01139202705792061 + - -0.03381949439425281 + - - -0.022652021708037002 + - 0.011588600187521008 + - -0.9996762427197281 + - 0.9680579490038828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9737076391302927 + - 0.011980674550420829 + - -0.22748603679485185 + - 0.09983641982837699 + - - 0.0074120697739162664 + - -0.9997535367835193 + - -0.020926703288165285 + - -0.08968029773230671 + - - -0.2276806858760277 + - 0.018690348476184424 + - -0.9735564576093471 + - 0.9715597091509477 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995445708747066 + - 0.01934727746130432 + - 0.023158879284933105 + - 0.012890594149354036 + - - 0.021592378371568136 + - -0.9946535796201725 + - -0.10098527489211803 + - -0.0931102841822159 + - - 0.021081272047906274 + - 0.10143933854088813 + - -0.9946183391458403 + - 0.9698648402118994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922831790721827 + - -0.0031127097906139614 + - 0.1239532313744266 + - 0.054239407743628 + - - -0.024527682133848393 + - -0.9848578753486217 + - 0.1716198070530902 + - -0.0929881185149852 + - - 0.12154211344033644 + - -0.17333573319301027 + - -0.9773342510415248 + - 0.9700650600925083 + - - 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: + - - 0.9998634604721254 + - -0.013454371309169119 + - 0.009593763879807572 + - 0.02394936986829895 + - - -0.013259435221229283 + - -0.9997100247793732 + - -0.020101087862079425 + - -0.03455345146921798 + - - 0.009861429425824533 + - 0.019971135378340894 + - -0.9997519222093947 + - 0.9684278296699474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991439910433055 + - -0.007921226783053532 + - -0.04060220841661813 + - 0.09176538762069716 + - - -0.007776403497624474 + - -0.9999628305634068 + - 0.0037235789587091125 + - -0.033799106256096285 + - - -0.040630194568783376 + - -0.0034046523862272314 + - -0.9991684520797443 + - 0.9677183848022728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9925692743189496 + - 0.013190835378093234 + - -0.12096378606831831 + - 0.09973092971253224 + - - 0.002299575896236635 + - -0.9959627194450116 + - -0.08973836095223978 + - -0.08963115742992092 + - - -0.12165914527338784 + - 0.08879337440217636 + - -0.9885923270153494 + - 0.9705611930756088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983059331411558 + - 0.01706725322206505 + - 0.05562349074464985 + - 0.012892161931758562 + - - 0.018979903938981704 + - -0.9992402068148621 + - -0.03404074516015237 + - -0.09298789752411322 + - - 0.05500024637793238 + - 0.03503880637301048 + - -0.9978713619231294 + - 0.9689527340817721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996697365478266 + - -0.004210311637265626 + - 0.08109645445147944 + - 0.05417985213197136 + - - -0.005368421923616101 + - -0.999886630542327 + - 0.014067910604006015 + - -0.0930115542988795 + - - 0.081028030302691 + - -0.014456809420801416 + - -0.9966069731677764 + - 0.9698020858709759 + - - 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: + - - 0.9998798489445999 + - -0.01356686540050771 + - 0.007498522369673311 + - 0.02396334840979238 + - - -0.01336948779444524 + - -0.9995783994371314 + - -0.025773633325885607 + - -0.03455943376195139 + - - 0.007845028402635902 + - 0.025670285193342288 + - -0.999639681078865 + - 0.9682530436053315 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997873001991099 + - -0.007970726786622383 + - -0.019021615995178997 + - 0.09180770885400084 + - - -0.008286229929268973 + - -0.9998284417719977 + - -0.01656579057393315 + - -0.033829334977831506 + - - -0.01888631128977589 + - 0.016719884517338805 + - -0.9996818257363658 + - 0.9681663932208061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9746848523686366 + - 0.021445419461214955 + - -0.22255231418087215 + - 0.09983142822374914 + - - 0.005621240075228549 + - -0.9974251551623792 + - -0.07149448586654757 + - -0.0897017951275185 + - - -0.22351250574217482 + - 0.06843357241469912 + - -0.9722957399595135 + - 0.9715949239553758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9919497560260787 + - 0.012571191744403147 + - 0.12600653418743105 + - 0.012874951907256557 + - - 0.027509379302679465 + - -0.9926890913730646 + - -0.1175227719180517 + - -0.0931153585531698 + - - 0.12360791062947422 + - 0.12004304647519796 + - -0.9850435276792447 + - 0.9700706561942765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984568535169688 + - -0.004838026944365353 + - 0.05532183258244357 + - 0.054307309078643534 + - - -0.004794234333509658 + - -0.9999880804360008 + - -0.0009242851718312313 + - -0.09317491515028581 + - - 0.055325644886885114 + - 0.0006576330352595779 + - -0.9984681469814861 + - 0.9717586306295063 + - - 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: + - - 0.9999264933494214 + - -0.011920133382162277 + - -0.002217728135035796 + - 0.0239115639975792 + - - -0.011998090157646444 + - -0.999155744821075 + - -0.039291772976174665 + - -0.034554524305513826 + - - -0.0017474926318747038 + - 0.0393154932716572 + - -0.9992253190638773 + - 0.9684866344353219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993753751871276 + - -0.009777529746770377 + - -0.03395967287296733 + - 0.09181548607133512 + - - -0.009838071070308827 + - -0.999950299056711 + - -0.0016160983909909703 + - -0.03384065972955095 + - - -0.033942183595100144 + - 0.0019491866110846055 + - -0.9994218973208218 + - 0.967971277674431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9980608189782131 + - 0.01941191931922035 + - 0.05914202405128494 + - 0.012911153352437027 + - - 0.024961188299576456 + - -0.9952037740304932 + - -0.09458534365395295 + - -0.09306606902438186 + - - 0.0570222824798497 + - 0.0958781807493622 + - -0.9937584383324658 + - 0.969754016278781 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997947887664417 + - -0.006231213016298818 + - -0.019275692978771075 + - 0.05427016172086402 + - - -0.004343166502756718 + - -0.995325004834438 + - 0.09648456693199874 + - -0.09314095713971646 + - - -0.01978679509662109 + - -0.09638104967093646 + - -0.9951478161580484 + - 0.9713840819368678 + - - 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: + - - 0.9998807265045268 + - -0.01278275872782658 + - -0.008667978085228645 + - 0.02393469659465971 + - - -0.012935380273533354 + - -0.9997581342275643 + - -0.017786202039730924 + - -0.03451650241180003 + - - -0.00843852486865535 + - 0.017896204209977538 + - -0.9998042394253565 + - 0.9681566255632051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996868479342239 + - -0.009856232154698136 + - -0.023001320724005785 + - 0.09182307987008645 + - - -0.009658059514290291 + - -0.9999154170193638 + - 0.008710952497329033 + - -0.033794968087216395 + - - -0.023085232373842593 + - -0.008486076520099892 + - -0.9996974835176596 + - 0.9681897900244653 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9823119838681688 + - 0.012331524961567163 + - -0.18684512260453842 + - 0.09984064223784471 + - - 0.006550686018258069 + - -0.9994814934564421 + - -0.031525113017570994 + - -0.08964837995525181 + - - -0.18713699490392846 + - 0.029743532577733125 + - -0.9818834286248672 + - 0.9712907726723491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998743081409281 + - 0.024932182749884027 + - 0.043481531716589465 + - 0.012776905963805997 + - - 0.030747030663842677 + - -0.9898633332057978 + - -0.1386549735136256 + - -0.09317812202198696 + - - 0.03958380277905483 + - 0.1398176234887215 + - -0.9893857461675475 + - 0.9700278732119546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9820987279159635 + - -0.0146624460815354 + - 0.1877953708182188 + - 0.054345095956305 + - - -0.007326024158186522 + - -0.9991847583253607 + - -0.039700731735383535 + - -0.09320825605895824 + - - 0.18822438204409092 + - 0.03761424471124322 + - -0.9814054975385675 + - 0.9720505245004845 + - - 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: + - - 0.9999256513771008 + - -0.011546295561531387 + - 0.00392106833484417 + - 0.023941793066088096 + - - -0.011345428360437554 + - -0.9987888368024644 + - -0.04787630660461225 + - -0.0345747529651543 + - - 0.004469113267633333 + - 0.04782826086725734 + - -0.9988455758970028 + - 0.9683891483483701 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986524307637504 + - -0.014065371076031612 + - -0.04995485828371567 + - 0.09174647704045592 + - - -0.010289653052686806 + - -0.9971265972352596 + - 0.07505113007868301 + - -0.033753475895410945 + - - -0.05086693985004323 + - -0.07443597532460765 + - -0.9959276278966088 + - 0.9673742410402192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9827819751147087 + - 0.007876960922878993 + - -0.18460103704002245 + - 0.09975942982164401 + - - 0.008022283991936436 + - -0.9999678201479414 + - 4.035006088812839e-05 + - -0.08960995718790692 + - - -0.18459477877010777 + - -0.0015205772568766705 + - -0.9828135405536602 + - 0.9707253681314485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987786214573041 + - 0.01643021858373675 + - 0.04659735225458422 + - 0.012873420648195757 + - - 0.021267478574531394 + - -0.9942138514127534 + - -0.10529250692286328 + - -0.0930638446534218 + - - 0.044597754146694674 + - 0.10615491310490531 + - -0.9933489692694913 + - 0.9698202814968545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972619525726263 + - -0.0057914517276802 + - 0.07372283932350175 + - 0.05419211214396385 + - - -0.016287910271470966 + - -0.9896484545188005 + - 0.1425855548347677 + - -0.09299179207872152 + - - 0.07213391664135128 + - -0.14339593981503096 + - -0.987033080759983 + - 0.9697828884116904 + - - 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: + - - 0.9999264238811647 + - -0.01190755371343477 + - -0.002314516966241319 + - 0.023923976705590717 + - - -0.011945463750052685 + - -0.9997820700322256 + - -0.01712069910591284 + - -0.034544515398093945 + - - -0.00211014691941824 + - 0.017147087409839997 + - -0.9998507511990672 + - 0.9685055194741836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997002329325969 + - -0.01051014307999463 + - -0.022112918553403835 + - 0.09181013919312482 + - - -0.010351847426605628 + - -0.9999200564626709 + - 0.007260849712391855 + - -0.033880180826326996 + - - -0.022187463337833575 + - -0.007029763589744924 + - -0.9997291127573035 + - 0.9682079198399022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9777941182129998 + - 0.025122959501027275 + - -0.2080564810189098 + - 0.09986222117200101 + - - 0.004577394167854824 + - -0.9951118392031407 + - -0.09864823840482487 + - -0.08972702712558661 + - - -0.20951780318315275 + - 0.09550531076151114 + - -0.9731295010252508 + - 0.9716873561732627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963281612528055 + - 0.016041466049031165 + - 0.08410033568066863 + - 0.012733228062702395 + - - 0.022484278694155084 + - -0.9968366921528072 + - -0.07623035084173904 + - -0.09294509650150873 + - - 0.08261145384392488 + - 0.07784138067152227 + - -0.9935371493552447 + - 0.9692394405165394 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883028566933465 + - -0.007562769259575319 + - 0.15231634177886827 + - 0.05430688834390305 + - - -0.012620944510782679 + - -0.9993995332382961 + - 0.03226894362590399 + - -0.09312132231196055 + - - 0.15198083830347275 + - -0.03381386526563397 + - -0.9878048629685781 + - 0.9712257213871417 + - - 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: + - - 0.999925270515004 + - -0.012218668031469395 + - -0.0003969093508788237 + - 0.02393329109930298 + - - -0.012225112621305115 + - -0.9993911316100473 + - -0.03267893328408785 + - -0.034581427500955234 + - - 2.6253520994084904e-06 + - 0.032681343465748254 + - -0.9994658222182395 + - 0.9684602134406304 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995442758314667 + - -0.011780124839225229 + - -0.027793332137783372 + - 0.09180441716500384 + - - -0.011261096717833938 + - -0.999760638615993 + - 0.018757749727884233 + - -0.033865747750089444 + - - -0.028007648120834117 + - -0.018436217966671473 + - -0.9994376806553901 + - 0.96807849759672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9847633119189614 + - 0.017931637836265956 + - -0.1729730495276866 + - 0.09973840231143766 + - - 0.006188993927905028 + - -0.9976532235099478 + - -0.06818901652297951 + - -0.0896242680225455 + - - -0.17378986119034356 + - 0.06607951259444803 + - -0.98256327132797 + - 0.9707902083585238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972679218501949 + - 0.02506460729671367 + - 0.06948710318940617 + - 0.012757764416788556 + - - 0.030025698729600786 + - -0.9970031567490029 + - -0.07129630318834052 + - -0.0930412458150087 + - - 0.06749184739205842 + - 0.07318791494219556 + - -0.995031848556629 + - 0.9691617821241318 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995827279288015 + - -0.006351314928791058 + - 0.02817855257267158 + - 0.05423619028667244 + - - -0.004960249225765283 + - -0.9987783913659837 + - -0.049164223455646285 + - -0.09301844404704179 + - - 0.02845638687595098 + - 0.0490039359547143 + - -0.9983931331429083 + - 0.9698901616009746 + - - 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: + - - 0.9997085276288076 + - -0.010821990246333603 + - -0.02158111010467598 + - 0.023913051453981496 + - - -0.012248045832316309 + - -0.9976723761986818 + - -0.06708066147083006 + - -0.034538946857376226 + - - -0.020804931134982555 + - 0.06732543573704433 + - -0.9975141304980518 + - 0.9682685789877938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994999629010525 + - -0.009825650395144853 + - -0.030054629512059026 + - 0.09179463126516887 + - - -0.009643286826618226 + - -0.9999342399160641 + - 0.006206678875418262 + - -0.03379717992739226 + - - -0.030113637773844446 + - -0.0059137498928667695 + - -0.9995289872646167 + - 0.9679472034606068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9741577286342789 + - 0.021424605332014197 + - -0.2248504081127499 + - 0.09982240573905878 + - - 0.0060414826925025734 + - -0.9976065748720518 + - -0.06888121847738969 + - -0.08970513500662716 + - - -0.2257879984166097 + - 0.06574274148848015 + - -0.9719555914302876 + - 0.9714767067788865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955934006178471 + - 0.019659894151176704 + - 0.09169116210494674 + - 0.012891332559323315 + - - 0.023174054634497256 + - -0.9990308792133972 + - -0.03742012252656794 + - -0.09298474229062006 + - - 0.09086662664580669 + - 0.03938008303788286 + - -0.9950841498194715 + - 0.9688698432687924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929551347562492 + - -0.003372671879491416 + - 0.11844292062251857 + - 0.05431504693878166 + - - -0.018756742385345526 + - -0.9914654529602004 + - 0.12901333342533047 + - -0.09313178750032705 + - - 0.11699694430321131 + - -0.13032605522618643 + - -0.9845439727878553 + - 0.9713784794747135 + - - 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: + - - 0.9998760642666119 + - -0.012839950506453623 + - -0.009109982310736866 + - 0.02391611470364634 + - - -0.013015278894513102 + - -0.9997260183407418 + - -0.019454839188887355 + - -0.034550246425992706 + - - -0.008857687170371227 + - 0.019570996999622853 + - -0.9997692321003049 + - 0.9685569579043927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999124107072356 + - -0.01166977329853012 + - -0.006243981486656606 + - 0.09178143591940177 + - - -0.011450164473972997 + - -0.99935211473989 + - 0.034121027218255294 + - -0.03380529260598347 + - - -0.006638120755437015 + - -0.034046543966618194 + - -0.9993982030185794 + - 0.9679841469842716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9857050858336122 + - 0.005683288433544394 + - -0.1683840372313612 + - 0.0997529025232877 + - - 0.008200937855184966 + - -0.9998646867821697 + - 0.014260180373650094 + - -0.08962089385611183 + - - -0.16828020792727433 + - -0.015437239344351102 + - -0.9856183152018728 + - 0.9708595405633259 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964861224073422 + - 0.013982390964020411 + - 0.08258268942404622 + - 0.012890585841289794 + - - 0.020659062536697925 + - -0.9965359846186207 + - -0.0805557849896721 + - -0.09304563039933314 + - - 0.08117025923750644 + - 0.081978802767098 + - -0.9933231422413306 + - 0.9694405374865718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988174348491926 + - -0.004772486029474735 + - 0.048383418837216065 + - 0.05423268481300485 + - - -0.012892469069383784 + - -0.9855425808226218 + - 0.16893669117980709 + - -0.09304901994873285 + - - 0.04687767147133045 + - -0.169360694266955 + - -0.9844386416404232 + - 0.9703423934765509 + - - 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: + - - 0.9996956641991951 + - -0.011059194423284993 + - -0.022051603117194948 + - 0.023931091216725247 + - - -0.012686030036075832 + - -0.9970987757765317 + - -0.07505395383898876 + - -0.03456936166259258 + - - -0.021157590204323406 + - 0.07531085953333196 + - -0.9969356201947527 + - 0.9686357401923169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996247272264212 + - -0.008604834543832839 + - -0.026006951762486238 + - 0.09180603820408112 + - - -0.008852356058979938 + - -0.9999164705670981 + - -0.009417413702403954 + - -0.03383610306011678 + - - -0.02592374412981401 + - 0.009644102400454158 + - -0.9996174021990519 + - 0.968006032580313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9976517124176784 + - 0.029239139622758172 + - 0.0619365273824319 + - 0.01276061094008232 + - - 0.02877075052742289 + - -0.9995503958048407 + - 0.008440981013797557 + - -0.09306051674980806 + - - 0.062155487482302624 + - -0.0066391987850454 + - -0.9980443960141905 + - 0.9690492750502152 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860087875150159 + - -0.008122497353537001 + - 0.16649533320760107 + - 0.05437456750800168 + - - -0.018183265574269792 + - -0.9980928518190809 + - 0.0589917621427734 + - -0.09325667965377403 + - - 0.16569864150385755 + - -0.06119382472436056 + - -0.9842760161760421 + - 0.9724149161183702 + - - 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: + - - 0.9999098849697633 + - -0.011440019922570589 + - -0.007024804903048928 + - 0.023915597842935538 + - - -0.011675192765869698 + - -0.9993398512553976 + - -0.034402784287321346 + - -0.03457201231102209 + - - -0.006626598949272247 + - 0.034481700030760794 + - -0.9993833601523263 + - 0.9680008268193887 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994997676487881 + - -0.010519931198243333 + - -0.029825249665387063 + - 0.0917711852501818 + - - -0.010491723437142797 + - -0.9999443529999102 + - 0.0011021083927279824 + - -0.03386551680086192 + - - -0.02983518408418076 + - -0.0007886388115224209 + - -0.9995545206938379 + - 0.9679878966812212 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9802916851212796 + - 0.015394087927815898 + - -0.19695490382052597 + - 0.09986630084823168 + - - 0.007140332052171949 + - -0.9990688846701723 + - -0.04254855276132057 + - -0.08969550156786078 + - - -0.197426512252703 + - 0.04030366907328447 + - -0.9794888394050055 + - 0.9716592591463179 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971982685330075 + - 0.028006177320634342 + - 0.06936329913330946 + - 0.012772023487043486 + - - 0.03036678873113118 + - -0.9989867948674169 + - -0.0332150842642985 + - -0.09310266768267782 + - - 0.06836279234298895 + - 0.03522836516801187 + - -0.9970383597989892 + - 0.9694234891587771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959647568037822 + - -0.009423566380885026 + - 0.08924908739840401 + - 0.054304036769693115 + - - -0.008867031558900881 + - -0.9999387063291684 + - -0.006630183714210294 + - -0.09317236360552728 + - - 0.08930609697056724 + - 0.005812054835923101 + - -0.9959872695283155 + - 0.9714123219860973 + - - 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: + - - 0.999916146662246 + - -0.012828866580893742 + - 0.001766303024786763 + - 0.023912364768914517 + - - -0.01275567451834648 + - -0.99924899083714 + - -0.03658889283019259 + - -0.03455628211166054 + - - 0.002234370539491921 + - 0.036563294342919106 + - -0.9993288413205562 + - 0.9685191300937104 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993744896842796 + - -0.006583217517238688 + - -0.03474608777123923 + - 0.09182213276771967 + - - -0.008058329887651297 + - -0.9990645545467057 + - -0.04248622327077898 + - -0.03383347427450402 + - - -0.03443388865213635 + - 0.04273964313741304 + - -0.9984926791002421 + - 0.9681877241773685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9674315604488221 + - 0.02349939883118841 + - -0.25203958836287965 + - 0.09988981512465528 + - - 0.005148702087494385 + - -0.9973023337720899 + - -0.07322257793574692 + - -0.08976672129404778 + - - -0.2530803562396168 + - 0.06954015607772994 + - -0.9649427444042019 + - 0.9722839602383921 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997234988160754 + - 0.02343890909536152 + - -0.0018824068009008605 + - 0.01268728130113925 + - - 0.02346083015265046 + - -0.9996451264755107 + - 0.01261786678913506 + - -0.09291277232234568 + - - -0.0015859897519169847 + - -0.012658540760263388 + - -0.9999186196797853 + - 0.9688448504946551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9728454817925911 + - -0.008817875739393063 + - 0.23128751289939042 + - 0.054296488419921365 + - - -0.014111636109180346 + - -0.9996747276865676 + - 0.021243835602585533 + - -0.09310951647232699 + - - 0.23102495597242984 + - -0.023930814700553478 + - -0.9726534767458066 + - 0.9707559407052666 + - - 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: + - - 0.9999196711875807 + - -0.011593722373503434 + - -0.00512218446042423 + - 0.023919986920595104 + - - -0.01171158934320645 + - -0.9996525524526626 + - -0.023613831750352473 + - -0.03457880786445331 + - - -0.004846632560508235 + - 0.023671923800231937 + - -0.9997080324656897 + - 0.9678686689418141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996268146834855 + - -0.01129230733760147 + - -0.024873985622364543 + - 0.09183451382239018 + - - -0.010678037771276525 + - -0.9996380973991783 + - 0.024691167196117032 + - -0.033788508776040685 + - - -0.02514380391077766 + - -0.024416347457074043 + - -0.9993856268236763 + - 0.9681991647145805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9818861733054447 + - 0.012775712723149698 + - -0.18904053490192507 + - 0.09980035054327631 + - - 0.006283852084030726 + - -0.9993710288712018 + - -0.03490071426064004 + - -0.08966411133605279 + - - -0.18936751536252572 + - 0.03308062601179686 + - -0.9813488759396897 + - 0.9712486474329975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998855481249447 + - 0.01887065428328094 + - 0.04395026717616976 + - 0.012906806324060075 + - - 0.025716849689437236 + - -0.9866461495698561 + - -0.16083537913353607 + - -0.09318738750240158 + - - 0.040328293045784946 + - 0.1617815624411456 + - -0.9860022083312568 + - 0.970715607413696 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953961299975923 + - -0.00178911131236677 + - 0.09582976294726134 + - 0.054294950297686946 + - - -0.0156705697754069 + - -0.9894098578996715 + - 0.14430026449686587 + - -0.09312166067313457 + - - 0.09455674290462021 + - -0.145137631824635 + - -0.9848827799284571 + - 0.971424938451302 + - - 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: + - - 0.9999070794319378 + - -0.0118583291401853 + - 0.006724026464515347 + - 0.023924506811367725 + - - -0.011636008039949535 + - -0.9994139987923999 + - -0.03219102879187533 + - -0.03455168078902856 + - - 0.007101817991662445 + - 0.03210979675719155 + - -0.9994591162891183 + - 0.9683821828387673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993858884992082 + - -0.010048357645412474 + - -0.03356897938988108 + - 0.091834108910472 + - - -0.009774511541339119 + - -0.999917682335446 + - 0.008311887694019329 + - -0.03381006914437258 + - - -0.03364973689015426 + - -0.007978662891715772 + - -0.9994018391746552 + - 0.9683905390813909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9771075556164808 + - 0.024191447193571955 + - -0.21136603000450793 + - 0.09982385896952338 + - - 0.0018417527946699378 + - -0.994438557846582 + - -0.10530224411024318 + - -0.08972251719773845 + - - -0.21273794373319782 + - 0.10250233436703059 + - -0.9717179831337279 + - 0.9716439821958217 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986157316169303 + - 0.02195426350851843 + - 0.047797812512513776 + - 0.012887980457238558 + - - 0.0249489805582587 + - -0.99770247947116 + - -0.06298659243206663 + - -0.09305046989344185 + - - 0.04630517180927539 + - 0.06409190877870762 + - -0.9968691279665628 + - 0.9692202166604971 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941048848628445 + - -0.0063450405949047935 + - 0.10823686225902707 + - 0.0543036777435256 + - - -0.010532170685583304 + - -0.9992162439165012 + - 0.03815719164257903 + - -0.0931683743154196 + - - 0.10790992202981303 + - -0.03907221971231956 + - -0.99339257616225 + - 0.9715926148641394 + - - 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: + - - 0.9998293519862584 + - -0.012026040616749382 + - -0.014022883220750284 + - 0.023919975236626007 + - - -0.012476382683027195 + - -0.9993944366158848 + - -0.03248230189449508 + - -0.034532729253311696 + - - -0.013623757994223358 + - 0.03265171371157652 + - -0.9993739334252282 + - 0.968278099666694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992710766413545 + - -0.01038979025728872 + - -0.03673373989178995 + - 0.09181935147536562 + - - -0.009561835758150712 + - -0.9996978729607434 + - 0.022643632542044292 + - -0.03381102230470036 + - - -0.03695790422849059 + - -0.022275885081731884 + - -0.999068515297556 + - 0.9680578244431072 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9702806416705552 + - 0.01445667666332915 + - -0.24155016228358814 + - 0.09989335942928068 + - - 0.007781522119195902 + - -0.9995616247771134 + - -0.028565821998441515 + - -0.08976988847266813 + - - -0.24185723952961233 + - 0.025837236167789594 + - -0.969967789627226 + - 0.9722898852310227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9966932178768984 + - 0.019416674319960633 + - 0.07890261210217475 + - 0.012791477203722293 + - - 0.03285153343508632 + - -0.9844215233451634 + - -0.17272822909342564 + - -0.0932667579182894 + - - 0.07431962183136481 + - 0.1747491262728947 + - -0.9818041233757895 + - 0.9709058850300758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830563352875857 + - -0.0048908795654301245 + - 0.18323842650497277 + - 0.05428337786273878 + - - -0.015620991407844727 + - -0.9982427778834482 + - 0.05716065981925519 + - -0.09310380083122873 + - - 0.18263686998625958 + - -0.05905451465055852 + - -0.9814052873410705 + - 0.970741176049375 + - - 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: + - - 0.9999151962083335 + - -0.012479507685748842 + - -0.003723208236366986 + - 0.02394486117557823 + - - -0.012559669278265859 + - -0.9996714117543158 + - -0.022345541585604665 + - -0.03456278408126827 + - - -0.0034431234759445067 + - 0.022390408863054247 + - -0.999743374317467 + - 0.9682718298418284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990840604485056 + - -0.01156088357441609 + - -0.04119934621696629 + - 0.09181983208568834 + - - -0.009764335378935616 + - -0.9990038027618471 + - 0.043543769037331925 + - -0.033792244234959794 + - - -0.04166170798628309 + - -0.04310160134319416 + - -0.9982016600113017 + - 0.9681666935778886 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9872896069549086 + - 0.010454157018326238 + - -0.15858733429835525 + - 0.09981459132642428 + - - 0.004724666642054905 + - -0.9993238570036396 + - -0.0364623963624317 + - -0.08966310689512941 + - - -0.15886129019979522 + - 0.035249672685087434 + - -0.9866714504087218 + - 0.9710242394861681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967171896716112 + - 0.015954692145060515 + - 0.07937437629160905 + - 0.012896286566760215 + - - 0.01874601794551495 + - -0.999227260985549 + - -0.0345466020688677 + - -0.09298588703122122 + - - 0.07876186021363409 + - 0.035921145609161834 + - -0.9962460743580444 + - 0.9689182124398316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993981345151001 + - -0.007575337243489246 + - 0.10928723510755517 + - 0.05422238879811406 + - - -0.012768109383606402 + - -0.9988182823205278 + - 0.046893648664163755 + - -0.09307799253718942 + - - 0.10880285324647923 + - -0.04800680335032911 + - -0.9929034625569132 + - 0.9705090825693925 + - - 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: + - - 0.9998830291045055 + - -0.012651035395960405 + - 0.00859531338629577 + - 0.023918822008675723 + - - -0.01234986469523048 + - -0.9993376040801615 + - -0.0342320597296272 + - -0.03454795019100399 + - - 0.009022690885095094 + - 0.03412190461761215 + - -0.9993769492411056 + - 0.9680183085780683 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998402160776889 + - -0.01340436784712109 + - -0.011826463391036907 + - 0.09176988839683539 + - - -0.013073973750048188 + - -0.9995339537558398 + - 0.027585258737251924 + - -0.03382588277027989 + - - -0.012190714667463954 + - -0.027426232184482594 + - -0.9995494926535947 + - 0.9679822628378871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9757787474117385 + - 0.01873921554245135 + - -0.2179556787524294 + - 0.09987252360167262 + - - 0.0026118070877578572 + - -0.9972512656248904 + - -0.07404790120786828 + - -0.08971546550496728 + - - -0.21874417606719268 + - 0.0716851101024992 + - -0.9731455340421993 + - 0.9718681397991508 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988818566257588 + - 0.028647668191090138 + - 0.037607813165488425 + - 0.012764322019329921 + - - 0.03212240172691204 + - -0.9949300965866693 + - -0.09530086155610906 + - -0.09312728006702106 + - - 0.03468699772496837 + - 0.09640235481177309 + - -0.9947378539975111 + - 0.970054461269109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9844585633404863 + - -0.0007524765222973288 + - 0.17561540605729667 + - 0.05421022574390527 + - - -0.022942414285611477 + - -0.9919719722210285 + - 0.12435936617187587 + - -0.09299986506293913 + - - 0.1741119831956812 + - -0.12645568436020077 + - -0.9765725662748572 + - 0.9700699981643045 + - - 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: + - - 0.999872599303383 + - -0.011986317974928534 + - -0.010541031434370013 + - 0.023912805474786518 + - - -0.012353628319206146 + - -0.9992933179428747 + - -0.03550003636719514 + - -0.034528750001285476 + - - -0.010108067552573019 + - 0.0356257336222733 + - -0.9993140817952222 + - 0.9681246925877509 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994126359338749 + - -0.011215500183821711 + - -0.03238202728877543 + - 0.09179902352488958 + - - -0.010063096840661631 + - -0.9993178018823395 + - 0.03553399672178822 + - -0.03382016579501328 + - - -0.032758467877478145 + - -0.03518726185248413 + - -0.9988437011793408 + - 0.968087989149502 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9734797556289684 + - 0.009807538004754231 + - -0.22856285257856138 + - 0.09989196898145902 + - - 0.008509164693823177 + - -0.9999415814956315 + - -0.006665411632361293 + - -0.08969140474915303 + - - -0.22861487155646124 + - 0.00454376433155655 + - -0.973506340353735 + - 0.9720268163858782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998068161966642 + - 0.018936052148400013 + - 0.05917237529085403 + - 0.012876414304083195 + - - 0.0239487837836446 + - -0.9960770716081501 + - -0.08518757639361357 + - -0.09310072644097374 + - - 0.05732712991082702 + - 0.08644011421537215 + - -0.9946063074556796 + - 0.9697502544408275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913524345678697 + - -0.003459769948671353 + - 0.13118071683086632 + - 0.05420109622827079 + - - -0.018620525969946344 + - -0.993246167026557 + - 0.11452217121437609 + - -0.09295893044903114 + - - 0.12989852381363007 + - -0.11597448718987548 + - -0.9847214285431615 + - 0.9697231342977263 + - - 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: + - - 0.999909891647722 + - -0.012772867886013181 + - -0.00413066955918603 + - 0.023943903649361692 + - - -0.012940606708633678 + - -0.9989690099368738 + - -0.04351388150642349 + - -0.03455031525014025 + - - -0.0035706138202272705 + - 0.043563413912468485 + - -0.9990442831452659 + - 0.9681407132343174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995147502944046 + - -0.010015728126053038 + - -0.029494900135765976 + - 0.09181594779508916 + - - -0.01014663437918423 + - -0.9999393106736095 + - -0.00429194365793733 + - -0.033855060233466065 + - - -0.029450123169334524 + - 0.004589134961269053 + - -0.9995557163488283 + - 0.9680781991762024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9889616600969212 + - 0.013038985057496186 + - -0.1475968147590326 + - 0.09982466200844071 + - - 0.00593400737579434 + - -0.9988067149900782 + - -0.048476114192374034 + - -0.08965060470776264 + - - -0.14805276902106831 + - 0.04706517777931429 + - -0.9878589204060442 + - 0.9712989450973842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992276963962146 + - 0.019944997709916673 + - 0.0338556911178316 + - 0.012895103450440894 + - - 0.02119438413018864 + - -0.9990921644435976 + - -0.036954634739760864 + - -0.09301960117353827 + - - 0.03308789561239292 + - 0.03764364506471911 + - -0.9987432839074236 + - 0.9693321476933274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991555499685821 + - -0.008103037662544459 + - 0.12942964043618962 + - 0.05425580593472451 + - - -0.007182096006595799 + - -0.9999454748232728 + - -0.0075805591753611064 + - -0.09308588930961739 + - - 0.12948400881867225 + - 0.006586969037311229 + - -0.9915596317414032 + - 0.9705976732509549 + - - 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: + - - 0.9999124147736587 + - -0.013185970731972323 + - -0.0011370828317513724 + - 0.023915634972920295 + - - -0.013222638088914862 + - -0.9989902415289535 + - -0.04293785243690083 + - -0.03452030937235521 + - - -0.0005697573872030089 + - 0.042949126950137896 + - -0.9990770980613763 + - 0.968104400448666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995082445535571 + - -0.009897393788764289 + - -0.029754170559042847 + - 0.09180993022800547 + - - -0.009609960501458304 + - -0.9999059193848989 + - 0.009787800478229617 + - -0.03382266413229665 + - - -0.029848244984033708 + - -0.009497050870209698 + - -0.9995093237664884 + - 0.9680473257543432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9716662909866822 + - 0.01904668988488892 + - -0.23558829038093795 + - 0.09990068395966434 + - - 0.009015455759485702 + - -0.9990091017326105 + - -0.043583669107262545 + - -0.08976464505209357 + - - -0.2361849709817139 + - 0.04022484629966242 + - -0.9708751831324846 + - 0.9720609961159972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999520198070226 + - 0.023088756475164802 + - 0.020646621372195962 + - 0.01288759074138719 + - - 0.02370781825686739 + - -0.9992608843888493 + - -0.03025928425976663 + - -0.09304115927629955 + - - 0.019932711886635725 + - 0.030734252143895587 + - -0.9993288211304621 + - 0.9693870255295326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9812630486436846 + - -0.007987198041025849 + - 0.19250723112121057 + - 0.05424776884703236 + - - -0.01926017409745097 + - -0.9982021320054972 + - 0.056758694077787546 + - -0.09306508152996215 + - - 0.1917077856015181 + - -0.059402931974216804 + - -0.979652702039161 + - 0.970596565537949 + - - 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: + - - 0.999908872027794 + - -0.012282259384043846 + - -0.005603012094208958 + - 0.02393296853771123 + - - -0.012458363199378715 + - -0.9993921304382467 + - -0.032560079921508805 + - -0.03450917950623368 + - - -0.005199694846541583 + - 0.032626917147130854 + - -0.9994540747082765 + - 0.9682579144113941 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992704928230263 + - -0.008838171479041196 + - -0.03715331611220247 + - 0.09176221403705788 + - - -0.0095278269482199 + - -0.9997848186177285 + - -0.01842652911323246 + - -0.03383518521011934 + - - -0.03698246458621917 + - 0.018767077194467217 + - -0.9991396769855085 + - 0.9677017612152244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9781196812033951 + - 0.021206981017419926 + - -0.20695930324267978 + - 0.09984115299711029 + - - 0.004970683678813237 + - -0.9968892358150676 + - -0.07865839955031097 + - -0.08972919456625292 + - - -0.20798360884053788 + - 0.0759085994613125 + - -0.9751823947249504 + - 0.971565562983306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994398999966877 + - 0.02868683376949019 + - 0.01723229128388111 + - 0.012761567539251045 + - - 0.028793985352132595 + - -0.9995673450430754 + - -0.006002427098995345 + - -0.09306442859900921 + - - 0.017052645019235604 + - 0.006495251482369071 + - -0.9998334956411636 + - 0.9689838359397372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874030711778906 + - -0.011194322362088921 + - 0.15782858478527556 + - 0.05428643462429472 + - - -0.004453783305701378 + - -0.9990652675859846 + - -0.04299715011033216 + - -0.09312819083821093 + - - 0.15816238125020482 + - 0.041752583754759626 + - -0.9865299706076173 + - 0.9710210160656079 + - - 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: + - - 0.9998329822683754 + - -0.013251457870819426 + - 0.012585961728227332 + - 0.02392976635205418 + - - -0.01300033283916398 + - -0.9997188556854217 + - -0.019829294821119576 + - -0.03453622942867804 + - - 0.012845190321574058 + - 0.0196623612857109 + - -0.9997241582728076 + - 0.9684909306949587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995243069995869 + - -0.010357060479236294 + - -0.029049802326779006 + - 0.09182722859818405 + - - -0.010137802910859132 + - -0.99991908111404 + - 0.007684801636664872 + - -0.03385027343046819 + - - -0.02912704360445923 + - -0.007386644859728444 + - -0.999548424444049 + - 0.9682254928708418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9809645815980181 + - 0.01070174305704591 + - -0.19389162525948922 + - 0.0998249889021696 + - - 0.007580154708113518 + - -0.9998295570213358 + - -0.01683443379269831 + - -0.08966560958285025 + - - -0.19403873557830226 + - 0.015044254785819337 + - -0.9808785039407855 + - 0.971448963196134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989841938575664 + - 0.015836721664426703 + - 0.04218742312196417 + - 0.012941491662739684 + - - 0.022728528605581635 + - -0.9854797075436355 + - -0.16826514792771538 + - -0.09319549653651324 + - - 0.038910081086698044 + - 0.16905308121011622 + - -0.9848385965848375 + - 0.9707547808995785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9994852031831118 + - -0.005891070599944679 + - 0.03153765852437701 + - 0.05430288925877458 + - - -0.00918363764848615 + - -0.9943983512286998 + - 0.10529757771755822 + - -0.09315938877011798 + - - 0.030740680173916943 + - -0.10553300128789277 + - -0.9939405395805199 + - 0.9715648140352412 + - - 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: + - - 0.9998964675532876 + - -0.013627930318254076 + - 0.00461884073096611 + - 0.02392387882777187 + - - -0.01347513285669772 + - -0.9994085445264033 + - -0.03163829834411463 + - -0.03453972092143215 + - - 0.005047273417555833 + - 0.03157278326118355 + - -0.9994887114861235 + - 0.9683383392193214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996615013472739 + - -0.010050584686645376 + - -0.02399725966794398 + - 0.09179907575152357 + - - -0.009776980124847663 + - -0.9998861689415683 + - 0.011491728285681908 + - -0.03382799842530057 + - - -0.024110026622807684 + - -0.011253217620315413 + - -0.9996459731872266 + - 0.9683091843563658 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9697062551053133 + - 0.023816429836127896 + - -0.2431101735417295 + - 0.09990287525915784 + - - 0.0060189813119696945 + - -0.9972630889590542 + - -0.07368923438203823 + - -0.08972608717681735 + - - -0.24419981710393476 + - 0.0699936359228866 + - -0.9671956059953429 + - 0.9722955266961103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969284564174035 + - 0.023020201555975114 + - 0.07485801964743358 + - 0.012787944902399153 + - - 0.02878031909312775 + - -0.9966308666685264 + - -0.07680240124136993 + - -0.09314571797432558 + - - 0.07283780624175207 + - 0.07872093701084175 + - -0.9942322002721622 + - 0.9700243942603867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9891827358719272 + - -0.00598408838918209 + - 0.14656638679819997 + - 0.05431372555727745 + - - -0.023466521581928503 + - -0.9927548300007134 + - 0.11784383681422696 + - -0.09317396101640855 + - - 0.14479930047404924 + - -0.12000849218452721 + - -0.9821563645295086 + - 0.9717199418900343 + - - 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: + - - 0.9998707980697319 + - -0.01124995683999032 + - -0.011481534675113899 + - 0.023944393618242295 + - - -0.01161712281120286 + - -0.999406504974306 + - -0.03242962029736507 + - -0.03460369911012471 + - - -0.011109888612714258 + - 0.03255881272620667 + - -0.9994080718549717 + - 0.9684499844555146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999798387581553 + - -0.010784641161929214 + - -0.01693740547826588 + - 0.09178602530643454 + - - -0.010461668039338044 + - -0.9997639338594305 + - 0.019042847889715275 + - -0.03379713234902802 + - - -0.01713877741151515 + - -0.018861815101536825 + - -0.9996751943706085 + - 0.9680541659585112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9870825242161249 + - 0.0014086521519553236 + - -0.1602064483291422 + - 0.09978794389327011 + - - 0.007287617181427883 + - -0.9993210844988235 + - 0.036114549864461255 + - -0.08961926107352854 + - - -0.16004680884959957 + - -0.036815564306560515 + - -0.9864226443071193 + - 0.9709497929272978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969722492385231 + - 0.014832999204840838 + - 0.07633031103610922 + - 0.012872828977721315 + - - 0.024731356301804217 + - -0.9911507852568995 + - -0.13041656681612188 + - -0.09310647810675236 + - - 0.07372037889046147 + - 0.13190945007549673 + - -0.9885166679004589 + - 0.9697949608529997 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962723072080091 + - -0.0038679514424190715 + - 0.08617731048292007 + - 0.054198363212572355 + - - -0.013098697736006786 + - -0.9941934394307398 + - 0.10680743939678138 + - -0.09301291992480636 + - - 0.08526379072062917 + - -0.10753810461652875 + - -0.9905380568395309 + - 0.9701068501978483 + - - 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: + - - 0.9998973058577652 + - -0.012204739365389548 + - 0.007511462933789083 + - 0.0239284242475075 + - - -0.011892389025937693 + - -0.999116442041731 + - -0.040310126830961725 + - -0.03454299328533324 + - - 0.007996800712693375 + - 0.040216657977700916 + - -0.9991589821442163 + - 0.9683728513631975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997666533235543 + - -0.011371079712542701 + - -0.018366748443617895 + - 0.09183444745789428 + - - -0.010817827441920155 + - -0.9994929764612531 + - 0.029946028352034096 + - -0.033780466688591686 + - - -0.01869795474529179 + - -0.029740352230513183 + - -0.9993827584752236 + - 0.9681032286953557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9660181166529729 + - 0.016994216994433677 + - -0.2579150923986216 + - 0.09992888637763617 + - - 0.009501120033663345 + - -0.9994965639136526 + - -0.03027123127505621 + - -0.08980748132515054 + - - -0.2582996845068714 + - 0.026792075573723692 + - -0.9656932523685265 + - 0.9725703117614195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972487553037732 + - 0.008506515422344782 + - 0.07363802849373659 + - 0.012829872506188222 + - - 0.011147133803854707 + - -0.9993066867248437 + - -0.03552305272599835 + - -0.09285613428755549 + - - 0.07328479687516308 + - 0.03624617307226392 + - -0.9966521727687054 + - 0.9691831181201997 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930065157114868 + - -0.004574253006450364 + - 0.11797091151621082 + - 0.05437389763829798 + - - -0.020126450012556547 + - -0.9911807436661211 + - 0.13097961442670072 + - -0.09330556693080327 + - - 0.11633136191253297 + - -0.13243794620465885 + - -0.9843410001826943 + - 0.9729832320421887 + - - 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: + - - 0.9998726275816388 + - -0.012263953803515368 + - -0.010213914533359689 + - 0.023921249600428678 + - - -0.012741599257569033 + - -0.9987616280538333 + - -0.0480922236501442 + - -0.03457125959304483 + - - -0.009611465098987337 + - 0.048216239633148646 + - -0.9987906757545794 + - 0.9685863821257591 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998984865589873 + - -0.009503953105522994 + - -0.010615623034698903 + - 0.0918520299672339 + - - -0.00935999421922267 + - -0.9998646640007522 + - 0.013529382501769566 + - -0.033801278378166655 + - - -0.010742768975591363 + - -0.013428646917358806 + - -0.9998521212442899 + - 0.9683099588344303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9741399861752729 + - 0.005742200986724219 + - -0.22587234107403956 + - 0.09978470494537085 + - - 0.009389267232474881 + - -0.999842271245864 + - 0.015075619083463821 + - -0.0896401508689922 + - - -0.22575014727631157 + - -0.016806539136317997 + - -0.9740402513484664 + - 0.9712204846691408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987504560224485 + - 0.019003097379453743 + - 0.04622130336693472 + - 0.012857039707451697 + - - 0.025849249089767906 + - -0.9879874691708321 + - -0.15235674282062572 + - -0.09317493483339105 + - - 0.04277081851503833 + - 0.15336115235418046 + - -0.987244151176472 + - 0.9704332535483973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969637975349253 + - -0.005532877233171463 + - 0.07766964448394922 + - 0.054206352746737074 + - - -0.014579060062474461 + - -0.9930963621929381 + - 0.11639186572457895 + - -0.09301188264546897 + - - 0.07648945948583485 + - -0.11717082686691387 + - -0.9901617847194919 + - 0.9700980152467144 + - - 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: + - - 0.9999161043796391 + - -0.012832810190708234 + - -0.0017615858923140124 + - 0.02392423839122439 + - - -0.012887182543150081 + - -0.9992890249713304 + - -0.035431131762157245 + - -0.034540886619992425 + - - -0.0013056524599879828 + - 0.03545086112433765 + - -0.9993705677661299 + - 0.9683483975192447 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992225142350445 + - -0.011383417273146061 + - -0.03774632242989601 + - 0.09179766383468538 + - - -0.011067732972088146 + - -0.999902096013075 + - 0.008561756567368286 + - -0.033854085247819535 + - - -0.0378400889620358 + - -0.008137333706181712 + - -0.9992506749897647 + - 0.9681740845361626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9670956560071302 + - 0.003840849049473038 + - -0.25438404040096063 + - 0.09982080644345086 + - - 0.012936678505482267 + - -0.999334934248195 + - 0.0340929837415523 + - -0.0897152608867736 + - - -0.25408391228368676 + - -0.03626206102436978 + - -0.9665021616369416 + - 0.9716741200587546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988356029843428 + - 0.019894614214920656 + - 0.043950455471401945 + - 0.012853662202268308 + - - 0.024371293928200442 + - -0.994300418088735 + - -0.10379170786162371 + - -0.09311797324207322 + - - 0.04163506026379052 + - 0.10474198257531149 + - -0.9936275151398658 + - 0.9701132680547448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9850487936603584 + - -0.006368050164951717 + - 0.1721578404992622 + - 0.054250534988502415 + - - -0.016172806833828907 + - -0.9983215935571136 + - 0.05560967682607491 + - -0.09305511299529978 + - - 0.1715147644588897 + - -0.05756252057269117 + - -0.9834984706637473 + - 0.9705837690516672 + - - 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: + - - 0.9999075876256194 + - -0.012635192249379467 + - 0.0050167843819927515 + - 0.0239051451699875 + - - -0.012433403646075815 + - -0.9991851170919853 + - -0.03839937832373036 + - -0.03455120535806131 + - - 0.005497879817523659 + - 0.03833345404077808 + - -0.9992498784682514 + - 0.9681602971216333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998054052986746 + - -0.01022236697200008 + - -0.016871714466607325 + - 0.09184204220270342 + - - -0.010031311297058405 + - -0.9998850405546658 + - 0.011370068982023158 + - -0.03383019008637135 + - - -0.016986003921301604 + - -0.01119861100691593 + - -0.9997930119691282 + - 0.9684053684054874 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9720889335742636 + - 0.021223768628190635 + - -0.23365071552997232 + - 0.09989262373951295 + - - 0.006171995989896918 + - -0.9978685441048276 + - -0.064963644845503 + - -0.0897426822207863 + - - -0.23453147270238958 + - 0.06170834895967468 + - -0.9701479619010286 + - 0.9722757047889293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997374686252503 + - 0.022727531034105394 + - -0.002907431834199596 + - 0.012703392175096211 + - - 0.02188783905679468 + - -0.9848252245010769 + - -0.17216329367152364 + - -0.0930951207772461 + - - -0.00677615880869055 + - 0.17205445800529903 + - -0.9850641335224333 + - 0.9706935847550472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.989072082528062 + - -0.00949663863539583 + - 0.14712657617925812 + - 0.05426222248564846 + - - -0.014178188603327821 + - -0.9994248837206214 + - 0.03080390832265404 + - -0.09305225473382904 + - - 0.14674942770427013 + - -0.032553274100322334 + - -0.9886378962055916 + - 0.9704041490601016 + - - 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: + - - 0.9997411640675161 + - -0.01321014203129938 + - 0.018522878189973866 + - 0.023933202625547694 + - - -0.012586624357343413 + - -0.9993633446086913 + - -0.033383863464526195 + - -0.03452733063002819 + - - 0.018952091077631555 + - 0.03314208201130241 + - -0.9992709445609544 + - 0.9683906980325574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994678754538708 + - -0.010194163972875597 + - -0.030984592245501017 + - 0.09180417102364585 + - - -0.01033834119557747 + - -0.9999364478458608 + - -0.004496550981264203 + - -0.033856070865860656 + - - -0.030936784529903272 + - 0.0048144875425539845 + - -0.9995097478627479 + - 0.9681480398991207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9784879814216156 + - 0.009777730413092638 + - -0.20607199276325927 + - 0.09987019501554655 + - - 0.008381390235260328 + - -0.9999356291345799 + - -0.007647868000810474 + - -0.08971350658993042 + - - -0.20613350652229295 + - 0.0057561771343853894 + - -0.9785069462776558 + - 0.971676098213725 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9926053636418506 + - 0.013787756338723908 + - 0.12060053832621782 + - 0.012887532703615102 + - - 0.01926378134145903 + - -0.9988299120664568 + - -0.04435891668811658 + - -0.09304976002698598 + - - 0.11984781515679795 + - 0.046354121029945024 + - -0.9917095324063814 + - 0.9693399776548643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996977019369202 + - -0.005556769653164767 + - 0.023950512584543907 + - 0.05427058468477819 + - - -0.00857170842894218 + - -0.9917781979513258 + - 0.12768136858222892 + - -0.09310820238221827 + - - 0.023044100256897217 + - -0.12784806756241354 + - -0.991526016332354 + - 0.971290347093216 + - - 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: + - - 0.9999073754099573 + - -0.013465549632660594 + - 0.0019797913680568214 + - 0.023925666129013038 + - - -0.013413587579026696 + - -0.9996156922889774 + - -0.02425991339408574 + - -0.03455661088044773 + - - 0.00230570358685997 + - 0.02423111022464951 + - -0.9997037246245762 + - 0.9682768948538554 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9987115552092207 + - -0.008751360413124876 + - -0.049986429983538236 + - 0.09180253573839342 + - - -0.0087964557090303 + - -0.9999610777080862 + - -0.0006822285845513404 + - -0.03380699004521178 + - - -0.04997851396889115 + - 0.0011210529880881928 + - -0.998749664020799 + - 0.9681995315781475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9743073574812 + - 0.006887966427943329 + - -0.22511714522996365 + - 0.09982051486929101 + - - 0.00809996638373781 + - -0.9999572453398037 + - 0.004460721579962628 + - -0.08969779889055671 + - - -0.22507679512242781 + - -0.006169555163798481 + - -0.9743214935977228 + - 0.971643935560025 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955490051270337 + - 0.02342360654601681 + - 0.09128807724424247 + - 0.01277047939115392 + - - 0.03173736050669699 + - -0.9953713371131236 + - -0.09071185810961968 + - -0.09307812394008211 + - - 0.08874073663566993 + - 0.09320534271172023 + - -0.9916843478402535 + - 0.9692544575662709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907515219102515 + - -0.008187732542967206 + - 0.13544143704319284 + - 0.05426381301234032 + - - -0.011317806408533516 + - -0.9996860017755251 + - 0.022356321525799486 + - -0.093014954198238 + - - 0.13521586109114303 + - -0.023682459540149192 + - -0.9905330948633221 + - 0.9704416180872971 + - - 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: + - - 0.9999093297717129 + - -0.01342508496460567 + - 0.001048488997095945 + - 0.023923134778871157 + - - -0.013382222981502614 + - -0.9993443523265056 + - -0.03364196161329782 + - -0.0345297174645803 + - - 0.0014994477507588402 + - 0.033624880175405526 + - -0.9994333990264848 + - 0.9686287369256249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997004081351215 + - -0.011143921354947326 + - -0.021792360847467242 + - 0.09180563043052195 + - - -0.010224961401234765 + - -0.9990722098581076 + - 0.04183502902568196 + - -0.03379522288989935 + - - -0.022238348383248552 + - -0.04159966954281178 + - -0.9988868421173206 + - 0.9681331813669349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9700746131407122 + - 0.02327167349647453 + - -0.24168920983893954 + - 0.09986684240413352 + - - 0.005323257708232578 + - -0.9971954791541399 + - -0.07465145197461227 + - -0.08971776818037275 + - - -0.2427486516281176 + - 0.07113090444539268 + - -0.967477899781443 + - 0.9718134910835492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989951727407715 + - 0.02817763673710369 + - 0.03485205343373252 + - 0.012769407214085435 + - - 0.030608519251064635 + - -0.9969848960703107 + - -0.0713038256822764 + - -0.09311829909080624 + - - 0.03273779757242579 + - 0.07229894740300911 + - -0.9968455742062174 + - 0.9694369465968669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9800430901008903 + - -0.008735746350343373 + - 0.19859312244184238 + - 0.05430822640834096 + - - -0.0183847847604931 + - -0.9987353099258355 + - 0.04679508945024637 + - -0.09311291840468972 + - - 0.19793317365921378 + - -0.04951229587737455 + - -0.9789642441489596 + - 0.9707420416923276 + - - 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: + - - 0.9998423201619183 + - -0.012209355007274443 + - -0.012894435371057873 + - 0.023909799844542907 + - - -0.012494327309528971 + - -0.9996742261024074 + - -0.022256087967945006 + - -0.03455663085645817 + - - -0.012618502221516005 + - 0.02241368592759545 + - -0.9996691453100003 + - 0.9682697216292063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999366726530272 + - -0.007512069927273597 + - -0.034780953258590985 + - 0.09185187424470875 + - - -0.008240636609741446 + - -0.9997486209714649 + - -0.02085154128404169 + - -0.033816797390228165 + - - -0.03461557182013217 + - 0.02112495375288802 + - -0.9991774109318641 + - 0.9684816221436474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9994762757441478 + - 0.020546592268679 + - 0.025000235413950904 + - 0.01289122762485568 + - - 0.021052720138493543 + - -0.9995752296579624 + - -0.02015299553422904 + - -0.09300760658130847 + - - 0.024575540673168778 + - 0.02066876388120605 + - -0.9994842895214736 + - 0.9690915689212208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.987406684654183 + - -0.007986854610993813 + - 0.15800078877542867 + - 0.05436520371549279 + - - -0.015424582092305104 + - -0.9988267692088459 + - 0.04590389285339732 + - -0.09325682466675152 + - - 0.157448789666712 + - -0.04776290679220945 + - -0.986371422622962 + - 0.9723591192929987 + - - 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: + - - 0.9999247447649177 + - -0.012114147088542452 + - -0.001937071793033468 + - 0.023936427842584446 + - - -0.012158363569163525 + - -0.9996202538860909 + - -0.024728975232069215 + - -0.03458225980255598 + - - -0.00163676575423749 + - 0.024750665870344055 + - -0.9996923154335244 + - 0.9685071561399934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998499836027332 + - -0.010574054479376671 + - -0.013718588173760678 + - 0.09180568860024996 + - - -0.010371524049740165 + - -0.9998374021000661 + - 0.014751299965658429 + - -0.033835591367311416 + - - -0.013872338609612062 + - -0.01460680436160994 + - -0.9997970791554865 + - 0.9681551826234698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9865417283385949 + - 0.020464754717911548 + - -0.16222395649543775 + - 0.09984539366746101 + - - 0.004130532757980018 + - -0.9949392278327444 + - -0.10039358355352802 + - -0.08971694647575153 + - - -0.16345750807421855 + - 0.09837238806656916 + - -0.981633595757729 + - 0.9714359308347021 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986921856985637 + - 0.026095746409604364 + - 0.04396510256955105 + - 0.012784306682539284 + - - 0.0312755202125507 + - -0.9920886489146713 + - -0.12158106156016601 + - -0.09318300099812345 + - - 0.04044453065693625 + - 0.12279708756313468 + - -0.9916073392356233 + - 0.9700870889416274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9938657919567756 + - -0.006967330739772895 + - 0.11037320272826096 + - 0.05425275180285374 + - - -0.009008076492276492 + - -0.9997973769983728 + - 0.01800165284312965 + - -0.09307837198362717 + - - 0.1102254151094042 + - -0.018885477212341704 + - -0.9937271741350456 + - 0.9710267669251857 + - - 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: + - - 0.9999145442016791 + - -0.013029348765766448 + - -0.0010678785924899338 + - 0.02393238766759094 + - - -0.013042781649776796 + - -0.9998207803814032 + - -0.013721988352947795 + - -0.03453708595535268 + - - -0.000888898635685538 + - 0.013734743836788863 + - -0.9999052788494286 + - 0.968355036370279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999481082435464 + - -0.008294994565982539 + - -0.031124892269428914 + - 0.09183732056493199 + - - -0.008694973183130759 + - -0.9998810697553846 + - -0.012737495286450786 + - -0.033844847671599836 + - - -0.031015533124192345 + - 0.01300151568002897 + - -0.999434338661147 + - 0.968520962320544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9766257693313947 + - 0.005285165395975559 + - -0.21488176680351176 + - 0.0998581912135223 + - - 0.011509436035421549 + - -0.9995493230295039 + - 0.027725145868078126 + - -0.08970462881141954 + - - -0.21463839255829367 + - -0.029550259863440325 + - -0.9762464558614256 + - 0.9717256384575557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991489909140584 + - 0.019940901707242522 + - 0.03610615452413707 + - 0.012887439303374569 + - - 0.022085840270437803 + - -0.9979530280385649 + - -0.06001641015761772 + - -0.09307124270114514 + - - 0.03483546490241632 + - 0.06076277040886782 + - -0.9975441725143158 + - 0.9694287700781834 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974590759568457 + - -0.004169495326109943 + - 0.0711196674629535 + - 0.05424342641485798 + - - -0.01838318320795637 + - -0.9795419773286251 + - 0.20039853598833868 + - -0.09302180940390588 + - - 0.06882913893445314 + - -0.20119674440669338 + - -0.9771296841636165 + - 0.9702359108396265 + - - 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: + - - 0.9999172005176156 + - -0.01224792918377495 + - 0.003947193905018936 + - 0.02394233423426927 + - - -0.01204753912682044 + - -0.9988071662041561 + - -0.047319145598907056 + - -0.03459981012658932 + - - 0.004522047103062431 + - 0.04726767362513273 + - -0.9988720228938567 + - 0.9683674607623928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999612456358559 + - -0.010502372737816892 + - -0.0257805597240257 + - 0.09184554841139454 + - - -0.010182888817312044 + - -0.9998701134748427 + - 0.01249259601282175 + - -0.033810976340503666 + - - -0.02590841307649615 + - -0.012225234013354064 + - -0.9995895646640057 + - 0.9683119364610114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.978905407676073 + - 0.022447852958555045 + - -0.2030770708871202 + - 0.0998434826306887 + - - 0.0051287125655143425 + - -0.99633260897207 + - -0.0854109396174101 + - -0.08969561538030102 + - - -0.2042496000729541 + - 0.08256770674095067 + - -0.975430507352307 + - 0.971735653478326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978592305132732 + - 0.011711989640776665 + - 0.06434116394745022 + - 0.012844962514520924 + - - 0.011874894159472826 + - -0.9999271794601121 + - -0.0021500385218898815 + - -0.09283779473846657 + - - 0.06431129736025894 + - 0.002909480297000193 + - -0.9979256445027562 + - 0.9687061871711966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975418078149956 + - -0.005734701925973577 + - 0.06983877758817512 + - 0.05431159043172443 + - - -0.013551192455516694 + - -0.9936193097509354 + - 0.11196889064873679 + - -0.09318226133506338 + - - 0.0687510497681592 + - -0.11264004831273584 + - -0.99125451457831 + - 0.9716250818353541 + - - 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: + - - 0.9999187660190191 + - -0.012376748553996977 + - 0.0030458920258899765 + - 0.023936634096178754 + - - -0.012397243616908377 + - -0.9998999987815675 + - 0.006804468188193365 + - -0.03455761875925794 + - - 0.0029613702411672334 + - -0.006841676099629736 + - -0.9999722104910928 + - 0.9681180368637848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9805944909209945 + - 0.01144741397404565 + - -0.19571254709063096 + - 0.09983009693789559 + - - 0.009271470132491577 + - -0.999884645503406 + - -0.012030607969244028 + - -0.08966378854206292 + - - -0.19582769011806767 + - 0.009982604862166271 + - -0.980587509293886 + - 0.9715884129353413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984382651187964 + - 0.021840574040778223 + - 0.05142003570727433 + - 0.012873150755352327 + - - 0.01970206391751561 + - -0.9989344479657436 + - 0.04173484568996951 + - -0.09295183651519867 + - - 0.05227675797099713 + - -0.04065658609554818 + - -0.9978046815800663 + - 0.9684198105200424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952011870183597 + - -0.004995060437478122 + - 0.09772229391737415 + - 0.05419989734447571 + - - -0.018884746822331235 + - -0.9897248990249297 + - 0.1417321085271446 + - -0.09297915413674156 + - - 0.09601022703183328 + - -0.14289742342435632 + - -0.9850697247829603 + - 0.9697742357707599 + - - 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: + - - 0.9998715513907164 + - -0.013244020675209066 + - 0.009026440930771705 + - 0.02393532992635057 + - - -0.012925884413163663 + - -0.9993233127764405 + - -0.03443599938519659 + - -0.03453333021089968 + - - 0.009476403941348672 + - 0.03431490139683287 + - -0.9993661417671029 + - 0.9683068095997834 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997660292435377 + - -0.010751386587555525 + - -0.01876950870573292 + - 0.09182110140139517 + - - -0.010547149901344156 + - -0.9998844581882966 + - 0.010946593189458396 + - -0.03382672221773131 + - - -0.018885031097888846 + - -0.010746067184875226 + - -0.9997639109512257 + - 0.9681819135742706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9806316277967727 + - 0.020263134923959338 + - -0.19481020488594847 + - 0.09984956416167388 + - - 0.00500823640193331 + - -0.9969029309308819 + - -0.0784822519399078 + - -0.08967494285029343 + - - -0.1957971606862422 + - 0.07598652291341032 + - -0.9776960264840678 + - 0.971614214133232 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991953509489883 + - 0.021438795535580913 + - 0.033897325674922874 + - 0.01287818327964447 + - - 0.021251919534203727 + - -0.9997569565827278 + - 0.005863759933145408 + - -0.09296064389159371 + - - 0.034014799103330884 + - -0.0051386584266116826 + - -0.9994081186540035 + - 0.9688181229507616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872142667191469 + - -0.006440893106344354 + - 0.15926866133100293 + - 0.05423492234864988 + - - -0.01660226758587536 + - -0.9979035960892624 + - 0.0625521991869604 + - -0.09307800018520433 + - - 0.1585318778580007 + - -0.06439664438548659 + - -0.9852516003005044 + - 0.9702089464956964 + - - 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: + - - 0.9997817190008866 + - -0.01138532342077183 + - -0.01751824084309762 + - 0.023930088678471163 + - - -0.012295889045840943 + - -0.9985304613204846 + - -0.05278000499879684 + - -0.034550019575679936 + - - -0.016891579683520366 + - 0.05298388647225753 + - -0.9984524937672752 + - 0.9684380716820435 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997441786912948 + - -0.008582126912157395 + - -0.020926640211271122 + - 0.09184030857601834 + - - -0.008382426511603558 + - -0.9999186689090451 + - 0.00961199734400467 + - -0.033815756631787666 + - - -0.021007429605878286 + - -0.009434122366559107 + - -0.9997348074547205 + - 0.9683275425538329 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9918456502682894 + - 0.014936881561839714 + - -0.12656656593698776 + - 0.09979306775123864 + - - 0.003999418330866285 + - -0.9962669007988116 + - -0.08623379282940935 + - -0.089662373099421 + - - -0.12738214434091236 + - 0.08502441968010327 + - -0.988202730901495 + - 0.9708838793111182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984243978997889 + - 0.026390476299390234 + - 0.049520343689592496 + - 0.0127632165681213 + - - 0.02850045810230308 + - -0.9986942377120381 + - -0.04239744625246268 + - -0.09305734365924426 + - - 0.04833679309183541 + - 0.04374199722764059 + - -0.9978728336377009 + - 0.9691251142616281 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961826296755555 + - -0.004602969160647355 + - 0.08717213435267729 + - 0.0542432643557373 + - - -0.007120341781596713 + - -0.9995658822412733 + - 0.028589295061941505 + - -0.09300767404891506 + - - 0.0870026957375939 + - -0.029100854525797592 + - -0.9957829438187122 + - 0.9702155344936078 + - - 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: + - - 0.9998964256186502 + - -0.012145447036231523 + - -0.0077217971572068654 + - 0.023930008795049713 + - - -0.012309455120152442 + - -0.9996917895876327 + - -0.02155929372039367 + - -0.03460064553573818 + - - -0.007457569958901222 + - 0.021652111845437798 + - -0.9997377509641925 + - 0.9686420449516928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993881812190648 + - -0.009780513355159717 + - -0.033579827250290684 + - 0.09182895259353073 + - - -0.009446442828345334 + - -0.9999044451923909 + - 0.010092829255841174 + - -0.0338112046753157 + - - -0.03367533158768633 + - -0.009769444355044095 + - -0.9993850759339229 + - 0.9684019196032273 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.975504561612369 + - 0.026020169756626493 + - -0.21843488970239228 + - 0.09984639712033072 + - - 0.0022237490850203646 + - -0.9940954263382772 + - -0.10848658107491765 + - -0.08969895759287291 + - - -0.21996796406173968 + - 0.10534341032620004 + - -0.9698024853996704 + - 0.9718239044588547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991112103907231 + - 0.016887660756558582 + - 0.0386211883006672 + - 0.01285253246756659 + - - 0.01897440692426963 + - -0.998343344369033 + - -0.054318860775305004 + - -0.09300485304269662 + - - 0.037639887798138164 + - 0.05500339687897585 + - -0.997776460525261 + - 0.9692787631323849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883226710508234 + - -0.010422666203899164 + - 0.15201863673960544 + - 0.054374620168879784 + - - -0.013735034147384818 + - -0.9996902330693385 + - 0.020755402736194445 + - -0.09324636569802044 + - - 0.15175521975845244 + - -0.022601016237628634 + - -0.9881596770467261 + - 0.9726375871765649 + - - 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: + - - 0.9999216005882311 + - -0.012481749945630893 + - -0.0009992974355949123 + - 0.02392895951982996 + - - -0.012500031870817916 + - -0.999700056249569 + - -0.021060549324199845 + - -0.03453514884696993 + - - -0.0007361251921919956 + - 0.021071389439314664 + - -0.9997777026253377 + - 0.9684120582448853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997752313866373 + - -0.008803132908029785 + - -0.019287082640967863 + - 0.0918587356296815 + - - -0.00889748710561836 + - -0.9999488395654261 + - -0.004811753834532515 + - -0.03379434412528713 + - - -0.019243737396912163 + - 0.004982278872398291 + - -0.9998024082128616 + - 0.968291862960892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9677943588618184 + - 0.011233709479676104 + - -0.25149131739797337 + - 0.09986399543935562 + - - 0.010475296549708605 + - -0.9999356523051249 + - -0.004354240613486714 + - -0.08972031018165987 + - - -0.2515240487854742 + - 0.0015795633734388035 + - -0.9678497599638654 + - 0.971981212775047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988816530567757 + - 0.020638990327986967 + - 0.042537927368460626 + - 0.012896557843266352 + - - 0.025770769343971135 + - -0.991964863074218 + - -0.12386112333403392 + - -0.09312469517236596 + - - 0.039639760771011334 + - 0.12481883873995216 + - -0.991387384861048 + - 0.9698551692490706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9819717351506668 + - -0.008411968889962505 + - 0.18884054158094052 + - 0.054269974304297544 + - - -0.021717961310132317 + - -0.9974144699482307 + - 0.06850332323632964 + - -0.0931088243575233 + - - 0.1877760408617676 + - -0.07136955875780492 + - -0.979615508534341 + - 0.9710022638302741 + - - 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: + - - 0.9999361690907117 + - -0.011013150185441807 + - -0.002523542586256621 + - 0.02392441827529744 + - - -0.011131547929334629 + - -0.9985296843378701 + - -0.05305240934029173 + - -0.03457112689754925 + - - -0.0019355580303038282 + - 0.05307711389201423 + - -0.9985885406893097 + - 0.9680156685359219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999200806873893 + - -0.009380399551391265 + - -0.03885557420522092 + - 0.09180146691996174 + - - -0.009694486033272899 + - -0.9999217773425728 + - -0.007902919499825058 + - -0.033875203319222384 + - - -0.0387784022764199 + - 0.008273288362331932 + - -0.9992135848839133 + - 0.9682138634152748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9726220315437393 + - 0.021913957476110735 + - -0.23135721778986001 + - 0.09988340607850148 + - - 0.0028608638611526994 + - -0.9965977233274534 + - -0.08236985684402284 + - -0.0897479757021318 + - - -0.23237512606494148 + - 0.07945285599820862 + - -0.9693755951436114 + - 0.9721350578849931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988439061345241 + - 0.01909201576215575 + - 0.04411741279884415 + - 0.012891127270305775 + - - 0.02264730476360906 + - -0.9964122278692252 + - -0.08154613258537625 + - -0.09304009811019054 + - - 0.04240224952605971 + - 0.08245099809477839 + - -0.9956926645046176 + - 0.9695377627086224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9808959218193694 + - -0.008270033011137549 + - 0.19435739531112337 + - 0.054403769150559014 + - - -0.018846219227957157 + - -0.9984362154707775 + - 0.05263025420043256 + - -0.09326462061258467 + - - 0.19361820828357376 + - -0.05528770379012919 + - -0.9795178708072012 + - 0.9728132552488353 + - - 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: + - - 0.9999260153291393 + - -0.012016848411532074 + - -0.00188659011028982 + - 0.02390268347221935 + - - -0.012088319736747353 + - -0.9989556706224673 + - -0.04406178227397076 + - -0.03453215535843155 + - - -0.001355136130486044 + - 0.04408132808197706 + - -0.9990270267217984 + - 0.9686110529181013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995832509781167 + - -0.01052288039186201 + - -0.02688109656018354 + - 0.09183243910832625 + - - -0.009917372195393733 + - -0.9996962933618684 + - 0.022560291826091695 + - -0.03381234820818058 + - - -0.02711033184520943 + - -0.02228430000693211 + - -0.9993840302308432 + - 0.9683571063158843 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9760874520494571 + - 0.013564699344121679 + - -0.21695456870806468 + - 0.09984410727337509 + - - 0.007969487071918822 + - -0.9996132176048826 + - -0.02664399492240376 + - -0.08968759351519773 + - - -0.21723207228079672 + - 0.024277852485715117 + - -0.9758180223029669 + - 0.9716582047633134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998716983941189 + - 0.02035500796779295 + - 0.04636873556660755 + - 0.012887512819360252 + - - 0.021192113600043076 + - -0.9996199011005459 + - -0.017633707633315083 + - -0.09298469221134117 + - - 0.045992176601871756 + - 0.018593734814863063 + - -0.9987687383559101 + - 0.9689723710928152 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9782305076946393 + - -0.011180966841019638 + - 0.20721983446569095 + - 0.054289300492549424 + - - -0.010628727585195041 + - -0.9999363758009957 + - -0.0037781609138218897 + - -0.0931038375421282 + - - 0.20724889376160263 + - 0.00149342909809499 + - -0.9782871080128379 + - 0.971077519054437 + - - 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: + - - 0.999869613849248 + - -0.013020639976905656 + - -0.009550823815122214 + - 0.02392143562902114 + - - -0.013261480646086806 + - -0.9995842358528656 + - -0.025602510922084803 + - -0.03455915948665019 + - - -0.00921349184778303 + - 0.025725830774414513 + - -0.9996265768770537 + - 0.9685999864281963 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997012260687311 + - -0.009014053637008818 + - -0.022720154790513446 + - 0.0918567836743809 + - - -0.008977968453612841 + - -0.9999582695411781 + - 0.0016897510640017032 + - -0.03382192242110283 + - - -0.022734438174753638 + - -0.0014852653774630154 + - -0.9997404359670747 + - 0.9683855252946297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9801062040279245 + - 0.013906059633818687 + - -0.19798598518943983 + - 0.09982704396741462 + - - 0.005879356635920058 + - -0.9991388890202102 + - -0.04107205391757258 + - -0.08966936201012184 + - - -0.19838664771480985 + - 0.0390909446409396 + - -0.9793439824982636 + - 0.9714065709864925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996464896933871 + - 0.021186885043489218 + - 0.016062737806576986 + - 0.012707642898585196 + - - 0.02085899590604114 + - -0.9995760541635302 + - 0.020312908030591794 + - -0.09289466086218971 + - - 0.0164862953231047 + - -0.019970674626098497 + - -0.9996646308745238 + - 0.9687775621825991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993284064801482 + - -0.005865193990507392 + - 0.03617092065874948 + - 0.05423357151432548 + - - -0.009742824500138303 + - -0.9941055550876946 + - 0.10797788067260172 + - -0.09301988764182051 + - - 0.03532440194267043 + - -0.10825777035964129 + - -0.9934950637945578 + - 0.9704076928384912 + - - 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: + - - 0.9997685890873855 + - -0.011300121479129097 + - -0.01830506839035037 + - 0.023907119474528993 + - - -0.011901130270665056 + - -0.9993823856718452 + - -0.03306373099230437 + - -0.03456727424189515 + - - -0.017920138741068355 + - 0.03327393068766799 + - -0.9992856018997235 + - 0.9684673579004955 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994914034994553 + - -0.007361297252390788 + - -0.031028142603948733 + - 0.09183623585669894 + - - -0.008010974142502162 + - -0.9997501803755687 + - -0.020866267809696984 + - -0.03384799541395718 + - - -0.03086678836512144 + - 0.021104220946999645 + - -0.999300682094355 + - 0.9682505141361011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9642217544755931 + - 0.01462458327468164 + - -0.2646932748674415 + - 0.09988898834980897 + - - 0.008297881051302506 + - -0.999652901094299 + - -0.025004449680213963 + - -0.0897495021155017 + - - -0.26496707977797446 + - 0.02191344103042284 + - -0.9640084272121997 + - 0.9723298861033001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999416241147667 + - 0.02104545413532558 + - 0.026912186654118504 + - 0.012889820462645217 + - - 0.022848221964160306 + - -0.9973870582968294 + - -0.06853476997169887 + - -0.09305435979844941 + - - 0.02539952132117197 + - 0.0691096578072495 + - -0.9972856759797668 + - 0.9695189750783403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9852282579743401 + - -0.0016076126602441558 + - 0.17123870844637254 + - 0.05430834017481051 + - - -0.028940391922762265 + - -0.9871359220974559 + - 0.15724224947564683 + - -0.093138083446211 + - - 0.16878309573000513 + - -0.15987522286564373 + - -0.9726007298524179 + - 0.9714167860089645 + - - 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: + - - 0.9999129878451292 + - -0.012984544067145175 + - 0.0023277358086428173 + - 0.02392538782262424 + - - -0.012966796230452639 + - -0.9998879196299851 + - -0.0074840078526585896 + - -0.03455148047129787 + - - 0.002424651344913793 + - 0.007453173377099261 + - -0.9999692851645329 + - 0.968422566601497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998097436830152 + - -0.009605277996884227 + - -0.016976898159145753 + - 0.0918342693733478 + - - -0.009676052630722898 + - -0.9999448146200932 + - -0.004091664682581957 + - -0.03384766910250262 + - - -0.01693665970582497 + - 0.004255155577623429 + - -0.9998475099779061 + - 0.9683571304993365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9634374979241567 + - 0.013073252934194764 + - -0.26761404606514805 + - 0.09993581164138282 + - - 0.008195474512467122 + - -0.9997794554343616 + - -0.019335839492717395 + - -0.08980829974538443 + - - -0.26780780756198297 + - 0.01643564872742162 + - -0.9633321585308746 + - 0.9729376175047928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967992126842495 + - 0.01911958405917257 + - 0.07762584039779921 + - 0.01287824638964155 + - - 0.027207954121164543 + - -0.9941509997211893 + - -0.10451563034255146 + - -0.09311941387834186 + - - 0.07517351145583773 + - 0.10629313834281351 + - -0.9914891385772386 + - 0.9699123125317393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902609615854189 + - -0.005785174836821885 + - 0.13910341373247828 + - 0.054306689143958906 + - - -0.02361106320946453 + - -0.9916417563951716 + - 0.12684299218962738 + - -0.09310544907006385 + - - 0.1372069446275964 + - -0.12889204291036202 + - -0.9821207133648863 + - 0.9715680581169623 + - - 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: + - - 0.9997601399292422 + - -0.011517500160234753 + - -0.018628199019795216 + - 0.023920287987852073 + - - -0.012361721740585894 + - -0.9988714732564992 + - -0.04585812632456228 + - -0.03460390108699152 + - - -0.018079005621726905 + - 0.04607740340394821 + - -0.9987742600063738 + - 0.9690213736169525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9750417954241246 + - 0.018767695166989173 + - -0.2212267406852494 + - 0.09983360152389599 + - - 0.0068845354457339825 + - -0.9984974467269565 + - -0.05436406948936688 + - -0.08968182056858226 + - - -0.22191462400616152 + - 0.05148419658368236 + - -0.9737059500456677 + - 0.971728196072568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991859635379681 + - 0.02184944444848837 + - 0.03391182752366364 + - 0.012886954015121549 + - - 0.02348946314818492 + - -0.9985351983781073 + - -0.04874118095618951 + - -0.09301041232382148 + - - 0.032797185698049645 + - 0.049498074480593374 + - -0.9982355860381863 + - 0.9693573869172674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921840440915028 + - -0.011243669311137797 + - 0.1242755106634148 + - 0.054219544510779726 + - - -0.004958786215526656 + - -0.9986982507842684 + - -0.0507662714773373 + - -0.0931126881848715 + - - 0.12468453428352472 + - 0.04975322884862637 + - -0.9909482242426374 + - 0.9707724015208558 + - - 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: + - - 0.9999174528420298 + - -0.012845613240188996 + - -0.0002787873569697908 + - 0.023947600364171623 + - - -0.01284829518888593 + - -0.9994968340853495 + - -0.028999999381090536 + - -0.03452536754865379 + - - 9.387569534088123e-05 + - 0.029001187455817767 + - -0.9995793726930878 + - 0.9683575505386534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999240512569422 + - -0.008652438817488365 + - -0.008776503883302257 + - 0.09188548281841745 + - - -0.008803219876451536 + - -0.9998117710498078 + - -0.017289470496629995 + - -0.03384361202268437 + - - -0.008625255805531083 + - 0.01736541887650888 + - -0.9998120059238801 + - 0.9687172337731487 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9996306623920544 + - 0.021967442414947743 + - 0.0159990712033065 + - 0.012870704979491162 + - - 0.022683841047422725 + - -0.9986808546826519 + - -0.046065104424748614 + - -0.09304871837140219 + - - 0.014966033574657523 + - 0.04641101123735281 + - -0.9988103102566415 + - 0.9693332931595335 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933328189340251 + - -0.002758524525085887 + - 0.11524886711385746 + - 0.05427495775757088 + - - -0.01717743259468612 + - -0.9920951659135792 + - 0.12430654681215898 + - -0.09309933747284707 + - - 0.11399494128266432 + - -0.12545745220333848 + - -0.9855280721768455 + - 0.9713376069147316 + - - 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: + - - 0.9999252036671553 + - -0.012037742196649959 + - -0.002163292399344807 + - 0.023935323493349 + - - -0.012088735105031246 + - -0.999605574480536 + - -0.025348726812143847 + - -0.03456257046351201 + - - -0.001857297703238548 + - 0.02537298228910642 + - -0.9996763287259517 + - 0.9686925153165592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996282395747108 + - -0.008491246356148063 + - -0.02590909840353082 + - 0.09183255545464698 + - - -0.00858690899359283 + - -0.9999567118361871 + - -0.0035832175061706354 + - -0.033830823276536574 + - - -0.025877550863642323 + - 0.0038043644778037984 + - -0.9996578810634265 + - 0.9683444252402919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9985184992716082 + - 0.02525984645633278 + - 0.04819488322818085 + - 0.012769365808823206 + - - 0.02922401777582894 + - -0.9960870892476903 + - -0.08340543998506844 + - -0.09313365157545328 + - - 0.04589949234374526 + - 0.08469032288914308 + - -0.9953495797012827 + - 0.9695234198504444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970433525217912 + - -0.004921599670005003 + - 0.07668331662620914 + - 0.05419800471925573 + - - -0.013418532923524249 + - -0.9937645789568007 + - 0.11068832180945544 + - -0.09300045594534884 + - - 0.07566040025196491 + - -0.11139003307074417 + - -0.9908924080677032 + - 0.9699899950643134 + - - 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: + - - 0.9999128200912294 + - -0.012494833156565584 + - -0.004269819855020676 + - 0.02393844533171682 + - - -0.012770288361510361 + - -0.9973150429205002 + - -0.07210842460936688 + - -0.034575553654161685 + - - -0.0033573728372959222 + - 0.07215666503428815 + - -0.9973876597084811 + - 0.9684181284518207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9713598844119664 + - 0.013383094525688678 + - -0.23723589048895538 + - 0.0998930631251347 + - - 0.00841771722711947 + - -0.9997240533384892 + - -0.021930782319500946 + - -0.08971138872462814 + - - -0.23746392776978864 + - 0.01930569753667453 + - -0.9712044960000785 + - 0.9722338285094437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9881267704691978 + - 0.017769633510085925 + - 0.15260971662063494 + - 0.012785042008502086 + - - 0.028244839699709014 + - -0.9973699246473707 + - -0.06674925047695483 + - -0.09315528667485268 + - - 0.1510222318483309 + - 0.07026715828760079 + - -0.9860298230549286 + - 0.9697975799821975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996116983434825 + - -0.0056153357198925925 + - 0.0878602487900948 + - 0.054309590242379184 + - - -0.02268139953408069 + - -0.9806450884009752 + - 0.19447561469299637 + - -0.093152308685572 + - - 0.08506767557586054 + - -0.19571325606559278 + - -0.9769645909511376 + - 0.9716594373086551 + - - 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: + - - 0.9996207549050979 + - -0.009965333596127675 + - -0.02567174495978136 + - 0.023886483735915436 + - - -0.012245700646068242 + - -0.9958428824854513 + - -0.09026071248751698 + - -0.03458207462938924 + - - -0.024665546388617756 + - 0.09054085005888342 + - -0.9955872464490318 + - 0.9686595875839152 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998207722212921 + - -0.010012587632853556 + - -0.016067716817077856 + - 0.09182861707642331 + - - -0.010085017376276336 + - -0.9999393181792335 + - -0.0044331009202648675 + - -0.033859009975107365 + - - -0.0160223549873164 + - 0.004594349588731458 + - -0.9998610783966523 + - 0.9683057588801207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9725725555271558 + - 0.012760976898954828 + - -0.23224939548675214 + - 0.09987106667710001 + - - 0.010193949839010879 + - -0.9998730052603365 + - -0.012249764828066154 + - -0.08972015252056018 + - - -0.23237622000122385 + - 0.009546246395706417 + - -0.9725791286870674 + - 0.9721647005622474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995762730867224 + - 0.02506223484572835 + - 0.08847863132071018 + - 0.012764037830601158 + - - 0.027631802777035856 + - -0.9992277015687632 + - -0.027937141816901927 + - -0.09304222870956977 + - - 0.08771013220340962 + - 0.030263588718859112 + - -0.9956862196027 + - 0.9688277210799898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9891677645265528 + - -0.012676241586724282 + - 0.14624105620781475 + - 0.054414046381784154 + - - -0.0049041996064853296 + - -0.9985620130986583 + - -0.05338403153168724 + - -0.09332047921618619 + - - 0.14670747236511839 + - 0.05208856780130771 + - -0.9878075210569356 + - 0.9732852974617481 + - - 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: + - - 0.9998636820438201 + - -0.01235681537294282 + - -0.010951093261110555 + - 0.023945146368411514 + - - -0.012547288987017829 + - -0.9997681566093161 + - -0.01749853048364877 + - -0.034556189303576554 + - - -0.010732328212032939 + - 0.017633551651608025 + - -0.999786914790997 + - 0.968631359835809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997979319295296 + - -0.00858779340737684 + - -0.01817539858786544 + - 0.09185354856299348 + - - -0.008624870371861458 + - -0.9999608792405701 + - -0.0019625492336799778 + - -0.03383485809385031 + - - -0.018157833585099092 + - 0.002118913121920378 + - -0.999832887680075 + - 0.9683332027280169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9645012418247148 + - -0.00484754973395156 + - -0.2640338155997448 + - 0.0998914714451627 + - - 0.01766435981367497 + - -0.9964079093637377 + - 0.082820580472241 + - -0.08974495881260813 + - - -0.2634868590859062 + - -0.08454454103585157 + - -0.9609510370825776 + - 0.9723201136543653 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989145545175142 + - 0.021439807304963948 + - 0.04135271981142431 + - 0.01287428231566836 + - - 0.02236640242711118 + - -0.9995060726547328 + - -0.02207611308135152 + - -0.09303007653846837 + - - 0.0408589869618015 + - 0.02297706223689441 + - -0.9989006946615951 + - 0.9691641174673274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870044200271683 + - -0.00425028188076575 + - 0.16063688851184557 + - 0.05433057866081353 + - - -0.021936189816831098 + - -0.9938558560881768 + - 0.10848659316043498 + - -0.09324565974338672 + - - 0.15918881375006547 + - -0.11060050824101948 + - -0.9810333578190273 + - 0.9725132066770802 + - - 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: + - - 0.9999105539088842 + - -0.013342243780232738 + - 0.0009320474974034813 + - 0.023939627646939084 + - - -0.013286565360182667 + - -0.9988918639205232 + - -0.04514987679177301 + - -0.03454783807076206 + - - 0.0015334153247471304 + - 0.045133454601786575 + - -0.9989797895418856 + - 0.9686455645618751 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998516195600052 + - -0.010861343177233041 + - -0.013370493170451882 + - 0.09183081847355268 + - - -0.010530144886765685 + - -0.999641990902772 + - 0.024596871195453826 + - -0.03379186499488942 + - - -0.013632861471402462 + - -0.02445242827059098 + - -0.9996080351016456 + - 0.968219265056858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9751544565828518 + - 0.0158799820446857 + - -0.22095613134028078 + - 0.09989111137037263 + - - 0.006947096881761137 + - -0.9991289563281956 + - -0.04114688896436916 + - -0.08973683530159335 + - - -0.2214170807582793 + - 0.03858956849708428 + - -0.9744153742381586 + - 0.9723690326484581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987209606054371 + - 0.02142678634533716 + - 0.045796677546131294 + - 0.012892281753744942 + - - 0.022398763155746303 + - -0.9995323653548422 + - -0.020816964650167243 + - -0.09302010329902785 + - - 0.04532922077916005 + - 0.021816127865980337 + - -0.9987338575959507 + - 0.9689778985538048 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9832387912574814 + - -0.0014352130039991095 + - 0.18231681088193785 + - 0.054229665847562794 + - - -0.030137054197302844 + - -0.9874929237601298 + - 0.1547562066218374 + - -0.09298365290781979 + - - 0.17981445250823408 + - -0.1576567971490768 + - -0.9709846018253123 + - 0.9700958331561923 + - - 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: + - - 0.9999151297144141 + - -0.013009954923353585 + - -0.000688796848651558 + - 0.023943735250740495 + - - -0.013025723201088302 + - -0.9993545327591007 + - -0.03347907389592045 + - -0.03454510514588485 + - - -0.00025279101058857 + - 0.03348520459445006 + - -0.9994391813261941 + - 0.9684711688221534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992328403463474 + - -0.008070666045747353 + - -0.03832225362565481 + - 0.09178783341216626 + - - -0.008489993441637774 + - -0.9999057215509208 + - -0.010792035076537965 + - -0.033818068710275026 + - - -0.038231541751961036 + - 0.011109111544597032 + - -0.9992071541256887 + - 0.9680761594634254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9993580823830376 + - 0.02857918868677982 + - 0.021602156135521616 + - 0.012786758844454314 + - - 0.0309302645143441 + - -0.9925604548410618 + - -0.11775849108568137 + - -0.09316267815496335 + - - 0.01807600378321281 + - 0.11835106023905839 + - -0.9928072746648865 + - 0.9701441580213473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9895818694052735 + - -0.006454722727547906 + - 0.14382649373072623 + - 0.05423740424365962 + - - -0.014715120987441696 + - -0.9982973433705601 + - 0.05644359515133185 + - -0.09303758931445284 + - - 0.14321727884123867 + - -0.05797198266225656 + - -0.9879919333008333 + - 0.9704163197945914 + - - 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: + - - 0.9997873093212382 + - -0.012127952876711765 + - -0.016680793722699004 + - 0.023907025973021426 + - - -0.01264726770790645 + - -0.9994272669371266 + - -0.03138765238289587 + - -0.03455352598004159 + - - -0.016290572111608677 + - 0.03159194298559714 + - -0.9993680835401292 + - 0.9683634204702967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994169923771031 + - -0.00971778565302629 + - -0.03272980277831266 + - 0.09183789941706767 + - - -0.00944720870652487 + - -0.9999199951198582 + - 0.008411516341260267 + - -0.03383957976764577 + - - -0.0328089255471856 + - -0.008097407085343074 + - -0.9994288400896456 + - 0.9682830433810162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.974429850460014 + - 0.015983237461655555 + - -0.2241227401508363 + - 0.09988418388785265 + - - 0.00683902044796363 + - -0.9991143849867766 + - -0.04151714720217649 + - -0.08972239341640277 + - - -0.2245878321098169 + - 0.03892276753699801 + - -0.9736761904429384 + - 0.9719176299554092 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9944636239038335 + - 0.021432319427627883 + - 0.10287252507840457 + - 0.012772733181927285 + - - 0.029534266365984843 + - -0.9965242559646493 + - -0.07789181204930794 + - -0.0931345821079809 + - - 0.10084556431632434 + - 0.08049883824039812 + - -0.9916401107254929 + - 0.9697961781534793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999736217612558 + - -0.006601289388449938 + - -0.0030296468584270894 + - 0.05421035118483003 + - - -0.006252800864014523 + - -0.9946237146115374 + - 0.10336618796154831 + - -0.09302492001133592 + - - -0.0036957087320050163 + - -0.10334451756507015 + - -0.9946387547377246 + - 0.9703558237633825 + - - 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: + - - 0.9998865832995639 + - -0.011947981485003412 + - -0.009168766326951626 + - 0.023927647962048312 + - - -0.012119938354973638 + - -0.9997472725501019 + - -0.018934046659510793 + - -0.03459421998401664 + - - -0.008940225489095075 + - 0.01904302410508658 + - -0.9997786933122439 + - 0.9688084554004585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998471610753195 + - -0.009305058315052558 + - -0.01480102629474316 + - 0.09186313140377975 + - - -0.009469035881733805 + - -0.9998941386741018 + - -0.01104757007885252 + - -0.03383071226951867 + - - -0.014696661154651588 + - 0.011186033029192742 + - -0.9998294258602194 + - 0.9685809648626403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9626425947833559 + - 0.021704844748936688 + - -0.2699039355459498 + - 0.09997744028083985 + - - 0.00846637688497253 + - -0.9987074828827313 + - -0.05011670476477508 + - -0.08979438304782118 + - - -0.2706428553854864 + - 0.04595936627568511 + - -0.9615821241476606 + - 0.9731083481763794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969957449102207 + - 0.01529071373395691 + - 0.07593206637791722 + - 0.012907958375385182 + - - 0.027057050279569565 + - -0.9873164160812341 + - -0.15644235541142848 + - -0.09317727572238357 + - - 0.07257686036942554 + - 0.15802686040674552 + - -0.9847639873233095 + - 0.9704122154089302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9857560648986881 + - -0.009615479986089137 + - 0.1679062924970074 + - 0.054434639393779204 + - - -0.008639058936383337 + - -0.9999412645043568 + - -0.006544784344927443 + - -0.09337273329382693 + - - 0.1679593616805779 + - 0.0050010085047949475 + - -0.9857812347259345 + - 0.9737987676976312 + - - 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: + - - 0.9999243298811122 + - -0.011890323356418047 + - 0.003155110503375448 + - 0.023915190157941243 + - - -0.011826640708137914 + - -0.9997401349009192 + - -0.019488284630813077 + - -0.03453607270439379 + - - 0.003386012606194159 + - 0.01944949559168025 + - -0.9998051070282943 + - 0.9683747722554741 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990854168491534 + - -0.010687681211588496 + - -0.04140173075697041 + - 0.0918214593821214 + - - -0.009928155863313753 + - -0.9997794252935468 + - 0.018507633043128052 + - -0.03382744447156976 + - - -0.04159040226430805 + - -0.018079663437818604 + - -0.9989711528414964 + - 0.9681429587758027 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9647829364343988 + - 0.026196722974479558 + - -0.2617395982086343 + - 0.09990532768511964 + - - 0.0028797775800125953 + - -0.9960208719245143 + - -0.08907373109856978 + - -0.08979862984527946 + - - -0.2630315426828284 + - 0.08518306402172343 + - -0.9610193823007748 + - 0.9724785380945129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975535410317952 + - 0.02595260744197986 + - 0.06491066893730997 + - 0.012775071595390911 + - - 0.0301324909053642 + - -0.997477700111601 + - -0.06426718269777887 + - -0.09309437030249318 + - - 0.06307904380033601 + - 0.06606587581372123 + - -0.9958194285542945 + - 0.9693386617266093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9770522379911594 + - -9.512834717093598e-05 + - 0.21299980090850867 + - 0.05429665662687639 + - - -0.028321058862993014 + - -0.9911789462851306 + - 0.129468969509982 + - -0.09309505338537528 + - - 0.21110860205435888 + - -0.13253032630947276 + - -0.9684363018531258 + - 0.9712611837058522 + - - 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: + - - 0.9997506868639668 + - -0.011998467843756315 + - -0.018830849275299405 + - 0.023919661809881188 + - - -0.012756007510043027 + - -0.9990925070625428 + - -0.04063799458495047 + - -0.03455357620203681 + - - -0.01832616674131348 + - 0.04086806945385459 + - -0.9989964727223437 + - 0.9685643154463229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996528903647736 + - -0.009887119754911692 + - -0.024420148408762915 + - 0.091806893503352 + - - -0.009637633010774405 + - -0.9999003732033238 + - 0.010313083816321 + - -0.03382058680797055 + - - -0.02451968220233701 + - -0.010074151617127153 + - -0.9996485865812498 + - 0.9681408346165796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9754294664931276 + - 0.007523889795143614 + - -0.2201834393847163 + - 0.09981896464469373 + - - 0.01036408916011335 + - -0.9998772905454457 + - 0.011746893520391532 + - -0.08965932250565536 + - - -0.2200680384626848 + - -0.013740266876910703 + - -0.9753877503400058 + - 0.9713960016693309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977755382913919 + - 0.024369233323671354 + - 0.0620493001937956 + - 0.012749207277570184 + - - 0.02408808083276012 + - -0.9996959218364021 + - 0.005275246483327078 + - -0.09301652488888051 + - - 0.06215898606893223 + - -0.0037688633408370998 + - -0.9980591446001582 + - 0.9688684154526485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932902753737742 + - -0.0061782863670891905 + - 0.1154827157000469 + - 0.05421611160397015 + - - -0.01977148706996114 + - -0.9929425702988433 + - 0.1169364801392992 + - -0.0930345671973811 + - - 0.11394523749123514 + - -0.11843513357907189 + - -0.9864023529915027 + - 0.9702553199507371 + - - 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: + - - 0.9999181209022561 + - -0.011999624125561178 + - 0.0044452797602062815 + - 0.023956722325041705 + - - -0.011957747014966392 + - -0.9998849720389397 + - -0.009330325665002123 + - -0.034552753525115144 + - - 0.004556728829688224 + - 0.009276406175571718 + - -0.9999465908291495 + - 0.9686500564920015 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993033074754752 + - -0.010039093591347649 + - -0.03594601881210032 + - 0.09177145139137866 + - - -0.009625508354380868 + - -0.9998856862207927 + - 0.011660363617588968 + - -0.03383046043547164 + - - -0.03605896916850857 + - -0.01130624122504075 + - -0.9992857047170574 + - 0.9677910185615284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9995349392106383 + - 0.020631602261226057 + - 0.022455339795249128 + - 0.0127006819089735 + - - 0.022357401394303877 + - -0.9965815173091662 + - -0.07953254654954461 + - -0.09296652511164635 + - - 0.020737692737609607 + - 0.0799976021259142 + - -0.996579315335225 + - 0.9696866754443539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9855677964447405 + - -0.012809353794406534 + - 0.16879585026424146 + - 0.054337147935705536 + - - -0.009921013229291611 + - -0.9997897756465546 + - -0.01794374568245319 + - -0.09323274168427666 + - - 0.1689902130525988 + - 0.01601015202869915 + - -0.9854876878604093 + - 0.9722222936587148 + - - 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: + - - 0.999607149943983 + - -0.01067784710204396 + - -0.025913883578746324 + - 0.023932538012883368 + - - -0.011922405773823787 + - -0.998758941261493 + - -0.04835735198277758 + - -0.03456663893455573 + - - -0.025365370516350443 + - 0.04864731062954376 + - -0.9984938843814123 + - 0.9683902426063538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9827053002379003 + - 0.009736081204244684 + - -0.18492025742768892 + - 0.09987209839099591 + - - 0.004946891127679386 + - -0.9996407380278521 + - -0.02634242098405434 + - -0.0897106314672667 + - - -0.1851102945611326 + - 0.024972056341331064 + - -0.9824004149274242 + - 0.9717355369294383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963117513904122 + - 0.022804727364681972 + - 0.08272145097368629 + - 0.012776680636418044 + - - 0.030094710632656844 + - -0.9956675791406434 + - -0.0879794307787201 + - -0.09316006656078188 + - - 0.08035671990136302 + - 0.09014441889564477 + - -0.9926816112473631 + - 0.9700171336045423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985374907614002 + - -0.00392953383448053 + - 0.053920666796416654 + - 0.05423296763479209 + - - -0.011955773257761086 + - -0.988711944406801 + - 0.14935109799774635 + - -0.09304442047515592 + - - 0.052725127119197364 + - -0.14977733390325484 + - -0.9873129246693259 + - 0.9704810865118929 + - - 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: + - - 0.9997976727893216 + - -0.012274512180228486 + - -0.01593580358168344 + - 0.02391178998297276 + - - -0.012728182403554819 + - -0.9995074200409806 + - -0.028686419360475456 + - -0.03452887026587209 + - - -0.01557584212036093 + - 0.02888344913199679 + - -0.9994614247225759 + - 0.9683641735677522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995045493179492 + - -0.010038112272851762 + - -0.029831060905052793 + - 0.09178915712855194 + - - -0.009686835502882551 + - -0.9998823085373767 + - 0.011896818562378028 + - -0.03382245975522175 + - - -0.029946971644282176 + - -0.011601955695643344 + - -0.9994841537079878 + - 0.9681456176714518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9985389697752017 + - 0.01839770214033632 + - 0.05080797571478582 + - 0.01287548678044814 + - - 0.02533533488512532 + - -0.9899015340768569 + - -0.13947427590256326 + - -0.09316225751236104 + - - 0.047728886919111715 + - 0.1405577368494572 + - -0.9889213699608387 + - 0.9705278457052244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975151394467205 + - -0.005875399548904731 + - 0.07020702425491643 + - 0.05421391981919643 + - - -0.01529986510304266 + - -0.9908000012439344 + - 0.1344666191396525 + - -0.0930579913843414 + - - 0.06877107460566828 + - -0.13520664634240578 + - -0.9884278942251787 + - 0.9704575671143263 + - - 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: + - - 0.9998759536663347 + - -0.013790899906510876 + - 0.007608440024495834 + - 0.023945519911465964 + - - -0.013714708338814174 + - -0.9998561728906593 + - -0.009976988905775672 + - -0.034534448838402065 + - - 0.007744937379928439 + - 0.009871403761031572 + - -0.9999212825681671 + - 0.9687502625852523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997433891179611 + - -0.0112973821232313 + - -0.01963479238735657 + - 0.09181324089024637 + - - -0.01083782520200457 + - -0.9996684617104749 + - 0.023356117106756336 + - -0.03381876919252522 + - - -0.019892145681743238 + - -0.02313732522517275 + - -0.9995343749574608 + - 0.9682164867812262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9809818266999071 + - 0.007563431450161621 + - -0.19395218531692873 + - 0.09982798243882113 + - - 0.012387812042295741 + - -0.9996429948916831 + - 0.023673294590963876 + - -0.08960149181063681 + - - -0.19370389205516317 + - -0.025625714988747394 + - -0.9807253055438084 + - 0.9714144199931007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974315830724275 + - 0.023932767195107323 + - 0.0675089604720426 + - 0.01275382628715911 + - - 0.02914764860897655 + - -0.9965777201523448 + - -0.07735154992967172 + - -0.09310107204952307 + - - 0.06542668928043543 + - 0.07912060635725476 + - -0.9947156769547074 + - 0.9695799513819823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9904101561857751 + - -0.005730393533977127 + - 0.1380394331849212 + - 0.054287189441132186 + - - -0.013566902104427403 + - -0.9983444018118733 + - 0.0558962837600299 + - -0.09307807858261195 + - - 0.1374905876464184 + - -0.05723301460554609 + - -0.988848178613787 + - 0.970720117049128 + - - 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: + - - 0.9998094285381595 + - -0.01111338937875719 + - -0.01604989665746004 + - 0.023912393278847255 + - - -0.01193862457890249 + - -0.998561565581265 + - -0.052271110444078665 + - -0.034531163505166974 + - - -0.01544590073006574 + - 0.05245276275287291 + - -0.9985039468275666 + - 0.9684610723427713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991229178745428 + - -0.012125144948071405 + - -0.04007961873381375 + - 0.09179815162553515 + - - -0.0107332920309958 + - -0.9993379875407005 + - 0.03476180519305793 + - -0.033810605674765175 + - - -0.040474577453470446 + - -0.03430112998271349 + - -0.9985916287761839 + - 0.9680979586794667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9888550984023569 + - 0.014024006624207606 + - -0.1482191674577529 + - 0.0997779001538219 + - - 0.005377031437819741 + - -0.9982682610355885 + - -0.05857957444280145 + - -0.08958497049405587 + - - -0.14878401089022272 + - 0.0571297317268968 + - -0.987218067022799 + - 0.9709229308739313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953262173591998 + - 0.012573720901927769 + - 0.09574770274062662 + - 0.012946221946033728 + - - 0.023874595283601047 + - -0.9927485830046601 + - -0.11781449249682259 + - -0.0931583886482148 + - - 0.09357202967485116 + - 0.11954979081922325 + - -0.9884088844084763 + - 0.9702831394268888 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988351665899378 + - -0.004939246908653589 + - -0.047999102316884444 + - 0.05429148167224839 + - - -0.0011940516176004296 + - -0.9969726542856959 + - 0.07774381549209133 + - -0.09316388411957893 + - - -0.04823778834053124 + - -0.07759594349261559 + - -0.9958172449448265 + - 0.9717862357008052 + - - 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: + - - 0.9998747595702908 + - -0.013316329970908975 + - 0.00855222370842556 + - 0.02392824290354931 + - - -0.01303318276341535 + - -0.9993915724431568 + - -0.032351523559947686 + - -0.03454457445343008 + - - 0.008977823862634965 + - 0.03223600914660977 + - -0.9994399623754251 + - 0.9686557135127665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995898896899827 + - -0.007560040745190536 + - -0.027620612113039657 + - 0.09179128547660116 + - - -0.008191693537446348 + - -0.9997058512002589 + - -0.022827773280706298 + - -0.03380274957082643 + - - -0.027439908647014365 + - 0.023044670965275845 + - -0.9993577910606124 + - 0.9679047521531121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9732304060479425 + - 0.023499471139811712 + - -0.22862710163037556 + - 0.09983442893455341 + - - 0.005588613756526155 + - -0.9968846476863151 + - -0.07867506977189904 + - -0.08969672552705533 + - - -0.22976367019186753 + - 0.0752912615346693 + - -0.9703297799183958 + - 0.9716935236934211 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999397808761173 + - 0.019912005757390803 + - 0.028417105237577383 + - 0.012675718122935133 + - - 0.02162003244008549 + - -0.9978961484656593 + - -0.061121608901381665 + - -0.09295879451929277 + - - 0.027140266038776468 + - 0.06169918074108798 + - -0.997725722358216 + - 0.9695313611781622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9661489003755569 + - -0.009086840038101082 + - 0.2578250019707634 + - 0.05432229713006885 + - - -0.02649133558732797 + - -0.9975910416874819 + - 0.0641117983189016 + - -0.09315414951093008 + - - 0.25662133863321224 + - -0.06877167209691726 + - -0.9640622104797447 + - 0.9712278789737196 + - - 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: + - - 0.9998983596737293 + - -0.013492088812860568 + - 0.004608021403088198 + - 0.023936643966402344 + - - -0.0132862233973502 + - -0.9990245357884615 + - -0.0421123872570289 + - -0.034518481859992865 + - - 0.005171710512116891 + - 0.04204688373846685 + - -0.9991022535147561 + - 0.9684815155573254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994870273960956 + - -0.010899816264338797 + - -0.030114383146931524 + - 0.09183570854160653 + - - -0.010596717006588877 + - -0.9998917650254205 + - 0.010206263911490921 + - -0.03386267488831799 + - - -0.030222370118817753 + - -0.009881914781680084 + - -0.9994943502114698 + - 0.9683679974283242 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9876271272223213 + - 0.011176910711515952 + - -0.1564216552831854 + - 0.09982415035253207 + - - 0.006776600157977812 + - -0.9995669301246116 + - -0.028636164051068162 + - -0.08965653774097476 + - - -0.1566739776251429 + - 0.027221845422520374 + - -0.9872751571202982 + - 0.9713033896716572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9952036605677372 + - 0.012526447040139872 + - 0.09701939041823858 + - 0.012882226643361028 + - - 0.023087940496062685 + - -0.9938266354421736 + - -0.10851527859863504 + - -0.0931292704549109 + - - 0.09506114346159687 + - 0.11023478040183 + - -0.9893491154256591 + - 0.9702919128654248 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955373059829177 + - -0.005977640534368704 + - -0.0941792982025043 + - 0.05428845095334976 + - - 0.0042320214248084 + - -0.9941597510882306 + - 0.1078354269748487 + - -0.09313726849395862 + - - -0.09427386907799169 + - -0.10775275926782495 + - -0.989697822812214 + - 0.971829209667495 + - - 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: + - - 0.9999507195609766 + - -0.009889095428188225 + - 0.0008742088408795936 + - 0.02390857043281715 + - - -0.00986786405341886 + - -0.9997170793232577 + - -0.02164224037381604 + - -0.03458836921415304 + - - 0.001087983689459173 + - 0.02163254726071287 + - -0.999765397075986 + - 0.9683654773271938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996989805112733 + - -0.00916322721846375 + - -0.022759253758940334 + - 0.09182699072502003 + - - -0.009327758260603346 + - -0.9999310500879524 + - -0.007133582258338802 + - -0.03384044870247643 + - - -0.02269231787528063 + - 0.007343727728309729 + - -0.9997155237228736 + - 0.968273268273615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9666476905638016 + - 0.019481542869093593 + - -0.25536779713798774 + - 0.09985640190631385 + - - 0.006140989635759542 + - -0.9985791202315111 + - -0.052934193901059794 + - -0.08975564157523507 + - - -0.25603618996923516 + - 0.049600505290784795 + - -0.9653938363698708 + - 0.9719017259664373 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997206403721342 + - 0.026680499596161984 + - 0.06976775271174498 + - 0.012771984128708785 + - - 0.031797884541562196 + - -0.9968030230968484 + - -0.07329821064436105 + - -0.09314714869375443 + - - 0.06758907393824448 + - 0.07531191198132499 + - -0.99486674132664 + - 0.9696406536244808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967771152073045 + - -0.005652074642296147 + - 0.08002147618759496 + - 0.05441507719150186 + - - 0.00018219411917640323 + - -0.9973527823851083 + - -0.07271447087056854 + - -0.09337212468876527 + - - 0.08022062954319702 + - 0.07249469995056007 + - -0.9941373994950459 + - 0.9738595090667204 + - - 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: + - - 0.999480883231893 + - -0.012087299249174068 + - -0.0298640461233236 + - 0.023890663415439158 + - - -0.01319146768735424 + - -0.9992260785309279 + - -0.037057106794228564 + - -0.034530834194309135 + - - -0.029393013357744933 + - 0.037431820428163634 + - -0.9988668127359056 + - 0.9682110474966854 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996301762507807 + - -0.01119004773608927 + - -0.024784946247615642 + - 0.09182995370095129 + - - -0.010784868298279767 + - -0.9998069904212536 + - 0.01642158702998485 + - -0.03385111097944259 + - - -0.02496392085834902 + - -0.016148211556040813 + - -0.9995579212426455 + - 0.968421526033696 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9837019365796174 + - 0.010538351461757214 + - -0.179497752403697 + - 0.0998245476666999 + - - 0.006124020773024171 + - -0.9996654566909715 + - -0.025129088093344316 + - -0.089649504227336 + - - -0.17970252179388582 + - 0.023620284657471218 + - -0.9834373827619216 + - 0.9714481207362183 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982406113538506 + - 0.025490170294509697 + - 0.05353441007658098 + - 0.012815654546733937 + - - 0.033446461872810335 + - -0.9875936036834305 + - -0.15342818564972735 + - -0.09323802625782483 + - - 0.04895933038840794 + - 0.15494878244740565 + - -0.9867085987189869 + - 0.9705147302348709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944218361012049 + - -0.0073382262172572155 + - 0.10522054134574901 + - 0.05424047137753374 + - - -0.014438464888391265 + - -0.9976567152007699 + - 0.06687756983082767 + - -0.09300845993828596 + - - 0.10448321691436768 + - -0.06802373887691633 + - -0.9921975752502276 + - 0.9704188189896923 + - - 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: + - - 0.9999105321014621 + - -0.012782988264288964 + - -0.003939924314741325 + - 0.023920857519719854 + - - -0.012826737870668545 + - -0.9998540343571828 + - -0.011286486400244659 + - -0.034522941410093703 + - - -0.003795074197956688 + - 0.011336012998440014 + - -0.9999285435575541 + - 0.9687038945436167 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994546377922127 + - -0.008880662613321898 + - -0.03180504405256211 + - 0.09179065443987124 + - - -0.009139214046783677 + - -0.9999262896038728 + - -0.007993129902626638 + - -0.03380577332487554 + - - -0.03173171540027646 + - 0.00827944385701956 + - -0.9994621298714501 + - 0.9681947932960628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9726466644156807 + - 0.025221579810237323 + - -0.2309163010983114 + - 0.09991877793118967 + - - 0.0036297774284655884 + - -0.9956167846108289 + - -0.09345610155048213 + - -0.08979753662632543 + - - -0.23226125573773598 + - 0.09006159066477816 + - -0.9684748933090934 + - 0.9725296317319218 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9920222253357095 + - 0.006103869851066446 + - 0.12591523820740694 + - 0.012903940615571288 + - - 0.029747112257723564 + - -0.9819548823853816 + - -0.186761126233053 + - -0.09322302849399042 + - - 0.12250311731671641 + - 0.1890168027778303 + - -0.9743026401048774 + - 0.9710562153153957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979476298425736 + - -0.007383831937331218 + - 0.06360823152321454 + - 0.05435178385026086 + - - -0.013151066837179088 + - -0.9957884521225406 + - 0.09073261850315383 + - -0.09327478091985995 + - - 0.06267038800449273 + - -0.09138291768878935 + - -0.9938418308876169 + - 0.9727954964110065 + - - 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: + - - 0.9998938762008508 + - -0.013254121760244255 + - 0.006046866329116523 + - 0.02393802565341983 + - - -0.013033358928799378 + - -0.9992955349999313 + - -0.035193256232343526 + - -0.03455086618290901 + - - 0.006509062226670518 + - 0.03511071041102587 + - -0.9993622316874716 + - 0.9683558607177876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999282408930706 + - -0.011902818273875834 + - -0.03595817179424341 + - 0.09181163268066728 + - - -0.01045170196917786 + - -0.9991338655206095 + - 0.040277545801505846 + - -0.03380054482176364 + - - -0.036406443490029604 + - -0.03987281889939567 + - -0.9985413006908745 + - 0.9680955101056063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9887099332233528 + - 0.008340612360339977 + - -0.14960983300213876 + - 0.09979405098531509 + - - 0.005193668317428912 + - -0.9997572307755622 + - -0.021412737363263695 + - -0.08961378294435797 + - - -0.14975210768093328 + - 0.0203939622789226 + - -0.9885132232538342 + - 0.9710718355921297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950601591252956 + - 0.014084730951870506 + - 0.09826952770597319 + - 0.012891970504079779 + - - 0.021309994723222984 + - -0.9971139483752389 + - -0.07286740067024548 + - -0.0931240220213595 + - - 0.09695959904227028 + - 0.07460157042284903 + - -0.9924885096785793 + - 0.9700646275534052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998095102967862 + - -0.004917006141960094 + - 0.018888254834694595 + - 0.05416795976798251 + - - -0.006815490507369601 + - -0.9947814217603621 + - 0.10180113952984954 + - -0.09292819015083499 + - - 0.01828912817070272 + - -0.10191048018252033 + - -0.9946254379512537 + - 0.9692655498023893 + - - 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: + - - 0.9999246747273256 + - -0.010730936261210198 + - -0.005957506056225723 + - 0.023918631267307842 + - - -0.010960831765435877 + - -0.9991395384521148 + - -0.04000053585522733 + - -0.03458191386634869 + - - -0.005523136650666349 + - 0.040062822025580765 + - -0.9991818979809858 + - 0.968240017220857 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9582889187175775 + - 0.008675149747053013 + - -0.285669546924348 + - 0.09995556336749856 + - - 0.016379429319580856 + - -0.9995634063375944 + - 0.024590872411330025 + - -0.08981935749610812 + - - -0.2853314959100395 + - -0.028244264685979403 + - -0.9580126298510306 + - 0.9729415762705436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991311542177357 + - 0.016694598600210463 + - 0.038186739178845214 + - 0.012888805283341586 + - - 0.01982043842489161 + - -0.9963523900827377 + - -0.08300039154764376 + - -0.09303540598288568 + - - 0.03666179062976031 + - 0.083685154920063 + - -0.995817607774549 + - 0.9695073658603638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9861031057221149 + - -0.007192746776689058 + - 0.1659787012812361 + - 0.05434804820889198 + - - -0.010455996181819879 + - -0.9997686790385815 + - 0.018795226981779014 + - -0.09330807179071049 + - - 0.1658051176201903 + - -0.020269504366344403 + - -0.9859502067364754 + - 0.9729123082918223 + - - 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: + - - 0.9999004739861044 + - -0.011415859474412586 + - 0.00828976928654085 + - 0.023915184677780456 + - - -0.011107861529182441 + - -0.9992793851952188 + - -0.03629498224431627 + - -0.034568372419256976 + - - 0.008698133972992158 + - 0.036199288340065326 + - -0.9993067366875207 + - 0.9685670875513427 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994336233168389 + - -0.010987214734837754 + - -0.03180744718058221 + - 0.09181532496825973 + - - -0.010395103000513559 + - -0.9997706992419675 + - 0.018721398741452764 + - -0.033850833006207226 + - - -0.032005849736941476 + - -0.0183801536881039 + - -0.9993186656582665 + - 0.9682347138160843 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9836855445062825 + - 0.016297256006878768 + - -0.17915677206297506 + - 0.09984083199764959 + - - 0.0051328380659127456 + - -0.9980252315112274 + - -0.06260424298999126 + - -0.08969186724038791 + - - -0.17982325629007964 + - 0.06066330615460228 + - -0.9818266444661323 + - 0.971623020369403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993446420631756 + - 0.019131274249198058 + - 0.03072915106580888 + - 0.012908208535168546 + - - 0.020525475588373938 + - -0.9987436286366201 + - -0.04571508623668578 + - -0.0930208067097104 + - - 0.02981595598826905 + - 0.046315856932140666 + - -0.9984817725753168 + - 0.9693427280244852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996458241209738 + - -0.0058188708911776025 + - 0.02596857830245599 + - 0.05421348714214193 + - - -0.008141334146638621 + - -0.9958863807328585 + - 0.09024430923399873 + - -0.09303360875891666 + - - 0.025336633474314578 + - -0.09042376574972211 + - -0.9955810351708335 + - 0.9707187914356118 + - - 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: + - - 0.9999322623068092 + - -0.011631719767081848 + - -0.0004170050919146485 + - 0.023940243980130022 + - - -0.011638573224523281 + - -0.9988676078824623 + - -0.04613074394008343 + - -0.03458857498499123 + - - 0.00012004700752246835 + - 0.04613247249420099 + - -0.9989353235171377 + - 0.9687300084230681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996868434678258 + - -0.008387268895532263 + - -0.023576868278227987 + - 0.09184207475669948 + - - -0.00864816045163097 + - -0.9999022595502652 + - -0.01098547527769236 + - -0.03382808065168499 + - - -0.02348242572941991 + - 0.011185931644167195 + - -0.9996616680733108 + - 0.9684012979794864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.845876693725586 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9718129323609226 + - 0.01266043263335111 + - -0.23541312185517904 + - 0.09983240772207563 + - - 0.008627703104114134 + - -0.9997980024038132 + - -0.018152606658318644 + - -0.0897037239115511 + - - -0.23559538882417086 + - 0.015609863384435922 + - -0.9717258589385726 + - 0.9718250531156238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989175577562646 + - 0.02084595888730127 + - 0.04158315529548844 + - 0.012890175099780864 + - - 0.027531443682324564 + - -0.9855187013198862 + - -0.16731679221624093 + - -0.09318532190115039 + - - 0.03749309823189801 + - 0.1682805257504109 + - -0.9850258535886961 + - 0.9707804328915598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964957130465134 + - -0.00507088892215166 + - 0.08348999919427498 + - 0.054318391103956455 + - - -0.02156313779284079 + - -0.979996008046759 + - 0.19784553394237686 + - -0.09318574170630252 + - - 0.080816613195851 + - -0.19895253277592734 + - -0.9766711650978523 + - 0.9721542089815002 + - - 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: + - - 0.9999132015318438 + - -0.012736068836893526 + - 0.0033737150028108715 + - 0.023931610881374354 + - - -0.012617335177233725 + - -0.9993709527436504 + - -0.03314365196043691 + - -0.034544760034722385 + - - 0.0037937126095188125 + - 0.033098207849234715 + - -0.9994449041251878 + - 0.9684792760813087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989781851383326 + - -0.008436985419084542 + - -0.04440048304648779 + - 0.09181765010553203 + - - -0.008215546909600163 + - -0.9999529001760592 + - 0.005167418936529969 + - -0.033793096750583194 + - - -0.044441989229775186 + - -0.004797364539786834 + - -0.999000447891178 + - 0.9682937173466685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9825039054360096 + - 0.021092449820192892 + - -0.18504373635325008 + - 0.09984098021013768 + - - 0.0029345557029415506 + - -0.9951961134346222 + - -0.09785746873616413 + - -0.08966588675538081 + - - -0.186218860983024 + - 0.09560232405755445 + - -0.9778459650931633 + - 0.9716523504221543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955324979341954 + - 0.004298204229940469 + - 0.0943216358917656 + - 0.012850145682080927 + - - 0.014416060658700075 + - -0.994170359900678 + - -0.10685257455972415 + - -0.0930222940052426 + - - 0.09331250051298466 + - 0.10773495688658556 + - -0.9897908649369624 + - 0.9703167504611783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987685402540548 + - -0.002649033096400133 + - 0.049541756351977335 + - 0.0542643507024804 + - - -0.009523812541279437 + - -0.9902392050700854 + - 0.13905255746243556 + - -0.09306734822901394 + - - 0.04868983460090082 + - -0.1393531462358118 + - -0.9890449942448106 + - 0.9707185146496611 + - - 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: + - - 0.9998129371091495 + - -0.011112528344561095 + - -0.01583042965200448 + - 0.02392494561309861 + - - -0.012267790904140059 + - -0.9971189825648609 + - -0.07485476548055664 + - -0.03457283490745486 + - - -0.014952996205043152 + - 0.07503496733262541 + - -0.9970687847796079 + - 0.96855671535146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994985859859581 + - -0.008357864475930107 + - -0.030540509384623927 + - 0.09181005413789328 + - - -0.00839571209556084 + - -0.9999641379467615 + - -0.0011112330079876337 + - -0.03378975620660917 + - - -0.030530126604368515 + - 0.0013670851442296392 + - -0.9995329121383294 + - 0.9682827713565839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9752782358627888 + - 0.020309581776551924 + - -0.2200451852243715 + - 0.099897206378206 + - - 0.004354484704515934 + - -0.9973405534887687 + - -0.07275203660155721 + - -0.08976610821078092 + - - -0.22093755026098338 + - 0.06999529451882985 + - -0.9727729733241449 + - 0.9722752075435285 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980686885206856 + - 0.028705207084285936 + - 0.05508996352192422 + - 0.012834209534147687 + - - 0.03353348586957613 + - -0.9954829116077872 + - -0.08882160785708272 + - -0.09323783411972765 + - - 0.05229147464007511 + - 0.09049742417953509 + - -0.9945229096892819 + - 0.9701897173687482 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942735522650168 + - -0.007650497522510898 + - 0.10659068042733838 + - 0.0542294514501764 + - - -0.009550883843112704 + - -0.9998042107442818 + - 0.017329766179007926 + - -0.09310539538044209 + - - 0.10643722978413284 + - -0.018248563386244216 + - -0.9941519531994182 + - 0.9711918638684226 + - - 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: + - - 0.9999079235605133 + - -0.01210784716094301 + - 0.00612735163262512 + - 0.02388429971730148 + - - -0.011950207036636334 + - -0.9996124833106144 + - -0.025141116947509364 + - -0.03455921604675251 + - - 0.006429381983061581 + - 0.02506557892237998 + - -0.9996651338326259 + - 0.9682694411119741 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990258816748595 + - -0.009027429303012174 + - -0.04319482913438494 + - 0.09179575560800629 + - - -0.009491509170924405 + - -0.9998992900926099 + - -0.010550873231765606 + - -0.03383396549134157 + - - -0.043095231724958286 + - 0.010950579549669836 + - -0.9990109537988552 + - 0.9682054746512329 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9778777132717699 + - 0.013896801547134463 + - -0.20871525290005513 + - 0.09986313889906057 + - - 0.00660122258990596 + - -0.9993439358032445 + - -0.035610698302600295 + - -0.08969047568296838 + - - -0.2090731971025768 + - 0.03344513238185589 + - -0.9773278985955874 + - 0.971681869356368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948704101849618 + - 0.02040210939298481 + - 0.09907886187639951 + - 0.012781162834011484 + - - 0.02914236290305437 + - -0.9957306399868275 + - -0.08758547411443111 + - -0.09323468101756574 + - - 0.0968689301212347 + - 0.09002358870729206 + - -0.9912175159133477 + - 0.9705459535726466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981038146733637 + - -0.006831987263292974 + - 0.06117269884935503 + - 0.054365164168793105 + - - -0.0034322197662540366 + - -0.9984522277753289 + - -0.055510077625222705 + - -0.09329444413700726 + - - 0.06145726158848777 + - 0.05519486208440345 + - -0.9965824261934019 + - 0.9728800297397044 + - - 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: + - - 0.9998231859252003 + - -0.013371085189975632 + - 0.013221609857535089 + - 0.023928154411061324 + - - -0.012876715595474405 + - -0.9992398876827673 + - -0.036794524853626824 + - -0.03455582990444011 + - - 0.01370354267537125 + - 0.03661776815390733 + - -0.9992353836677179 + - 0.9685122111584368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990055317529996 + - -0.00842865126031535 + - -0.04378247782890437 + - 0.09178859911191957 + - - -0.00884783909799801 + - -0.9999167741579895 + - -0.009389382342629551 + - -0.03382851043677461 + - - -0.04369969416600596 + - 0.009767425219172673 + - -0.9989969640266108 + - 0.9680651258530355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9781995677171907 + - 0.0218914497207301 + - -0.2065099759019547 + - 0.09986909858755025 + - - 0.004822484038235675 + - -0.9965546576141047 + - -0.08279829729732459 + - -0.08972138111341939 + - - -0.20761105309111583 + - 0.07999736756143876 + - -0.9749349064515224 + - 0.9718994537903076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948515567513398 + - 0.020803060690438906 + - 0.09918474023429966 + - 0.012894934584122894 + - - 0.016457701220437278 + - -0.998876951295559 + - 0.04442949742038775 + - -0.09294327185085748 + - - 0.09999762047156124 + - -0.04256840185394961 + - -0.9940766605567329 + - 0.9682329708717294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999922453569674 + - 0.0001962839882585271 + - -0.012451840016602508 + - 0.05430079566369758 + - - -4.04457716939802e-05 + - -0.9998193207767415 + - -0.019008528761465346 + - -0.09318314499245237 + - - -0.012453321297656394 + - 0.01900755834219263 + - -0.999741780418587 + - 0.9717878146639168 + - - 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: + - - 0.9999128998731349 + - -0.013109230323026617 + - 0.0015299502069481242 + - 0.023932590018773767 + - - -0.013058313837577185 + - -0.9994779895436741 + - -0.029550445977261915 + - -0.034551939056775574 + - - 0.0019165351594065208 + - 0.029527893559710184 + - -0.9995621193277132 + - 0.9687866748267138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999831359112391 + - -0.01006363743076638 + - -0.015361527825422296 + - 0.09184307132268829 + - - -0.009801027169193332 + - -0.9998061574744582 + - 0.017075928747433255 + - -0.033811804926898656 + - - -0.015530396063780205 + - -0.016922490296075256 + - -0.9997361832605045 + - 0.9682506756503281 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9787485450881711 + - 0.010010249460217106 + - -0.20481962892636169 + - 0.0998273928987442 + - - 0.007733479831261581 + - -0.9998991264611397 + - -0.011913445846982177 + - -0.08966665609910582 + - - -0.20491822461042292 + - 0.010076299320372021 + - -0.9787272293210801 + - 0.9713873426162871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992659607017593 + - 0.020678009479414238 + - 0.03224840626696293 + - 0.012901330587489879 + - - 0.01962894806449666 + - -0.9992784859200294 + - 0.03251479625115846 + - -0.09295997474039012 + - - 0.03289747985288739 + - -0.03185792682115882 + - -0.9989508638156264 + - 0.9686008772098089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9766091946602119 + - -0.01252916251366974 + - 0.21465670497759531 + - 0.05426541975543628 + - - -0.01587914737643348 + - -0.9997774506959218 + - 0.013888907752632539 + - -0.0930605408341787 + - - 0.21443491689491673 + - -0.016972600468687274 + - -0.9765908033816418 + - 0.9708887421609889 + - - 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: + - - 0.9998369685611501 + - -0.01201248058233567 + - -0.013480972098065612 + - 0.02390940116144904 + - - -0.012316835917780997 + - -0.9996658691055903 + - -0.022725441653319755 + - -0.03454010871877881 + - - -0.013203478762215472 + - 0.02288777961321257 + - -0.9996508478928791 + - 0.9686533998515933 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995620326121213 + - -0.011289312589593916 + - -0.027354969961212706 + - 0.09179504618219164 + - - -0.01107339303428176 + - -0.999906429716884 + - 0.00803192240644657 + - -0.03386652868331536 + - - -0.027443085231670536 + - -0.007725492352549095 + - -0.9995935143051293 + - 0.9682722782319022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9717161827763952 + - 0.016138542163910672 + - -0.23559967654327316 + - 0.09993082913117847 + - - 0.006735126190952107 + - -0.9991502169544175 + - -0.04066303032402694 + - -0.08976440098662287 + - - -0.23605570996199862 + - 0.037926131054517816 + - -0.9709991299571656 + - 0.9726112966882922 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990661828552372 + - 0.02869913284170288 + - 0.03229740003777569 + - 0.012753793265999982 + - - 0.029432797442280393 + - -0.9993140701853117 + - -0.022474420223622334 + - -0.09307214700498352 + - - 0.031630249916614867 + - 0.023404036057923062 + - -0.9992255893372689 + - 0.9691287688627973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9788268890597802 + - -0.00714878509086093 + - 0.20456494353939908 + - 0.05427876126844915 + - - -0.01862088429430086 + - -0.9983558846028637 + - 0.054210611017887135 + - -0.09310110381866779 + - - 0.20384107515820044 + - -0.05687198388098564 + - -0.9773507014003677 + - 0.9709063196161964 + - - 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: + - - 0.9999239994639462 + - -0.011325207820152405 + - 0.004871854252386601 + - 0.02391218124326927 + - - -0.011071027373071859 + - -0.9987192607298241 + - -0.04936872086835813 + - -0.034564310612320695 + - - 0.005424725700976248 + - 0.04931103238732206 + - -0.998768739216424 + - 0.968781044792539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997226984775064 + - -0.008806952890384984 + - -0.02183949929919048 + - 0.09186980691811485 + - - -0.008819773790276472 + - -0.9999609845929868 + - -0.0004907974260820386 + - -0.03379901937180182 + - - -0.021834324792426123 + - 0.0006832807707203117 + - -0.9997613692217997 + - 0.9685278763130307 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9784175320460847 + - 0.011748371588299722 + - -0.2063034385313829 + - 0.09985916860669596 + - - 0.005936536827255007 + - -0.9995684933002955 + - -0.0287677724524325 + - -0.08970305463558262 + - - -0.2065523916960234 + - 0.026922164964941455 + - -0.9780650829664926 + - 0.9718544946231409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9930099938454079 + - 0.02077806590792698 + - 0.11618702208193768 + - 0.01278760622006147 + - - 0.025323430339378238 + - -0.9989650607856495 + - -0.03778268393551109 + - -0.093081669843913 + - - 0.11528172447959603 + - 0.04046083670229662 + - -0.9925084607671418 + - 0.9694230475223256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999968560516402 + - -0.005768730608240915 + - -0.005440563015369436 + - 0.05439245396945117 + - - -0.005686679425403266 + - -0.9998716501556822 + - 0.014978147150668364 + - -0.09337819198401241 + - - -0.0055262696158762045 + - -0.014946737507694582 + - -0.9998730196289978 + - 0.9737080152135765 + - - 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: + - - 0.99992195891771 + - -0.012482514187427324 + - 0.0005127511388586707 + - 0.023917057241357453 + - - -0.012455448294475379 + - -0.9992546756112727 + - -0.0365370370554931 + - -0.034562633402828266 + - - 0.0009684430563412819 + - 0.036527799120279626 + - -0.9993321680049511 + - 0.9684649116744597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996993677631667 + - -0.009964903637892304 + - -0.022402562117138328 + - 0.0918345563370683 + - - -0.009635886145637923 + - -0.999844827459369 + - 0.014746887838906682 + - -0.033816130159513014 + - - -0.022546037170931475 + - -0.014526585911098016 + - -0.9996402625493106 + - 0.9682527315668722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9748583355654586 + - 0.016466467750259013 + - -0.222216293323359 + - 0.0999273388232913 + - - 0.008640087978369846 + - -0.999309169112412 + - -0.03614600126691324 + - -0.08976590105827317 + - - -0.22265797640836824 + - 0.03331726230786894 + - -0.9743271450462827 + - 0.9724300886576286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983854157934606 + - 0.026342827462272924 + - 0.05032511273918423 + - 0.01277089053477815 + - - 0.030109357674337065 + - -0.9966824307953059 + - -0.07561454042972487 + - -0.09313710899008987 + - - 0.048166254902758665 + - 0.07700771120642774 + - -0.9958663686978235 + - 0.9697038980082148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988769834576947 + - -0.00617494143350543 + - 0.04697490837403671 + - 0.054226179347390664 + - - -0.016612426942768 + - -0.9741730894034003 + - 0.2251906284757561 + - -0.09299147332961603 + - - 0.044371152672964924 + - -0.22571810290831262 + - -0.9731816576723716 + - 0.9703460450616529 + - - 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: + - - 0.9999173518592134 + - -0.011949656075018734 + - 0.00474290739386275 + - 0.023931677469431395 + - - -0.011835187195045057 + - -0.9996544737367263 + - -0.023470438474982362 + - -0.034563391537758816 + - - 0.005021732262499819 + - 0.02341236549002383 + - -0.9997132805696073 + - 0.9685395339630841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998783103928449 + - -0.007179771672565404 + - -0.013849739516661156 + - 0.09186135863703929 + - - -0.007789485130262513 + - -0.9989797314390595 + - -0.04448393075427647 + - -0.033856134611819196 + - - -0.013516224596941169 + - 0.04458639986224131 + - -0.998914092712667 + - 0.9684526894661414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9746852351396705 + - 0.011858411588046902 + - -0.22326681454110858 + - 0.09987165568066472 + - - 0.00896743461039494 + - -0.9998623705046691 + - -0.013957978553227435 + - -0.08971208333550487 + - - -0.22340160589672042 + - 0.011602505048158396 + - -0.9746574292331507 + - 0.9717898837990291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979430624825698 + - 0.02803827674708655 + - 0.057649796877036225 + - 0.012767585674472701 + - - 0.03272337402092154 + - -0.9960949740426797 + - -0.0819998992657924 + - -0.09308930315127874 + - - 0.055125537054949644 + - 0.08371772646200451 + - -0.9949635759365447 + - 0.9693632106088397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941922603255122 + - -0.007827940122404533 + - 0.10733346571451549 + - 0.05436018537903919 + - - -0.013054069998838277 + - -0.9987584320173116 + - 0.048074793091457006 + - -0.09319671521918821 + - - 0.10682387731829646 + - -0.04919672578293215 + - -0.99306008952476 + - 0.9724151635891509 + - - 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: + - - 0.9999013051767895 + - -0.01297038978133839 + - -0.005398971631055842 + - 0.02393809197912471 + - - -0.013086438347252366 + - -0.9996713289097828 + - -0.02204493790265261 + - -0.034519711884489865 + - - -0.005111265707861008 + - 0.022113415490791998 + - -0.9997424027309209 + - 0.9684328307892665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999727924569296 + - -0.012424670817148424 + - -0.0197409318790506 + - 0.0917914060083638 + - - -0.012046204637121985 + - -0.9997435470505758 + - 0.019176263571755833 + - -0.03387984204492617 + - - -0.019974128021227777 + - -0.01893324287644273 + - -0.9996212115216307 + - 0.968131775349042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.971990660077907 + - 0.011651665653896224 + - -0.2347304739670681 + - 0.09984604887297535 + - - 0.009632373942979083 + - -0.9999060991122359 + - -0.009747324267384736 + - -0.08969072396243932 + - - -0.234822005130561 + - 0.007213296447585173 + - -0.9720116224926642 + - 0.9719469340221696 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99720180567432 + - 0.014011887340833645 + - 0.07343177631668223 + - 0.012917042707771642 + - - 0.02038068446497413 + - -0.9960248673968936 + - -0.08671269357908994 + - -0.09308253310887868 + - - 0.07192486677509129 + - 0.08796664447476536 + - -0.9935233681193598 + - 0.9698369590729912 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970856045344636 + - -0.0063528891615887715 + - 0.07602590367397045 + - 0.054308732375457414 + - - -0.009118401339251262 + - -0.9993071501284123 + - 0.036084268861186944 + - -0.0931749014630481 + - - 0.07574398977582054 + - -0.03667233973351923 + - -0.9964527020944391 + - 0.9716520050096659 + - - 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: + - - 0.9999159153248945 + - -0.012813039378121003 + - 0.001997073326939266 + - 0.023924442016596513 + - - -0.0126932328122963 + - -0.9985925579340872 + - -0.05149548601022783 + - -0.034564264556631225 + - - 0.0026540762519747475 + - 0.0514658067123352 + - -0.9986712304951502 + - 0.9687445728471585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9827246999361923 + - 0.017318124796451832 + - -0.18426135430104534 + - 0.09982135769742172 + - - 0.0014639072059927111 + - -0.996308522323674 + - -0.08583230930663231 + - -0.08973426591390908 + - - -0.18506761226917334 + - 0.08407978888384342 + - -0.9791223457720873 + - 0.9718541003751429 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9949328134798742 + - 0.019123925219123407 + - 0.09870649494959943 + - 0.012868499431108045 + - - 0.019433266461918515 + - -0.9998087940259904 + - -0.002173371324705726 + - -0.09302969944933207 + - - 0.09864605828740444 + - 0.004080548064703529 + - -0.9951142167167797 + - 0.9692881898304735 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9866475530242431 + - -0.01054234842084622 + - 0.16252835137614283 + - 0.05429000003013749 + - - -0.010507912941137358 + - -0.9999442162403807 + - -0.0010715283627537179 + - -0.09314275492049498 + - - 0.1625305813590013 + - -0.0006506129296200618 + - -0.9867032921937176 + - 0.9711999363736858 + - - 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: + - - 0.9999034984114584 + - -0.012253831330465273 + - -0.0065450349312314955 + - 0.023902548760824694 + - - -0.012450264899236133 + - -0.999445977833875 + - -0.030866297083206942 + - -0.03454500822460116 + - - -0.0061631784385478795 + - 0.030944805855174604 + - -0.9995020931554475 + - 0.9682962443146468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997515800752395 + - -0.008851919568464766 + - -0.020455357660414553 + - 0.09181968390871456 + - - -0.00888123530618941 + - -0.9999596595193095 + - -0.0013427559206983081 + - -0.033811111523809195 + - - -0.020442646514043736 + - 0.0015240911980279222 + - -0.9997898655965273 + - 0.9683887653275407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9715878741331174 + - 0.004891272700248289 + - -0.23662856608799693 + - 0.09982183847822217 + - - 0.009486747934008371 + - -0.99978779058463 + - 0.018285934800884026 + - -0.08970280364980336 + - - -0.23648890978463727 + - -0.020011228080190364 + - -0.9714280963095507 + - 0.9716781738600235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9937491733188619 + - 0.013348593411372327 + - 0.1108349925881547 + - 0.012869406673308588 + - - 0.018729009039613848 + - -0.9986886799265076 + - -0.04764603663521183 + - -0.09304827290715764 + - - 0.11005364486682166 + - 0.04942403909625105 + - -0.9926960560065401 + - 0.9693731810258299 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9824779789295508 + - 0.0027725974267497934 + - 0.18635807903607052 + - 0.054210983985428805 + - - -0.03583369443821481 + - -0.9784248649020736 + - 0.20347169357005734 + - -0.09296728786119574 + - - 0.18290152339828605 + - -0.20658435672835407 + - -0.9611815313944178 + - 0.9699946708049032 + - - 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: + - - 0.9998579764038612 + - -0.013687742488822928 + - -0.009832229001371002 + - 0.023931893705308405 + - - -0.013846618271611643 + - -0.9997716462760561 + - -0.016276561826907728 + - -0.03453648042226506 + - - -0.00960719438837375 + - 0.016410393292805348 + - -0.9998191840567772 + - 0.9687121047799752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998817902408631 + - -0.012115516167839676 + - -0.009466774145047466 + - 0.09178350879113001 + - - -0.011942459501224183 + - -0.9997643494996465 + - 0.01812796542942981 + - -0.03384405112397253 + - - -0.009684172953233745 + - -0.01801276596016829 + - -0.9997908566578695 + - 0.9682478510785046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9755262176357928 + - 0.021181369483790572 + - -0.21886056815240817 + - 0.09988994510199055 + - - 0.0034630247086812546 + - -0.9967059980012135 + - -0.0810256811651235 + - -0.08981038070320149 + - - -0.21985587589389288 + - 0.07828475672310882 + - -0.9723861839309179 + - 0.9722972282863533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993697760357773 + - 0.022583006557177755 + - 0.02738719702779116 + - 0.01287995227828536 + - - 0.026184681881400478 + - -0.9899148070654709 + - -0.13922297650640317 + - -0.09313164745291723 + - - 0.023966918470476002 + - 0.13985235989203434 + - -0.9898822678741445 + - 0.9703043178752322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901122319277861 + - -0.012709703934229674 + - 0.13970050684547347 + - 0.05435426878235114 + - - -0.0018745873003435751 + - -0.9969968773883707 + - -0.07741907000405025 + - -0.09322621949295655 + - - 0.1402649425531246 + - 0.07639168739949963 + - -0.9871626289456192 + - 0.972240500984479 + - - 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: + - - 0.999684045417703 + - -0.011490968530132121 + - -0.022355468671792562 + - 0.023897611829362397 + - - -0.012371081794876166 + - -0.9991375402388698 + - -0.0396375077501596 + - -0.034541082267590666 + - - -0.021880714625451998 + - 0.03990154542945664 + - -0.998964013866275 + - 0.9685772810974224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991640858484027 + - -0.009300367339956532 + - -0.03980744551045293 + - 0.09182688005337149 + - - -0.009404209570815707 + - -0.9999528459001349 + - -0.002422151640435106 + - -0.03382978273479635 + - - -0.039783041526182825 + - 0.002794484489660678 + - -0.9992044337688675 + - 0.9683453464774916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.979023192808267 + - 0.012177599287398205 + - -0.20338459631718067 + - 0.09982501798771246 + - - 0.006421232566254051 + - -0.9995605593785334 + - -0.028938830439460016 + - -0.08966625793434255 + - - -0.20364762634471598 + - 0.027025806379630896 + - -0.9786711654451121 + - 0.9715047131507897 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996964633358095 + - 0.02331168075115989 + - 0.007971620564876256 + - 0.012870577357937184 + - - 0.023002288996650206 + - -0.9990534727705914 + - 0.03691955099857202 + - -0.09298522702041653 + - - 0.008824731995303963 + - -0.036724979041213586 + - -0.9992864454297545 + - 0.9686071634307353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9827005391814913 + - -0.005150649237402314 + - 0.18513001135645066 + - 0.054197205010952 + - - -0.01832471135070552 + - -0.997412184420972 + - 0.06952078338524553 + - -0.0929722628751859 + - - 0.18429285185899 + - -0.07171056533746023 + - -0.9802518755772224 + - 0.9698217496046646 + - - 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: + - - 0.9997846831941346 + - -0.010889418330432337 + - -0.01766374305827403 + - 0.023925451346571713 + - - -0.011646370308468391 + - -0.9989928266839813 + - -0.04333237003196509 + - -0.03454963214804017 + - - -0.017174088303077564 + - 0.04352875833714953 + - -0.9989045489377774 + - 0.9684446043066006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997222947937563 + - -0.009732713480034709 + - -0.021461770211733504 + - 0.09183644378834359 + - - -0.009300123551116686 + - -0.999753413528684 + - 0.020164816876890305 + - -0.03380617993301483 + - - -0.02165273641458894 + - -0.01995961988766585 + - -0.9995662922386391 + - 0.9681735554831834 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9984591513353362 + - 0.02039770605099035 + - 0.051606750552398856 + - 0.012888161140351278 + - - 0.0192515924088635 + - -0.9995590051702362 + - 0.022609099336539165 + - -0.09294880799694004 + - - 0.05204516600456874 + - -0.02158075000883653 + - -0.9984115243348365 + - 0.9686239788903324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963086101436265 + - -0.005920374354625856 + - 0.08563937482943455 + - 0.05431424646555123 + - - -0.017642382049997827 + - -0.9904448184140549 + - 0.1367764893260245 + - -0.0932101399261685 + - - 0.08401130703231093 + - -0.13778247654999987 + - -0.9868931499643068 + - 0.9719545774712113 + - - 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: + - - 0.9999064442432734 + - -0.013273514455173586 + - -0.0033040240286594563 + - 0.023923425269779888 + - - -0.013335545902857102 + - -0.9997205346287142 + - -0.01951962748493063 + - -0.03454802338986629 + - - -0.0030440066107767197 + - 0.01956186227550859 + - -0.9998040145788911 + - 0.9688294148431198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998919827645487 + - -0.009458651094051015 + - -0.011249743226413101 + - 0.09184293272943204 + - - -0.00945305273095742 + - -0.9999551672487347 + - 0.0005507146465184812 + - -0.033785906192989656 + - - -0.01125444788716703 + - -0.0004443107439158277 + - -0.9999365679835491 + - 0.9683943962016481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9993511866570363 + - 0.020376075759980183 + - 0.029698842802321938 + - 0.01286461543993549 + - - 0.02208525930489251 + - -0.9980485331142045 + - -0.05840690772520412 + - -0.09304265440693299 + - - 0.028450782917331826 + - 0.05902491918849528 + - -0.9978509968257698 + - 0.9694837336601256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995478537852079 + - -0.00550941748740608 + - 0.029558997146957564 + - 0.05422917592833322 + - - -0.010536650681600406 + - -0.9849136806192346 + - 0.1727252752827086 + - -0.09307079198376891 + - - 0.028161445023263825 + - -0.1729586310307265 + - -0.9845264064341697 + - 0.9707308534443371 + - - 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: + - - 0.9999260723059399 + - -0.012152792242369941 + - 0.0003994540401281067 + - 0.02393086439357306 + - - -0.012128520303486484 + - -0.9991900961154229 + - -0.03836731447599427 + - -0.034553975241073655 + - - 0.0008654005224737281 + - 0.03835963328247177 + - -0.9992636236831449 + - 0.9687233656553103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993130518674019 + - -0.011039314920678825 + - -0.035377364140667604 + - 0.09182674812468651 + - - -0.01044442178095265 + - -0.9998016748278381 + - 0.016956564071512966 + - -0.033790848112481855 + - - -0.03555753676959187 + - -0.016575419678905277 + - -0.999230162195551 + - 0.9683412498897939 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9726046935253254 + - 0.011951513357325205 + - -0.23215785892572646 + - 0.09984445675563122 + - - 0.008199632522641234 + - -0.9998198331170014 + - -0.017119209455598215 + - -0.08967644255959281 + - - -0.2323206322283957 + - 0.014746614335523813 + - -0.9725274603869227 + - 0.9717466994513226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974241391943595 + - 0.011136438957352753 + - 0.07085948263810808 + - 0.012802583074333546 + - - 0.011573391212868144 + - -0.999916442460507 + - -0.005758881224463652 + - -0.09286811988523776 + - - 0.07078942836487022 + - 0.0065641316617454796 + - -0.9974696832522291 + - 0.9691019982280569 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921761284307923 + - -0.007069344377920321 + - 0.12464571610027546 + - 0.05438741394333964 + - - -0.01583303553844555 + - -0.9974591471152797 + - 0.06945908739464747 + - -0.09328439575720972 + - - 0.12383797946398521 + - -0.07088916846828804 + - -0.9897670840334873 + - 0.972664461007931 + - - 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: + - - 0.9998766103712066 + - -0.012360883122942201 + - -0.009693946616695323 + - 0.0239176626651868 + - - -0.012534888180831202 + - -0.9997576150398696 + - -0.018099385295783657 + - -0.034543246755644456 + - - -0.009467872563592853 + - 0.018218664556221842 + - -0.9997891976066289 + - 0.968786024739908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994390909606983 + - -0.011924732518336695 + - -0.031293836677840484 + - 0.09179938785854821 + - - -0.011665190567650198 + - -0.9998961432323417 + - 0.008463219133947398 + - -0.033900437152187074 + - - -0.03139150822553188 + - -0.008093423469393643 + - -0.9994743967245343 + - 0.9684314900362063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9828060163473554 + - 0.017988122193565537 + - -0.1837627864704688 + - 0.09982064032568264 + - - 0.0034117537696680593 + - -0.9968424281749898 + - -0.07933179265846363 + - -0.08972890001854789 + - - -0.1846095722535993 + - 0.0773408097328937 + - -0.9797641068043896 + - 0.971813882844031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998866077544222 + - 0.027948548177215735 + - 0.03854137758573554 + - 0.01275586075356362 + - - 0.029197449629414774 + - -0.999053880408111 + - -0.03223124224464315 + - -0.09305382985872475 + - - 0.037604096406617375 + - 0.0333200044459921 + - -0.9987370571062035 + - 0.9691053438150893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997837291491584 + - -0.006285820097857179 + - 0.019823808773789888 + - 0.05429362334822564 + - - -0.0071726190851734645 + - -0.9989619152617681 + - 0.04498494628206326 + - -0.09319292258512185 + - - 0.019520462701007362 + - -0.045117405978607486 + - -0.998790954711596 + - 0.9720895033429224 + - - 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: + - - 0.9997520649441202 + - -0.012040081862372114 + - -0.01873085872871153 + - 0.023901544743588927 + - - -0.012589850157274202 + - -0.9994850386317405 + - -0.029515304916704288 + - -0.03456662152241164 + - - -0.018365846372681918 + - 0.02974380574264201 + - -0.999388814079365 + - 0.9685235289431415 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999282413429799 + - -0.011009623469609724 + - -0.004722325252764986 + - 0.09181558226599051 + - - -0.010997384229205409 + - -0.9999361207667112 + - 0.002609966692591842 + - -0.03386100807046475 + - - -0.004750758344802157 + - -0.002557846179627178 + - -0.9999854437530932 + - 0.9684282543783654 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9838830380061128 + - 0.010581139531918487 + - -0.17849987957998265 + - 0.09978545821184977 + - - 0.0071604702429176196 + - -0.9997783823054568 + - -0.01979681642548238 + - -0.08963400362671178 + - - -0.17866979372507968 + - 0.018199608811456075 + - -0.983740758050284 + - 0.9712810190173058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997115726316623 + - 0.023633318393759994 + - 0.004270574671837307 + - 0.012879604148640405 + - - 0.023863366894743995 + - -0.9975444264314506 + - -0.06584570613180024 + - -0.09305025089011383 + - - 0.0027039354236758364 + - 0.06592862471830976 + - -0.9978206778655057 + - 0.9696242806164191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981861791940868 + - -0.0019301766477607593 + - 0.060171638535266164 + - 0.05426719792441694 + - - -0.005033596261051564 + - -0.9986619945096493 + - 0.0514673064254506 + - -0.09306494025120213 + - - 0.05999178755955699 + - -0.05167683368898427 + - -0.9968603163358903 + - 0.9707068818678829 + - - 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: + - - 0.9999135687826053 + - -0.01237282538827324 + - 0.004446139487846103 + - 0.02393847393007593 + - - -0.012272138570659123 + - -0.9996826194748037 + - -0.02200124848496679 + - -0.03455439564265141 + - - 0.004716945975588859 + - 0.0219447832503767 + - -0.9997480567166696 + - 0.9687244360727159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994805458807533 + - -0.009968349098868819 + - -0.03064751902119604 + - 0.09181593483062163 + - - -0.01005262337908863 + - -0.9999460988852797 + - -0.002596938064370592 + - -0.03382368777828979 + - - -0.030619979900543572 + - 0.002903677040419165 + - -0.9995268808243912 + - 0.968234999361884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9756516858753178 + - 0.007554673416025059 + - -0.21919560843736674 + - 0.09983099625046708 + - - 0.010571715774032844 + - -0.9998647994887448 + - 0.01259450550535012 + - -0.08970388695197803 + - - -0.21907082570311198 + - -0.014605124200376853 + - -0.9755996431287003 + - 0.9716913559002531 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993559230641964 + - 0.011855432228554412 + - 0.03387016036546131 + - 0.012808175547508623 + - - 0.012327711357940018 + - -0.9998292041605698 + - -0.013769169921131067 + - -0.09281131720494612 + - - 0.03370113602214664 + - 0.014177843076992254 + - -0.9993313875769644 + - 0.9689740843185932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9888832690173288 + - -0.004527758619226049 + - 0.14862496311012924 + - 0.054293669299095806 + - - -0.024716012430585813 + - -0.9906364922155428 + - 0.13427009726821454 + - -0.0930808622569071 + - - 0.1466253695208724 + - -0.136450869153592 + - -0.9797357609682811 + - 0.9712198328814244 + - - 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: + - - 0.9996607679827548 + - -0.011359554100325476 + - -0.023437352383974507 + - 0.023906273377395326 + - - -0.012677360196205708 + - -0.9983012955587298 + - -0.056866579149952114 + - -0.03457199202837442 + - - -0.022751560267033906 + - 0.05714441194381029 + - -0.998106648955417 + - 0.9685138517406663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995218837190011 + - -0.011891429048307298 + - -0.028541161188864513 + - 0.09183391587846208 + - - -0.010870934414446125 + - -0.9993052854449492 + - 0.03564785080121859 + - -0.03381241001433685 + - - -0.028945237117295883 + - -0.03532053789197163 + - -0.9989567722635679 + - 0.9681722767739962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9807499463686671 + - 0.010992371059320327 + - -0.19495822751643704 + - 0.09975358732466116 + - - 0.007668813429160305 + - -0.9998122608611261 + - -0.01779416568295739 + - -0.08962829796063021 + - - -0.19511722629856482 + - 0.01595652876593229 + - -0.9806501196610832 + - 0.9709960739523424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996870288986601 + - 0.02095508806100347 + - 0.013664865024031435 + - 0.012886007855661253 + - - 0.02225738267285711 + - -0.9943914891916417 + - -0.10339330316699927 + - -0.09308469053723499 + - - 0.0114216097080669 + - 0.10366508818104875 + - -0.9945466788060235 + - 0.9699731381918966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999418601930905 + - -0.006741822747534515 + - 0.008415703156769667 + - 0.054240300324384705 + - - -0.008024738354389032 + - -0.986569117079788 + - 0.16314711397616227 + - -0.09302731003606543 + - - 0.00720276390878074 + - -0.1632051624503591 + - -0.9865658595053987 + - 0.9705033086982273 + - - 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: + - - 0.9999148470531186 + - -0.013010860206146417 + - 0.0010080473374904095 + - 0.023949115012672075 + - - -0.012931868359435756 + - -0.9982776488899495 + - -0.05722326893396432 + - -0.03457275874349199 + - - 0.0017508350786782302 + - 0.05720536026851591 + - -0.9983608973377696 + - 0.9685467059123766 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999095545451273 + - -0.010238718958903374 + - -0.008720743285151104 + - 0.09183242805831526 + - - -0.010075152851135909 + - -0.9997762812694878 + - 0.018597814548513752 + - -0.03380175424390746 + - - -0.008909210087946262 + - -0.018508269639143864 + - -0.9997890127074683 + - 0.9683900287130103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9754719993454357 + - 0.010776072085948843 + - -0.21985962513253027 + - 0.09982517030000372 + - - 0.007799860150299236 + - -0.9998658853460127 + - -0.01440046884203504 + - -0.08969146507452266 + - - -0.21998531922529302 + - 0.01233237980412062 + - -0.9754252261110092 + - 0.9718122502448169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985539137131418 + - 0.026270353258447485 + - 0.04690362403742032 + - 0.012738474313415883 + - - 0.028267468170052917 + - -0.9986992151763112 + - -0.04243616204931381 + - -0.09303881108246012 + - - 0.04572779954712823 + - 0.04370064239684531 + - -0.997997606311098 + - 0.969140375877551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918289207976898 + - -0.0043052142101570835 + - 0.12750238036952374 + - 0.05428671271395114 + - - -0.013210985905265038 + - -0.9975233077495739 + - 0.06908487785151654 + - -0.09309129897166984 + - - 0.12688917101431837 + - -0.07020481199285938 + - -0.9894293419200512 + - 0.9712422711679076 + - - 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: + - - 0.9998431080862603 + - -0.01232245717208416 + - 0.012724632083045046 + - 0.023962722727536717 + - - -0.011421515747076538 + - -0.997578917969274 + - -0.06859920845965846 + - -0.034602954924176456 + - - 0.013539135513244201 + - 0.06844311121284995 + - -0.997563147042361 + - 0.9686589793877276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998800100249188 + - -0.009553396675838781 + - -0.012194185685089702 + - 0.09183199301565512 + - - -0.009824061181822838 + - -0.9997023240496568 + - -0.022332736321633264 + - -0.03387751522731494 + - - -0.011977202280339752 + - 0.022449853043391362 + - -0.9996762229461431 + - 0.9684128723461051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9657563232557028 + - 0.006931340161341003 + - -0.2593582090761623 + - 0.09990020907665399 + - - 0.012440018361669386 + - -0.9997304209370284 + - 0.019604371865287552 + - -0.08979672478595618 + - - -0.25915240696313796 + - -0.022159466975514797 + - -0.9655822015698986 + - 0.9726061675988739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987171836562125 + - 0.010885317881829065 + - 0.04945196582962649 + - 0.012826389005630446 + - - 0.014009865173659717 + - -0.9978972883163545 + - -0.06328290170877472 + - -0.09290478354962628 + - - 0.048659128101712745 + - 0.0638945367420259 + - -0.9967696712013779 + - 0.9694010718929406 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9793729196754045 + - -0.005536299627440774 + - 0.2019852311257157 + - 0.0544004239206606 + - - -0.027328584394456172 + - -0.994068918797969 + - 0.10526221142856466 + - -0.09330446541911737 + - - 0.20020447717638257 + - -0.10861092977353597 + - -0.973715478593341 + - 0.972865260010952 + - - 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: + - - 0.9997830357578253 + - -0.013614421164312138 + - 0.015764800894011645 + - 0.02394781206287174 + - - -0.013175060208181485 + - -0.999530948369854 + - -0.02764599499694709 + - -0.034550143850467244 + - - 0.016133790607848288 + - 0.027432294603644814 + - -0.9994934567136501 + - 0.9686809281729873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994237776987399 + - -0.01099877132374845 + - -0.03211136247105573 + - 0.091820249434638 + - - -0.00983849439394816 + - -0.9993008359354821 + - 0.03606997819110018 + - -0.03376950280691889 + - - -0.032485636802129764 + - -0.03573326640560698 + - -0.9988332278581573 + - 0.9681147423718328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9755187797645497 + - 0.018703718885982233 + - -0.2191193310196941 + - 0.09987485369329913 + - - 0.006242835716263634 + - -0.9983304196283209 + - -0.057422994061267246 + - -0.08973159007579909 + - - -0.21982751722408156 + - 0.05464928311126087 + - -0.9740068370019387 + - 0.9718824850485707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992783232301866 + - 0.028189002259433417 + - 0.025460025017356808 + - 0.012778594864533135 + - - 0.029348295349352196 + - -0.9984930970338907 + - -0.046370386409404586 + - -0.09306650103586994 + - - 0.024114524302875417 + - 0.047084130312536936 + - -0.9985998069248556 + - 0.9693842312967458 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900109658688975 + - -0.008867287625480284 + - 0.14071125992435565 + - 0.05427997614651356 + - - -0.006824140376166375 + - -0.9998642658894366 + - -0.014996029658054903 + - -0.09309532220945782 + - - 0.14082513471486172 + - 0.013886000415738533 + - -0.9899370992265094 + - 0.9711476612141223 + - - 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: + - - 0.9998098146225006 + - -0.012600382998072472 + - -0.014885057367130326 + - 0.023913210036778067 + - - -0.012976616387831187 + - -0.9995917235030757 + - -0.0254557209930149 + - -0.0345511772356702 + - - -0.014558228314047891 + - 0.025644037366472437 + - -0.9995651261103018 + - 0.9687859095199098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998491446506367 + - -0.011841139772490347 + - -0.012707295159815835 + - 0.09182383384019349 + - - -0.011695607953619715 + - -0.9998658574630176 + - 0.011466465642933332 + - -0.03386684658843308 + - - -0.012841366593379339 + - -0.011316116322912668 + - -0.9998535116782765 + - 0.9684354762345837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9808075402667326 + - 0.013373222604616593 + - -0.19451921723338603 + - 0.0998286129497565 + - - 0.005693358645297383 + - -0.9991839837528794 + - -0.0399869013435933 + - -0.08968438611591137 + - - -0.19489524012468304 + - 0.03811198668258607 + - -0.980083323931108 + - 0.9714260152097265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993231772447442 + - 0.02893883085016119 + - 0.02270972237821069 + - 0.012746055252078895 + - - 0.02889413100452387 + - -0.9995798449971331 + - 0.0022940507844203596 + - -0.09305996926513066 + - - 0.022766567922351776 + - -0.0016363204251753645 + - -0.9997394689820462 + - 0.9688953920127618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929936188534643 + - -0.003770317062370493 + - 0.1181078220337249 + - 0.054265183258755956 + - - -0.018065770449942786 + - -0.9925850238547089 + - 0.12020232259568743 + - -0.09304880209018031 + - - 0.1167788544829534 + - -0.12149384811008716 + - -0.9856987085398119 + - 0.9707705023588157 + - - 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: + - - 0.9999209572399993 + - -0.011855656080544088 + - -0.004186011364447958 + - 0.02389700684250899 + - - -0.011955500818756268 + - -0.999623608110687 + - -0.0246922681814324 + - -0.03455757466904394 + - - -0.003891692744314184 + - 0.024740362298699643 + - -0.9996863354077179 + - 0.9687048012611721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994913152839369 + - -0.008985630599324697 + - -0.030600148932944788 + - 0.09180279793732543 + - - -0.008958528258500556 + - -0.9999593486233099 + - 0.0010226789759076936 + - -0.03377639901981217 + - - -0.03060809441026294 + - -0.0007480264558130987 + - -0.9995311826116252 + - 0.9680220648385295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9828217734509621 + - 0.019243497241749143 + - -0.18355121749694928 + - 0.09984120354133935 + - - 0.005288894316528893 + - -0.9970774379690831 + - -0.07621423941704564 + - -0.08971607231515379 + - - -0.18448140618396794 + - 0.07393423095506543 + - -0.980051192675908 + - 0.9715565381866771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998538515851802 + - 0.027907675237823636 + - 0.046281681292935264 + - 0.01277301041251194 + - - 0.03055451331545605 + - -0.9978775616560274 + - -0.057504727279389406 + - -0.09308132523075235 + - - 0.044578628024382796 + - 0.05883479927935081 + - -0.9972718848524821 + - 0.9692603651634247 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996832311167589 + - -0.0005152635296708269 + - 0.025162907770202754 + - 0.05423100551566779 + - - -0.0011010093812751762 + - -0.999728614260013 + - 0.02326984331913621 + - -0.09304089327827514 + - - 0.0251440888142538 + - -0.023290176754369965 + - -0.9994124986533097 + - 0.9705435565463996 + - - 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: + - - 0.9998171605851406 + - -0.012525046844714604 + - 0.014448826976778415 + - 0.023938577561664277 + - - -0.011991797413464492 + - -0.999264607445736 + - -0.036420339113107686 + - -0.034542735876928306 + - - 0.014894367870493906 + - 0.03624041263364754 + - -0.9992321003139768 + - 0.9685615953617119 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999511497271099 + - -0.009062649659695032 + - -0.029910453089709133 + - 0.0917959959410387 + - - -0.009285512307981381 + - -0.9999300921485608 + - -0.007320524362970803 + - -0.03384286545390204 + - - -0.029842018766571193 + - 0.007594682147144299 + - -0.9995257749147939 + - 0.9681080397013551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9801667148165223 + - 0.012809060844522751 + - -0.19776030725620233 + - 0.0998383023039318 + - - 0.005643914641105288 + - -0.9993084534673906 + - -0.036752701344747445 + - -0.08965599136002428 + - - -0.19809431438915695 + - 0.03490763224416112 + - -0.9795611771695509 + - 0.9713625530502136 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985961768543141 + - 0.026725376447783243 + - 0.045732153083707296 + - 0.01278767882694131 + - - 0.03310061794134466 + - -0.9888958526627666 + - -0.14487698809086944 + - -0.09322550769937782 + - - 0.04135244447246738 + - 0.14618736894856912 + - -0.9883922442512626 + - 0.9705967155957522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9857509897803585 + - -0.006125318044373969 + - 0.168099573544667 + - 0.05426429073520824 + - - -0.019021784688783953 + - -0.9969857702325737 + - 0.07521665813511585 + - -0.09300292074995828 + - - 0.1671321568528845 + - -0.07734244909890436 + - -0.982896224284683 + - 0.9704053915130963 + - - 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: + - - 0.9999190349808595 + - -0.012157420155526054 + - 0.003757741091214267 + - 0.023907262814753718 + - - -0.012035655617889792 + - -0.9994504758160703 + - -0.030885099722656188 + - -0.034565770423983774 + - - 0.00413115925548135 + - 0.030837372232290942 + - -0.9995158778113598 + - 0.9685836188153161 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986418201643991 + - -0.010812001884799414 + - -0.050966809140647 + - 0.0917572026783099 + - - -0.009947331955475302 + - -0.9998027819361163 + - 0.01718859563109242 + - -0.03379468048994649 + - - -0.051142600693586414 + - -0.0166582666578706 + - -0.9985524205299643 + - 0.9678109927197813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9978938405471441 + - 0.017318458826423643 + - 0.06251363036928977 + - 0.012876937499914847 + - - 0.027016892299207108 + - -0.9871007310496035 + - -0.15780441784637314 + - -0.09317057946294244 + - - 0.05897432092499042 + - 0.15916098059894315 + - -0.9854896304508842 + - 0.9707731995689753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999997290868234 + - -0.00018680945687371545 + - 0.0023202065467609317 + - 0.054297049672713954 + - - -5.170448324557923e-05 + - -0.9983111276867931 + - -0.05809380055883594 + - -0.0931212814773841 + - - 0.0023271404854933123 + - 0.058093523209994904 + - -0.998308432789291 + - 0.9711248997664126 + - - 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: + - - 0.9998860812474805 + - -0.012656474007258561 + - 0.00822424423643517 + - 0.023916307710918776 + - - -0.012482665651308294 + - -0.9997046442928035 + - -0.02085203197864622 + - -0.03453831089691844 + - - 0.008485728359698816 + - 0.020746996050137592 + - -0.9997487457201947 + - 0.968775571428804 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997997736359869 + - -0.007564825301150869 + - -0.01852528152531901 + - 0.09185294918553535 + - - -0.008052970624453114 + - -0.9996185212673909 + - -0.026418962949307834 + - -0.033825219674710784 + - - -0.018318359685052413 + - 0.026562856724348615 + - -0.9994792906014067 + - 0.9685100208031273 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.960782134623507 + - 0.007939836579289379 + - -0.27719063617552336 + - 0.09990789816358157 + - - 0.014496720807346049 + - -0.9996612947986417 + - 0.02161343950734053 + - -0.08973288793642407 + - - -0.2769251430876782 + - -0.024784161809465875 + - -0.9605718143112839 + - 0.9726552816169501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9961164196720015 + - 0.016279847137801493 + - 0.08652771253767662 + - 0.0128794467425845 + - - 0.02298858537870002 + - -0.9967574432133872 + - -0.07711111684444107 + - -0.093140345761213 + - - 0.08499178432130487 + - 0.07880079933528998 + - -0.9932607062710171 + - 0.9701276540513155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942032647886097 + - -0.007999692264338155 + - 0.10721880995117253 + - 0.05439125577794964 + - - -0.017445274988573 + - -0.9960161099545197 + - 0.08745039217544931 + - -0.09324434624663397 + - - 0.10609208577572049 + - -0.08881392703142174 + - -0.9903820251302096 + - 0.9726945346094282 + - - 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: + - - 0.9998894041467836 + - -0.012278558494526559 + - -0.008391452573100243 + - 0.023907553694036975 + - - -0.012476721633076062 + - -0.9996344510987146 + - -0.02398532038271756 + - -0.034546564238677975 + - - -0.008093879927502804 + - 0.024087365523596898 + - -0.9996770918300825 + - 0.9687831055312983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99990303878659 + - -0.009817218608578912 + - -0.009875993323933928 + - 0.0918628099849749 + - - -0.009885493882512475 + - -0.9999274111274656 + - -0.006888358775710428 + - -0.033825283770481586 + - - -0.009807651912757915 + - 0.006985319943672615 + - -0.9999275050068593 + - 0.968449166373618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9730104240974023 + - 0.01060611908386603 + - -0.23051729834390305 + - 0.0998052601741376 + - - 0.010353694422739177 + - -0.9999437431364497 + - -0.0023046852424713996 + - -0.08967484159595032 + - - -0.23052877392983656 + - -0.0001442229010200505 + - -0.9730654980987464 + - 0.971684359463773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972848881552289 + - 0.01739548150655876 + - 0.07155591576080607 + - 0.012732097959230866 + - - 0.022347750872840664 + - -0.9973662730395897 + - -0.06900069154758297 + - -0.09304175600009096 + - - 0.07016715676253422 + - 0.0704124607315652 + - -0.9950470619451064 + - 0.9700489975739792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9853623446989263 + - -0.0064028700987693145 + - 0.17035273083790803 + - 0.05432407437819516 + - - -0.017601945074900545 + - -0.9977746126203354 + - 0.06431169364835274 + - -0.09313278507203368 + - - 0.16956185060034773 + - -0.06636886065646808 + - -0.9832822347404369 + - 0.9714994080101704 + - - 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: + - - 0.9998852343887066 + - -0.013179207473601505 + - -0.0074717161221008925 + - 0.02391597950709576 + - - -0.013310595406214343 + - -0.9997526693014477 + - -0.01781651690317946 + - -0.034535223957700284 + - - -0.007235060564609101 + - 0.017913925170017317 + - -0.9998133551736686 + - 0.9683634472839162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997761392475021 + - -0.008948612001596095 + - -0.019172734145241836 + - 0.09187334464343413 + - - -0.009455414387679844 + - -0.9996038827006609 + - -0.026507976696103216 + - -0.033842705580582805 + - - -0.01892792989517049 + - 0.02668332874678091 + - -0.9994647234579495 + - 0.9684895065390334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9812133930355424 + - 0.0074270032406432715 + - -0.19278256391733598 + - 0.09980390515181078 + - - 0.00792076726391569 + - -0.999967026979824 + - 0.0017906420868228265 + - -0.08965602949630318 + - - -0.19276290818938466 + - -0.0032839878190538386 + - -0.9812398670306742 + - 0.9711615572462785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999494322829958 + - 0.022533108871809444 + - 0.02243563315921441 + - 0.012909001136572788 + - - 0.025420654622606922 + - -0.9900949838482922 + - -0.13807864888174315 + - -0.09317018299562099 + - - 0.019102066622273935 + - 0.13857915414311328 + - -0.990167121796991 + - 0.9702761868560252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999316489665585 + - -0.0037897620004879447 + - 0.011060519834028872 + - 0.0543289374774023 + - - -0.003679283081553421 + - -0.9999433108388599 + - -0.009991895947487938 + - -0.0932298431606031 + - - 0.011097759730012324 + - 0.00995051820757536 + - -0.9998889072873927 + - 0.9721956705080727 + - - 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: + - - 0.9999119192950147 + - -0.013011858277111344 + - 0.002616332535557075 + - 0.023916624016279035 + - - -0.012914789886642143 + - -0.9993312284005703 + - -0.03420970835290429 + - -0.03451641007096241 + - - 0.0030597146834519338 + - 0.03417290575270491 + - -0.9994112520171425 + - 0.9684397668140519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998643659124035 + - -0.008621106782775029 + - -0.014033043020932213 + - 0.09183826059583133 + - - -0.00867545269583423 + - -0.9999550845955457 + - -0.0038164528083055715 + - -0.03383570451759269 + - - -0.013999510673937374 + - 0.003937678168117765 + - -0.9998942486040887 + - 0.9685524967987494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9662897920209931 + - 0.012463685200010772 + - -0.25715500070436326 + - 0.09989038607759611 + - - 0.011136139281851693 + - -0.9999160894352704 + - -0.006618193890486783 + - -0.08973486928076894 + - - -0.2572159097682747 + - 0.0035313792931246212 + - -0.9663475074332046 + - 0.9724660190649186 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984623645727772 + - 0.025794365758174564 + - 0.049066864856764564 + - 0.012768771848048942 + - - 0.02879042282594837 + - -0.9976999177716273 + - -0.06136762690533542 + - -0.0930957790172278 + - - 0.047371068018798104 + - 0.0626859216540911 + - -0.9969084497290294 + - 0.9692922383704967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922274655510761 + - -0.004894286130112064 + - 0.12434107354114574 + - 0.05441343309876211 + - - -0.0156745377921536 + - -0.996183087250496 + - 0.08586946803766851 + - -0.09331266876242429 + - - 0.12344620476584273 + - -0.0871510334955726 + - -0.9885169355603183 + - 0.9734129037766739 + - - 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: + - - 0.9999233124455854 + - -0.012057883790019836 + - -0.0028242992678845715 + - 0.023919958655728643 + - - -0.012159844213020552 + - -0.9991494364043927 + - -0.03940230858083393 + - -0.03458763000743237 + - - -0.0023467885638180116 + - 0.039433629953259004 + - -0.9992194360660455 + - 0.9682459833499789 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999231532631947 + - -0.009741277256361121 + - 0.0076677953548810705 + - 0.0918409690117921 + - - -0.00969629257263978 + - -0.9999356888762579 + - -0.005882178330295031 + - -0.03379851462144534 + - - 0.0077246021603319375 + - 0.005807377116936985 + - -0.9999533013558616 + - 0.9683467870826213 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9677057235435129 + - 0.014776686621008311 + - -0.25164912508020126 + - 0.09990106999688245 + - - 0.007879678676624913 + - -0.9995657813526921 + - -0.028392946531410314 + - -0.08976646429051005 + - - -0.25195940801065436 + - 0.025493102621824915 + - -0.9674019632157225 + - 0.9724611143957019 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993566084901191 + - 0.029199929512275364 + - 0.02082626187305428 + - 0.012748419162448142 + - - 0.02961538394008786 + - -0.9993627150584607 + - -0.019927187083569855 + - -0.09307241563540238 + - - 0.020231117151755858 + - 0.020531143841991794 + - -0.9995845006958302 + - 0.9691131074352173 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9821443138683785 + - -0.012667840800652938 + - 0.1877020845527861 + - 0.05432154665811784 + - - -0.011909302173774719 + - -0.9999157245208713 + - -0.005168401845393212 + - -0.09318337814636436 + - - 0.18775173836144812 + - 0.002840715640653236 + - -0.982212408329738 + - 0.9718174728485508 + - - 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: + - - 0.9998955215900449 + - -0.01328259784993341 + - -0.0057024993230301736 + - 0.023922951469881253 + - - -0.013406158444444252 + - -0.9996635298202671 + - -0.02220590153644333 + - -0.03450320387044559 + - - -0.005405628542054232 + - 0.02228003010861306 + - -0.9997371551755113 + - 0.9686873217861496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998236888825542 + - -0.0097136227151803 + - -0.016069744336127904 + - 0.0918451728099461 + - - -0.009743723621481395 + - -0.9999509160798669 + - -0.001795906741215552 + - -0.03382083058535278 + - - -0.016051510809564535 + - 0.0019521692503702763 + - -0.9998692604715619 + - 0.9684675669903836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.970024389448559 + - 0.009399438405580086 + - -0.24282572852276188 + - 0.09989943754490621 + - - 0.010728059187916306 + - -0.9999338420329172 + - 0.0041497353349384085 + - -0.0897626455188746 + - - -0.24277065848452714 + - -0.006630393272587827 + - -0.9700610523384806 + - 0.9721388275672047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953020098611676 + - 0.010879724505453187 + - 0.09620572104093235 + - 0.012701674094698526 + - - 0.021199125365235674 + - -0.9940435080863248 + - -0.10690229705288247 + - -0.09299345309138582 + - - 0.0944696049005672 + - 0.10843954825670911 + - -0.9896041421314952 + - 0.9698920995302317 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906640258523719 + - 0.0013133588943666456 + - 0.13631970866454263 + - 0.054340994877009205 + - - -0.029554203492748475 + - -0.9741037721056877 + - 0.22416152708567016 + - -0.09316953582837945 + - - 0.13308394695785214 + - -0.22609758127384955 + - -0.9649707491961788 + - 0.9717773598667026 + - - 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: + - - 0.9997528066662248 + - -0.01274556208369328 + - -0.018217469917001256 + - 0.023910359050427203 + - - -0.012946419392146375 + - -0.9998562286035456 + - -0.01095044965362032 + - -0.03451942813903835 + - - -0.018075281130006855 + - 0.011183593781273414 + - -0.9997740802012254 + - 0.968366603043975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997449023650413 + - -0.008493906545265916 + - -0.020928061226839385 + - 0.09187854261747481 + - - -0.00889556681802202 + - -0.9997765753963791 + - -0.019174675477709627 + - -0.03381705224897751 + - - -0.020760517481511746 + - 0.019355951030359166 + - -0.9995970928697279 + - 0.9686591318927414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9823899410914915 + - 0.012393679307271905 + - -0.18643068512314298 + - 0.09980774900035926 + - - 0.007238555268741878 + - -0.9995730657681536 + - -0.02830705757362018 + - -0.08963352441643425 + - - -0.18670192007549724 + - 0.026459079804168898 + - -0.9820602375292667 + - 0.9712709049883812 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990763841776625 + - 0.016598500809903202 + - 0.039634181577917045 + - 0.012680506425144192 + - - 0.020626450938449357 + - -0.9944170536071494 + - -0.10348561744010858 + - -0.09300873602288849 + - - 0.03769519996195004 + - 0.10420754898825903 + - -0.9938409624450428 + - 0.9701114224846105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942871938496005 + - -0.005427506260175931 + - 0.1065998045142792 + - 0.054259532312574174 + - - -0.00992700387997934 + - -0.9990798537933558 + - 0.04172409781186679 + - -0.09305432515607195 + - - 0.10627525930645224 + - -0.042543952802285574 + - -0.9934261831355684 + - 0.9705058530904997 + - - 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: + - - 0.9999022615014262 + - -0.012062246637171908 + - -0.007068921445120953 + - 0.023905707969856582 + - - -0.012181446115097926 + - -0.9997801019772394 + - -0.01706927241936243 + - -0.03455590147245561 + - - -0.006861473229432693 + - 0.01715371377998002 + - -0.9998293205786061 + - 0.9684959320577633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997316835952603 + - -0.008964928762478737 + - -0.021358625144654593 + - 0.09185096135502749 + - - -0.009043743107452894 + - -0.9999526374898993 + - -0.0035963158371392595 + - -0.03382191761152678 + - - -0.021325372831268112 + - 0.0037885128055401705 + - -0.9997654103060025 + - 0.968591226583854 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9683003564674936 + - 0.020466705334648876 + - -0.24894885747411966 + - 0.09994388747309456 + - - 0.005929594397016755 + - -0.9982401164947394 + - -0.05900431959488498 + - -0.0897886209090897 + - - -0.24971836050881752 + - 0.055657737946426776 + - -0.9667176199032862 + - 0.9727815039072821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964057732000293 + - 0.02632015295413162 + - 0.08051574182805951 + - 0.012780307554270415 + - - 0.028993609510718277 + - -0.999060274208177 + - -0.03221706235248394 + - -0.09306847180765489 + - - 0.07959212109996569 + - 0.03443570890158889 + - -0.9962325412328464 + - 0.9692772880360516 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998480495688129 + - -0.004388727898451738 + - 0.054931218790607556 + - 0.054317212660298514 + - - -0.014909522512726415 + - -0.9811602557044223 + - 0.1926194662137648 + - -0.0931909140876942 + - - 0.053050974249590835 + - -0.19314577834751273 + - -0.9797348123026473 + - 0.971804916618472 + - - 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: + - - 0.9999202282077234 + - -0.01156164386910444 + - -0.005085824619314491 + - 0.02392038190627674 + - - -0.011760977523966485 + - -0.9990863741765038 + - -0.04108644962182654 + - -0.03453971135053614 + - - -0.004606151180235055 + - 0.04114298635114052 + - -0.9991426514994812 + - 0.9685207033697562 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994651275698068 + - -0.01024263484631701 + - -0.031057160257739445 + - 0.0918543109429143 + - - -0.009761589653200089 + - -0.9998306412404968 + - 0.015601288538443097 + - -0.03382441013273938 + - - -0.0312116987572358 + - -0.015289776585098669 + - -0.9993958437939722 + - 0.9683368117361983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9690695033327393 + - 0.01393939998138224 + - -0.24639397484231856 + - 0.0998831751094641 + - - 0.009467113904312109 + - -0.9997684074002974 + - -0.019326285690644197 + - -0.08975934527696969 + - - -0.24660630864753003 + - 0.016395874250330757 + - -0.9689770398945514 + - 0.9721557190417351 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992927939460429 + - 0.027471877309837925 + - 0.025675044782527762 + - 0.012764027116494062 + - - 0.029343264463580675 + - -0.9967061127272882 + - -0.07560355601874495 + - -0.09310540219388087 + - - 0.02351350246415786 + - 0.07630347835539579 + - -0.9968073506915649 + - 0.9697269855892772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931105054924577 + - -0.0066586748037191995 + - 0.11699224730884261 + - 0.05429971993372629 + - - -0.01539012248195375 + - -0.9971477313341707 + - 0.07388874085479641 + - -0.09314535450718057 + - - 0.11616655289069025 + - -0.07518020979603018 + - -0.9903803653367325 + - 0.9714420480281343 + - - 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: + - - 0.9999179767537345 + - -0.012301794558317697 + - 0.003564493703604284 + - 0.0238917030928778 + - - -0.012163797811215031 + - -0.9992616002769545 + - -0.036445798588415325 + - -0.034514118464113876 + - - 0.004010210409189256 + - 0.03639945140499238 + - -0.9993292741383539 + - 0.9681625947291035 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999368885230299 + - -0.010089229410891676 + - -0.004942309255421143 + - 0.09179363435777163 + - - -0.010068343975285454 + - -0.9999403547625315 + - 0.00423265483804262 + - -0.033804630790667076 + - - -0.004984718695890093 + - -0.00418262683932847 + - -0.9999788288820148 + - 0.9677916365365599 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9714981558396503 + - 0.011402391904130463 + - -0.23677271519122134 + - 0.09981525635080392 + - - 0.010857148426334243 + - -0.9999345552174504 + - -0.0036066064559888674 + - -0.08971246420585643 + - - -0.2367983435926171 + - 0.0009331350086953067 + - -0.9715583738154124 + - 0.9717651939350942 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990716901057792 + - 0.01961226149877409 + - 0.03835514604437659 + - 0.012914398150306854 + - - 0.0222029177814886 + - -0.9974158252427432 + - -0.06832790057748937 + - -0.09304130032376581 + - - 0.03691596499036984 + - 0.06911606726545223 + - -0.9969253636930844 + - 0.9694220452621478 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9835451837809727 + - -3.122652737107094e-05 + - 0.1806623106410322 + - 0.054239504245352184 + - - -0.02856193208645076 + - -0.9874506584424747 + - 0.155323575728258 + - -0.09301459547023934 + - - 0.1783902673823373 + - -0.15792781948227774 + - -0.9712032312224003 + - 0.9704445395760732 + - - 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: + - - 0.9998047677198815 + - -0.012940447733213206 + - 0.01493222210717052 + - 0.023930675290070577 + - - -0.012321963724686125 + - -0.9990916246754792 + - -0.0407933170173632 + - -0.03454789338284199 + - - 0.015446541831795684 + - 0.04060135854593478 + - -0.9990560214670963 + - 0.9682017091691933 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994656635096986 + - -0.012016713297876383 + - -0.030397139119243365 + - 0.09184220866769668 + - - -0.011323146277461922 + - -0.9996739327768538 + - 0.022886993792080805 + - -0.03379664480881004 + - - -0.03066225405114886 + - -0.02253057318348084 + - -0.9992758375186142 + - 0.9684414092571374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9678553375066358 + - -0.0031068960438954806 + - -0.2514883553107156 + - 0.09992298286894497 + - - 0.017492128673903942 + - -0.996670880785788 + - 0.07963153161993218 + - -0.08975225831744389 + - - -0.25089852748545954 + - -0.08147086958326331 + - -0.9645788854805885 + - 0.9727669063367139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996246423137413 + - 0.024396711086023107 + - 0.012464949551035297 + - 0.01285820795883982 + - - 0.025179244807243838 + - -0.9974320901625416 + - -0.0670464849557421 + - -0.0930690398683797 + - - 0.010797226961661136 + - 0.06733517655853279 + - -0.9976719871219046 + - 0.9696225031309686 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9805098938953954 + - -0.004171541966463542 + - 0.19642542149849762 + - 0.054246731926815915 + - - -0.028868365202377518 + - -0.9919820960216028 + - 0.12303714342884571 + - -0.09304610888481918 + - - 0.1943372467227592 + - -0.12630961725145962 + - -0.9727686853132186 + - 0.9702482056797832 + - - 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: + - - 0.9999156922901987 + - -0.012048004958874892 + - -0.004842921465754953 + - 0.023905423061487657 + - - -0.012165978983127169 + - -0.9996104782651818 + - -0.025117338589845932 + - -0.03453489917347891 + - - -0.004538421222699819 + - 0.02517413988532243 + - -0.9996727791701842 + - 0.9682667224370277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996450230545985 + - -0.008012429587828095 + - -0.02540922773858681 + - 0.09183335579134722 + - - -0.008440855002319765 + - -0.9998232600700796 + - -0.016798827032511655 + - -0.033837163930851254 + - - -0.025270137494700855 + - 0.017007339443267662 + - -0.9995359776196456 + - 0.9684935675465385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9682122951454888 + - 0.004689540113578097 + - -0.2500859047260119 + - 0.09988353710038869 + - - 0.012035073404319592 + - -0.9995396354075072 + - 0.02785092920497378 + - -0.0897394518091778 + - - -0.2498401659806873 + - -0.029975414308245418 + - -0.9678230034462871 + - 0.9722829786428082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990805383914292 + - 0.019700910313393855 + - 0.0380782344695177 + - 0.012890444994285035 + - - 0.025166586255189347 + - -0.9885378865820892 + - -0.14886063861235194 + - -0.09314581273675966 + - - 0.03470908733677779 + - 0.14968206614234297 + - -0.9881247686054669 + - 0.9705607752826381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958376105028909 + - -0.0019412338719831355 + - 0.09112455826475623 + - 0.054288560568375874 + - - -0.02455455350583469 + - -0.9685237091626977 + - 0.2477072842930923 + - -0.09315213943321253 + - - 0.08777543739578737 + - -0.24891375293620083 + - -0.9645400023789547 + - 0.971703780702079 + - - 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: + - - 0.9998272274784337 + - -0.0139497114706841 + - 0.012284980369263496 + - 0.023923013780318327 + - - -0.013490854192251722 + - -0.9992362322817968 + - -0.03667354562136052 + - -0.034546402127286976 + - - 0.012787182877863644 + - 0.03650147456149233 + - -0.99925178524178 + - 0.9686319455190859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997170224072791 + - -0.009247813138546897 + - -0.021916958303523193 + - 0.09183568267598625 + - - -0.009346639009385711 + - -0.9999465904438412 + - -0.00441096349631405 + - -0.03381131376212712 + - - -0.02187499596233298 + - 0.004614565189929073 + - -0.9997500639358601 + - 0.9685828247393153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9983919441576069 + - 0.023680234525605984 + - 0.051505070954287385 + - 0.012811325909226456 + - - 0.03008890530914579 + - -0.9913887978366818 + - -0.1274476727964703 + - -0.09321544785089361 + - - 0.04804355959430086 + - 0.12879246102451491 + - -0.9905071016225767 + - 0.9702434365682103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899887244597869 + - -0.005094469875649459 + - 0.14105449946446322 + - 0.054214627256133296 + - - -0.016469737080928977 + - -0.9966912134559378 + - 0.07959505499850936 + - -0.09302750163329146 + - - 0.14018228562471516 + - -0.0811213374915426 + - -0.9867969676689397 + - 0.9703522800601236 + - - 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: + - - 0.9996208101881925 + - -0.011459168069209963 + - -0.025038436569864674 + - 0.023908050568971252 + - - -0.01222707444011712 + - -0.999452799004494 + - -0.03073436533783394 + - -0.03453347532879757 + - - -0.024672545254540976 + - 0.031028858007429355 + - -0.9992139287867331 + - 0.9685705217262175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999287534400783 + - -0.010951152795631533 + - -0.0047497680172757465 + - 0.09181352469820175 + - - -0.010971244325512058 + - -0.9999308891410338 + - -0.004224776866504562 + - -0.033832591289964985 + - - -0.004703173579735641 + - 0.0042765867310934225 + - -0.99997979527799 + - 0.9684916237941054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9691626609227063 + - 0.01772899965819572 + - -0.24578327698266864 + - 0.09990919308475202 + - - 0.006526969367941959 + - -0.9989054764274915 + - -0.046316820206445286 + - -0.089768410597907 + - - -0.2463354122818915 + - 0.043284312796738805 + - -0.9682176061824246 + - 0.9724178341428823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987177713530468 + - 0.019565775312937926 + - 0.04669040179744418 + - 0.01288657823085576 + - - 0.024769795609838163 + - -0.993215355762883 + - -0.11362092369918679 + - -0.09314819156201276 + - - 0.04415054256801373 + - 0.11463174740539032 + - -0.9924264668365795 + - 0.9701798662782553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956876400449954 + - -0.0018560293765704792 + - 0.09275062596328362 + - 0.05430539245406488 + - - -0.017346239405212325 + - -0.9858913912885808 + - 0.16648505206643616 + - -0.09316597842093205 + - - 0.09113304252643326 + - -0.16737598315774044 + - -0.9816720678627132 + - 0.9720100037484745 + - - 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: + - - 0.9998381655393733 + - -0.012548286528069807 + - -0.012891207704102044 + - 0.023898335255404694 + - - -0.01322231394115836 + - -0.9984746974939293 + - -0.053604560239295676 + - -0.034561174656595195 + - - -0.012198899331590836 + - 0.053766336769546536 + - -0.9984790272637086 + - 0.9685644859903304 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994662368025168 + - -0.00893175265841587 + - -0.031423960384781 + - 0.09184285332530474 + - - -0.00889059400491961 + - -0.9999594276570546 + - 0.0014492680963901702 + - -0.03382611278899673 + - - -0.031435629945256255 + - -0.0011691168566092653 + - -0.9995050947022333 + - 0.9684173121105667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9803603101352864 + - 0.0163905677541324 + - -0.1965324695823628 + - 0.09985573266544226 + - - 0.006703214986043014 + - -0.9987339400022911 + - -0.04985563154098707 + - -0.0897395403242401 + - - -0.19710080979107125 + - 0.047559083004164115 + - -0.9792289846626818 + - 0.9720301826423501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983398161595398 + - 0.026650850956584746 + - 0.05106215441818137 + - 0.012743066970274294 + - - 0.027779113059501648 + - -0.9993825231568758 + - -0.021514954943563144 + - -0.09308294597599091 + - - 0.05045723286272958 + - 0.022897697523682006 + - -0.9984637014433473 + - 0.9695429331015608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980305646095817 + - -0.00651173708777787 + - 0.06239061936845386 + - 0.054351364851453365 + - - -0.007590636817010431 + - -0.9998254617825655 + - 0.017071268376790065 + - -0.09326978531364966 + - - 0.06226856620954009 + - -0.017511232149103752 + - -0.9979057983651707 + - 0.972623386999581 + - - 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: + - - 0.9999002563176397 + - -0.01225782269873515 + - 0.007015924643618735 + - 0.023921270691355166 + - - -0.012078623482285245 + - -0.9996135213324309 + - -0.025038267195436253 + - -0.03454907021770399 + - - 0.007320127778375921 + - 0.0249510270743159 + - -0.9996618738239665 + - 0.9684009603322956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995535030743582 + - -0.00825599366653298 + - -0.028716424922982507 + - 0.09186615512076753 + - - -0.008312668574242886 + - -0.9999637290000206 + - -0.0018547845017820013 + - -0.03385230588474154 + - - -0.028700070260435223 + - 0.0020926664692261093 + - -0.9995858776083697 + - 0.9685456246525028 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9752801487083694 + - 0.0077642235749592805 + - -0.22083556861986425 + - 0.09982486395008505 + - - 0.009266585205590218 + - -0.9999404291402364 + - 0.005767891249592412 + - -0.08970050220482595 + - - -0.2207776300579573 + - -0.007671701448677128 + - -0.9752939982707132 + - 0.9717805677117748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987706936756572 + - 0.016185331695767278 + - 0.046852283749509636 + - 0.01292069062145598 + - - 0.027055313146423534 + - -0.9699824450931471 + - -0.24166519451850849 + - -0.09334424756035788 + - - 0.04153446141694311 + - 0.24263571717498145 + - -0.9692279387563004 + - 0.9721828619428511 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9896910473118326 + - -0.002921838974438363 + - 0.14318901399135175 + - 0.05420673893930744 + - - -0.026079382087752286 + - -0.9867530150111407 + - 0.16011980888180186 + - -0.0929843149986229 + - - 0.14082434697426827 + - -0.16220342235424992 + - -0.9766568246194974 + - 0.9700263124338898 + - - 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: + - - 0.9996164944844215 + - -0.010533224800772758 + - -0.025610840087216185 + - 0.02390786486536211 + - - -0.01182415349206515 + - -0.9986394554348508 + - -0.05078806398141492 + - -0.03459386862286594 + - - -0.02504103330281435 + - 0.05107141298300447 + - -0.998381018162428 + - 0.9684763019266162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997487227389599 + - -0.011813053870392427 + - -0.019051066638732947 + - 0.09182652395198326 + - - -0.0112988969021572 + - -0.9995749755447505 + - 0.026873838458712794 + - -0.03383968817026221 + - - -0.019360431570929905 + - -0.02665182963636409 + - -0.9994572795604726 + - 0.9683258718192223 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9780546029699654 + - 0.01366065707312064 + - -0.20790040898852036 + - 0.09976541165672857 + - - 0.008464834524959738 + - -0.999629707106233 + - -0.02586107590900988 + - -0.08960731834066105 + - - -0.2081767042339956 + - 0.023533701770803515 + - -0.9778080715023957 + - 0.9710101738343031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997459977186516 + - 0.012756985783408541 + - 0.07007748015444677 + - 0.012933579214868283 + - - 0.02531269988448587 + - -0.983096736145032 + - -0.18132863702555052 + - -0.09321898152274596 + - - 0.06657973517244507 + - 0.18264190837457817 + - -0.980922561759928 + - 0.9712245297609985 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952699955420926 + - -0.004038328846478247 + - 0.09706352493996177 + - 0.05424704233661943 + - - -0.011642129355034316 + - -0.9968931743692795 + - 0.07790031912656925 + - -0.09309405861560066 + - - 0.09644737838699156 + - -0.07866187638283481 + - -0.9922248799572643 + - 0.9707466249532629 + - - 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: + - - 0.9998910480111947 + - -0.013214596068972488 + - -0.006577731965395469 + - 0.023903062911215613 + - - -0.013366434697438615 + - -0.9996320868047387 + - -0.023601471434706214 + - -0.034522477128378505 + - - -0.00626342801936747 + - 0.02368682083222739 + - -0.9996998069362167 + - 0.968225470805524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996236538002446 + - -0.00948925210026816 + - -0.02573916971517062 + - 0.09184835907095243 + - - -0.009296688098074638 + - -0.9999279735482428 + - 0.007590738179707966 + - -0.033797905216195905 + - - -0.025809346242319228 + - -0.007348592401495344 + - -0.999639873072429 + - 0.9684093382715588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9764981136198785 + - 0.01310769623065174 + - -0.21512699132452898 + - 0.09983647532754579 + - - 0.006055214400771402 + - -0.9994234117191655 + - -0.03340925749227318 + - -0.0897275605852959 + - - -0.21544087002094034 + - 0.03132143686278263 + - -0.9760144461622849 + - 0.9719302955936374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971012478431716 + - 0.0214493730056369 + - 0.0730001777207096 + - 0.012782356909070213 + - - 0.034741744571872166 + - -0.9819322992502713 + - -0.18601605004186733 + - -0.09329980848965094 + - - 0.06769130471259158 + - 0.18801298914367792 + - -0.9798311095181487 + - 0.9715856767214602 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967282981504431 + - -0.004296187858244417 + - 0.0807108569896775 + - 0.05429542765525949 + - - -0.00820788583702129 + - -0.9988041483665049 + - 0.04819651248739099 + - -0.09319888358002987 + - - 0.08040727750774757 + - -0.04870129336832322 + - -0.9955716216064239 + - 0.9721232713562127 + - - 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: + - - 0.9999256601580973 + - -0.011902202568412415 + - 0.002647967411804428 + - 0.02391004494072925 + - - -0.011753152956797276 + - -0.9986519230952781 + - -0.050558875518326225 + - -0.03459308395005819 + - - 0.003246159726142383 + - 0.05052399501349785 + - -0.9987175718765086 + - 0.9686788893454008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999720583888151 + - -0.006523596012454018 + - -0.022719965787842494 + - 0.0918901183909416 + - - -0.007477931933918389 + - -0.9990822182498399 + - -0.04217584274167896 + - -0.03386414462784216 + - - -0.022423975658346647 + - 0.04233395648938856 + - -0.9988518415879446 + - 0.968665336593554 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.973945573383717 + - 0.021481356279315706 + - -0.2257622010405282 + - 0.09986289110948383 + - - 0.0043735797302930715 + - -0.9970977342370513 + - -0.07600644827698348 + - -0.08973679221150228 + - - -0.22673970072884353 + - 0.0730387548616493 + - -0.9712128749155124 + - 0.9720855113302622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9917218571725339 + - 0.0002357685278358149 + - 0.1284044485968511 + - 0.012866087398629399 + - - 0.014692238516462702 + - -0.9936389864965923 + - -0.11164991106759234 + - -0.09299563440068132 + - - 0.12756134263026345 + - 0.11261220594246074 + - -0.9854169650148806 + - 0.9706577847081849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999850775521161 + - -0.0027428768824655585 + - -0.01705588801970541 + - 0.05440871553837857 + - - -0.0019136473123667712 + - -0.9988239703438815 + - 0.04844599282137334 + - -0.09331093084169743 + - - -0.017168711183340638 + - -0.048406124539073794 + - -0.9986801702564292 + - 0.9733686006017628 + - - 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: + - - 0.999900614150762 + - -0.013052253052451472 + - 0.005329212998532577 + - 0.023943646179645325 + - - -0.012886026161099169 + - -0.9994633000100749 + - -0.030117474375309223 + - -0.03453794157600105 + - - 0.005719453706817213 + - 0.03004580874642437 + - -0.9995321591755163 + - 0.9688871761095419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999860072888363 + - -0.00924289988643427 + - -0.013942863599952874 + - 0.09180457903536973 + - - -0.00915915462888344 + - -0.9999397018469133 + - 0.0060582635127449215 + - -0.033813398343071996 + - - -0.013998018794162998 + - -0.005929710953748648 + - -0.9998844403219018 + - 0.9682579389363979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9663080279695122 + - 0.02001831657344876 + - -0.25660877242065894 + - 0.09991907330855607 + - - 0.008658030463410262 + - -0.9989347960088493 + - -0.04532451688937 + - -0.08975180719373148 + - - -0.257242752259742 + - 0.04157571796524161 + - -0.9654520319961573 + - 0.9726196430599859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991459168085931 + - 0.011937579230118187 + - 0.03955921039202714 + - 0.012827653876473881 + - - 0.01408920464187082 + - -0.9984107940441784 + - -0.05456537957929913 + - -0.09287750332526971 + - - 0.03884496411731516 + - 0.055076134016451804 + - -0.9977262591635677 + - 0.969387126569802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964589032578723 + - -0.004668783978094531 + - 0.08395151323403373 + - 0.054301050530628864 + - - -0.01876882423314193 + - -0.9856146270334183 + - 0.16796290725836188 + - -0.09314618104818272 + - - 0.08195965687473121 + - -0.16894380555066685 + - -0.9822120978745041 + - 0.9716871918412529 + - - 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: + - - 0.9999097104401462 + - -0.012266973370875959 + - -0.005485647803229138 + - 0.02391288064890801 + - - -0.012434292541330928 + - -0.9994237128218894 + - -0.03158529117020384 + - -0.03455197445681731 + - - -0.005095030569040252 + - 0.03165064949773029 + - -0.9994860064302414 + - 0.9687530121053414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999052776666242 + - -0.008589999665937651 + - -0.010753957419038238 + - 0.09186300666180532 + - - -0.008659969776001404 + - -0.9999415257530772 + - -0.006476881818206864 + - -0.03379378516116711 + - - -0.010697692176822005 + - 0.006569397259069321 + - -0.9999211980960013 + - 0.9684565777821676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9752175927681486 + - 0.017663215665758045 + - -0.22054173656667034 + - 0.09984877019145894 + - - 0.007964980431181476 + - -0.9989648183990043 + - -0.044786724459106066 + - -0.08970510675482629 + - - -0.2211045133918089 + - 0.04192019099896747 + - -0.9743487526262771 + - 0.9718006868834934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982800395563959 + - 0.025813233083478025 + - 0.05263686560822757 + - 0.012748874071847069 + - - 0.03141541366278861 + - -0.993594988950018 + - -0.10854524272306795 + - -0.0931415615254078 + - - 0.0494978222518572 + - 0.11001215810623796 + - -0.9926969782673521 + - 0.9700122428778336 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900807871321579 + - -0.0033557773679842983 + - 0.1404591531728119 + - 0.054237409369706766 + - - -0.01960838849505387 + - -0.9932311458427608 + - 0.11448756276776793 + - -0.09301047126650328 + - - 0.13912421087788404 + - -0.11610611390505278 + - -0.98344487606651 + - 0.9702982428309992 + - - 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: + - - 0.9999284786609548 + - -0.011944338829405968 + - -0.0006085496830071761 + - 0.02393536336116953 + - - -0.011954203327792576 + - -0.9997240724394304 + - -0.020220682676884334 + - -0.03454462288208737 + - - -0.00036685908212305215 + - 0.020226511193228606 + - -0.9997953558900766 + - 0.9684204059963181 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993505858338295 + - -0.008441837977291351 + - -0.03503058613764517 + - 0.09181385851411339 + - - -0.00932071382408388 + - -0.9996439531722762 + - -0.025001823531782923 + - -0.03387490415493528 + - - -0.0348070522651854 + - 0.0253120970618802 + - -0.999073454183895 + - 0.9686529478522165 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9680607743465574 + - 0.004145077044629125 + - -0.2506813824515851 + - 0.09989495681703282 + - - 0.014333936331340256 + - -0.9991429183997362 + - 0.038832549245531124 + - -0.08971601242390972 + - - -0.2503055641426951 + - -0.04118551866799306 + - -0.9672904825393741 + - 0.972337385293137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997142862128453 + - 0.0238964636430179 + - 0.0005522384441493395 + - 0.01290450196944337 + - - 0.0237443063395095 + - -0.9901620164388327 + - -0.1378962984210966 + - -0.09314561079780123 + - - -0.002748428350312528 + - 0.13787001206623042 + - -0.99044651845239 + - 0.9703995795690711 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9713682153482569 + - -0.007128119182630212 + - 0.2374720617842455 + - 0.054369822131894674 + - - -0.022800353674614495 + - -0.9977330986171147 + - 0.06331514665705033 + - -0.09324162108081463 + - - 0.23648241812755297 + - -0.06691676800929285 + - -0.9693287430359919 + - 0.9723263880114406 + - - 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: + - - 0.999868253937726 + - -0.013048348782455801 + - 0.00965481028162779 + - 0.023921013770195575 + - - -0.012699955232511615 + - -0.9992958298697789 + - -0.03530659346299905 + - -0.034543282626747586 + - - 0.010108704398440103 + - 0.03517932629998294 + - -0.9993298900245423 + - 0.9686550229350394 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995786310072742 + - -0.010441203561922909 + - -0.027083975000025042 + - 0.09182582973849397 + - - -0.010203429425643661 + - -0.999908313183914 + - 0.008902541977230291 + - -0.03379395488633809 + - - -0.027174445009593155 + - -0.008622441294605996 + - -0.9995935189088325 + - 0.9683279306593472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9614830153951044 + - 0.003297051477274644 + - -0.27484457527536116 + - 0.09986170794676524 + - - 0.016334659755733436 + - -0.998846166669649 + - 0.045160981167526364 + - -0.08971620120896312 + - - -0.27437855236406855 + - -0.04791100897398686 + - -0.9604274804594536 + - 0.971991182961498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959781221867704 + - 0.010369328559058907 + - 0.08899470293533729 + - 0.012709684653445033 + - - 0.02664048136926981 + - -0.9826301194664718 + - -0.18365275132630451 + - -0.09308865480819223 + - - 0.08554451985795603 + - 0.18528498412591923 + - -0.9789543450946678 + - 0.9707165003462177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991944981483064 + - -0.005518818980474963 + - 0.03974792456487378 + - 0.05426473613061009 + - - -0.012606116495629163 + - -0.9835238650480777 + - 0.18033827299769126 + - -0.09304192331947754 + - - 0.03809777811175834 + - -0.18069407715238464 + - -0.9828012056285826 + - 0.9707576771650845 + - - 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: + - - 0.9997950903290113 + - -0.013566191423428962 + - 0.015024506789482223 + - 0.023907652033931106 + - - -0.01310626106122152 + - -0.999454961161765 + - -0.030298622578104294 + - -0.03453709469462787 + - - 0.015427354763517417 + - 0.030095498989021353 + - -0.9994279652209073 + - 0.9687628102391828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996026715905012 + - -0.009075320845115347 + - -0.026685904531992915 + - 0.09182185166842573 + - - -0.009082319316332677 + - -0.9999587449385111 + - -0.00014105613859925558 + - -0.03380723937042449 + - - -0.026683523473645592 + - 0.00038336999919278493 + - -0.9996438578826339 + - 0.9681854448961207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9692838051369173 + - 0.009899290757989634 + - -0.24574561876417517 + - 0.09986937216121061 + - - 0.011510778125223206 + - -0.9999206304703704 + - 0.005121986596117251 + - -0.08972938714629705 + - - -0.24567541001543158 + - -0.007793381950584925 + - -0.9693208220767383 + - 0.972159261322138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9821114293492513 + - 0.0048656123040966386 + - 0.1882377915257099 + - 0.012919735916936645 + - - 0.025629415763528396 + - -0.9938171638418083 + - -0.10803044895326733 + - -0.0931739134546279 + - - 0.18654831382028247 + - 0.11092236325615551 + - -0.9761638980931834 + - 0.9706171725225228 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987041467311961 + - -0.006409142309555242 + - 0.05048712902086375 + - 0.05431891220537675 + - - -0.016031509701669184 + - -0.9811519387183978 + - 0.19257171091781455 + - -0.09315232282658857 + - - 0.04830132501907955 + - -0.19313155113544994 + - -0.9799832579985313 + - 0.971706403261935 + - - 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: + - - 0.9999141469867588 + - -0.012688712898794469 + - 0.0032703548300579183 + - 0.023943258651619555 + - - -0.012637909629696078 + - -0.9998059179462933 + - -0.015113228634583722 + - -0.03458240615524083 + - - 0.0034614875319942235 + - 0.015070600669566326 + - -0.9998804404025133 + - 0.9688387168395458 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995887472245125 + - -0.00792051597435975 + - -0.027560875327710475 + - 0.09186883424573124 + - - -0.008290458353114616 + - -0.9998767226711145 + - -0.013334457648023048 + - -0.03381849664490885 + - - -0.027451861911807734 + - 0.013557466104385444 + - -0.9995311853015912 + - 0.968548793533031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9781223296618834 + - 0.016900276967291645 + - -0.20734292574196644 + - 0.09992642134980102 + - - 0.005538177484631633 + - -0.9984567966598571 + - -0.05525716056662428 + - -0.08973434419118845 + - - -0.20795681476440847 + - 0.052899960700985495 + - -0.9767064847490652 + - 0.9722248715597042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989338568438407 + - 0.021771751829906715 + - 0.040707990288716044 + - 0.012842919022682382 + - - 0.02333371326781303 + - -0.9989939382004238 + - -0.038296857102673186 + - -0.09300296464552081 + - - 0.03983324586604426 + - 0.039205895743676576 + - -0.9984368834647038 + - 0.9691812572260392 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9815158780817204 + - -0.005660352109627685 + - 0.19129699811409642 + - 0.05432424727559623 + - - -0.019095572164793573 + - -0.997470960487003 + - 0.0684619756422105 + - -0.09319423488261899 + - - 0.19042568155889253 + - -0.0708494417700697 + - -0.9791416733056052 + - 0.9718869138728407 + - - 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: + - - 0.9999030934157772 + - -0.013683203093028985 + - -0.002563928757697219 + - 0.02391855040584044 + - - -0.013728073216470023 + - -0.999736696935451 + - -0.018386865049731894 + - -0.034511576486574796 + - - -0.002311662458678434 + - 0.01842028104315284 + - -0.9998276598809257 + - 0.9685430188641376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996935743809889 + - -0.009222130642410592 + - -0.022971931738025142 + - 0.09184570535434837 + - - -0.008969899351498042 + - -0.9998986153804234 + - 0.011058926979415394 + - -0.03379233094545787 + - - -0.02307158960683399 + - -0.01084948232527056 + - -0.9996749424119259 + - 0.9684088592355353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9736782676527823 + - 0.015124468378915838 + - -0.2274244524164714 + - 0.09980335078882238 + - - 0.00748517854574781 + - -0.9993795798266586 + - -0.034415512892140204 + - -0.08965938267565268 + - - -0.2278038700347625 + - 0.03180732434119486 + - -0.9731873873594121 + - 0.9714907965934606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955360052070671 + - 0.004154025690645019 + - 0.09429107278484024 + - 0.012835533662175984 + - - 0.019882834094679388 + - -0.9858420463506009 + - -0.1664936411867566 + - -0.09304377673798692 + - - 0.09226448528398147 + - 0.16762518819623282 + - -0.9815238463926697 + - 0.9707937257184029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9951240711600206 + - -0.0086833648837194 + - 0.09824806447051523 + - 0.0543108127117286 + - - -0.008547043206369153 + - -0.9999618382664687 + - -0.0018083315993792574 + - -0.09320427164772387 + - - 0.0982600175571671 + - 0.0009597838512099621 + - -0.9951603125952242 + - 0.9717245324167936 + - - 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: + - - 0.999858430792573 + - -0.012732204259622262 + - -0.011000424887465379 + - 0.023910532001355064 + - - -0.013297259801737512 + - -0.9985102247953925 + - -0.05291988152689313 + - -0.034516532238134334 + - - -0.01031024998623247 + - 0.05305866520886636 + - -0.9985381699221495 + - 0.9685629393177979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993470944858945 + - -0.009380152001090028 + - -0.034891223696468666 + - 0.09180695184142947 + - - -0.009462079709994286 + - -0.9999528491279397 + - -0.0021837052175763855 + - -0.033785249342127704 + - - -0.03486909505797769 + - 0.002512423004193877 + - -0.9993887301448249 + - 0.9680042146401847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9785666036375806 + - 0.01470783038487877 + - -0.2054046785508545 + - 0.09984734968673116 + - - 0.005455414193369926 + - -0.9989476778661314 + - -0.04553872354210013 + - -0.08972758211190485 + - - -0.20585830248301626 + - 0.043442106431832744 + - -0.9776170736477435 + - 0.9719088552937617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977323943069158 + - 0.02861571602967678 + - 0.060919702450833016 + - 0.012767937373008988 + - - 0.03070119100344742 + - -0.9989644814164311 + - -0.033576803590734644 + - -0.09315680889339106 + - - 0.05989579469010299 + - 0.035370972060572936 + - -0.9975777604347098 + - 0.9698123430243051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988327986985902 + - -0.006717578967740738 + - 0.047832147942088975 + - 0.054322755393852076 + - - -0.011768747005769515 + - -0.9942839461527673 + - 0.10611753397434086 + - -0.09316582202678886 + - - 0.04684588389448865 + - -0.10655659789845658 + - -0.9932024741242095 + - 0.9719329878918068 + - - 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: + - - 0.9999051293699861 + - -0.011563443101223644 + - 0.0074845870451356825 + - 0.023894657689191995 + - - -0.011185122346942807 + - -0.9987481681501316 + - -0.04875438087844513 + - -0.03454058130160491 + - - 0.008038986109912756 + - 0.04866603949779907 + - -0.998782754808033 + - 0.9688189035153446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9619252545236705 + - 0.0005249925111147705 + - -0.273312145892631 + - 0.09984193061377447 + - - 0.01788107216059159 + - -0.9979766304162926 + - 0.0610156734071682 + - -0.08968284830967183 + - - -0.2727271016381746 + - -0.0635796313751957 + - -0.9599883116508424 + - 0.9721567288419981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948668581906316 + - 0.02201815363604748 + - 0.09876808889697768 + - 0.01278267666353439 + - - 0.029012626586227514 + - -0.9971285500923732 + - -0.06994942522459237 + - -0.09316252615142163 + - - 0.09694432408588964 + - 0.07245588658723405 + - -0.9926489523121399 + - 0.9700231584554286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960830387413798 + - -0.004910880443170754 + - 0.0882862570563035 + - 0.054359014204562475 + - - -0.016910173032830822 + - -0.9906076124178439 + - 0.13568568188213284 + - -0.09327513425288309 + - - 0.08679070215027954 + - -0.1366471422060941 + - -0.9868104846155465 + - 0.9732093479111769 + - - 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: + - - 0.9998978869246165 + - -0.013780292873630523 + - 0.003784078752343663 + - 0.023912429963435324 + - - -0.013632344378513994 + - -0.9992341960847596 + - -0.036676703254116455 + - -0.0345424719692203 + - - 0.004286596602500501 + - 0.036621372218444886 + - -0.999320018906059 + - 0.9685677174970271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998882081454467 + - -0.007895452067604317 + - -0.04660739411123302 + - 0.09182416133560853 + - - -0.008761238974052345 + - -0.9997922965022938 + - -0.018401210457737283 + - -0.03381447392645617 + - - -0.04645242771730215 + - 0.01878897792107267 + - -0.9987437840947253 + - 0.9683294409593239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9735303887792346 + - 0.020235684185740732 + - -0.22766005185119167 + - 0.09992439873882639 + - - 0.0065901387070565216 + - -0.9981440467736612 + - -0.060539507448623395 + - -0.08976617737755517 + - - -0.22846258379694054 + - 0.05743673890320668 + - -0.9718569178788571 + - 0.9722638788013342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945792885895586 + - 0.015641839168990014 + - 0.10279772164838595 + - 0.012905247280883252 + - - 0.015423118800822122 + - -0.9998767864332776 + - 0.002922218047492241 + - -0.09303231471209755 + - - 0.10283076443916632 + - -0.0013209160733415007 + - -0.99469798887179 + - 0.9694756941430757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997546694621567 + - -0.005805578310906808 + - -0.021375129218079093 + - 0.05433800643772611 + - - -0.004118115627604753 + - -0.9969323826270263 + - 0.07815923229713764 + - -0.09322448028619608 + - - -0.02176331804416155 + - -0.07805203219696574 + - -0.9967117127121725 + - 0.9722744924555009 + - - 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: + - - 0.9999232353653947 + - -0.01138888343580999 + - 0.004880236724482073 + - 0.023917824050727756 + - - -0.01129263891489759 + - -0.9997496772472753 + - -0.01931473919850167 + - -0.034599005131185204 + - - 0.00509898840351606 + - 0.019258145758455802 + - -0.9998015423768891 + - 0.9686171608043463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9837423795642661 + - 0.010532832366052906 + - -0.17927629539786868 + - 0.09979821333494941 + - - 0.00691023337780818 + - -0.9997593735880781 + - -0.02081930828434678 + - -0.08962868389553616 + - - -0.1794524430703006 + - 0.019241994832217193 + - -0.9835784494949948 + - 0.9711511909690568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999325791147478 + - 0.02009241565114537 + - 0.03072878098410097 + - 0.012699028037303424 + - - 0.021151699511239234 + - -0.9991793018332976 + - -0.03454458562076528 + - -0.09290420400802815 + - - 0.030009477757093325 + - 0.03517126129705544 + - -0.9989306350410528 + - 0.9692103769113778 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.98954544217791 + - -0.00251222885201907 + - 0.14419953734710733 + - 0.054336750588021836 + - - -0.017937611985361666 + - -0.9942285502310187 + - 0.10577254833740977 + - -0.09326602548237595 + - - 0.1431015721129133 + - -0.10725333846422759 + - -0.9838793937506217 + - 0.9725507878202408 + - - 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: + - - 0.9999266574422644 + - -0.011825888429931366 + - -0.002613063180120758 + - 0.023893031464971612 + - - -0.011883598958071511 + - -0.9996578827439998 + - -0.023300161879001517 + - -0.03458065776654401 + - - -0.0023366240913354074 + - 0.023329505580418318 + - -0.999725099393443 + - 0.9686757190971667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996051771346877 + - -0.010755369566775308 + - -0.025957886489693136 + - 0.09181681724646687 + - - -0.010581051102091631 + - -0.9999206009536845 + - 0.006843474702071009 + - -0.03384664758148094 + - - -0.026029429557803133 + - -0.006566111018330708 + - -0.9996396125519391 + - 0.9684556580809643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9840373301748854 + - 0.018329852273483205 + - -0.1770156754016883 + - 0.09983706230449207 + - - 0.0032800572836722934 + - -0.9963806212052476 + - -0.08494056104629391 + - -0.08969209602183091 + - - -0.17793193655580616 + - 0.08300406136012645 + - -0.980535849294264 + - 0.9716342190498399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9973933679823286 + - 0.01329654239527395 + - 0.07092017671437349 + - 0.01273335093691363 + - - 0.025119368764718358 + - -0.9853773618559768 + - -0.16852439602211364 + - -0.09309455595383409 + - - 0.06764234485682304 + - 0.169866585007431 + - -0.983142846426797 + - 0.9704714736110144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973818645646031 + - -0.00691707116539152 + - 0.07198312555126021 + - 0.05415885891912074 + - - -0.010952037226021026 + - -0.9983812522336128 + - 0.055811540643873295 + - -0.09295892689403543 + - - 0.07148055062907274 + - -0.05645378034229223 + - -0.9958431109200025 + - 0.9695373046222366 + - - 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: + - - 0.9998923277866492 + - -0.012523646292391725 + - 0.007647948544491239 + - 0.02394879682032731 + - - -0.012328049851338847 + - -0.9996087304462151 + - -0.0251078713269318 + - -0.03457879212889157 + - - 0.007959398234730242 + - 0.02501088361593654 + - -0.9996554924975363 + - 0.9688961318270084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998919200976036 + - -0.00838453148637215 + - -0.012076744399111612 + - 0.09186933070782193 + - - -0.008481813365116457 + - -0.9999318128218257 + - -0.00802673961810114 + - -0.03382765184644474 + - - -0.012008620468928623 + - 0.008128304780918133 + - -0.9998948563203144 + - 0.9685287489587321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9775999415121026 + - 0.008571002870638417 + - -0.2102971522996095 + - 0.0999260413034806 + - - 0.006865414391994333 + - -0.999937366246399 + - -0.008839098904383717 + - -0.0897918039210835 + - - -0.21035974054167267 + - 0.0071973254759520496 + - -0.9775975542447074 + - 0.9725682709788162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989411856734479 + - 0.0137894766247381 + - 0.04389029391268423 + - 0.012792160598200599 + - - 0.013505251324602674 + - -0.9998859097670039 + - 0.006765769436662901 + - -0.09286932817192167 + - - 0.043978582878320696 + - -0.006165856293051734 + - -0.9990134465882768 + - 0.9689968856917047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999163699162632 + - -0.0061365368275747845 + - 0.011384027812970245 + - 0.05432145554267953 + - - -0.006951818513567749 + - -0.9973064559704617 + - 0.07301715619628593 + - -0.09320610690437203 + - - 0.010905291964779226 + - -0.0730901894607082 + - -0.9972657112383648 + - 0.9717129588771851 + - - 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: + - - 0.9999122978034323 + - -0.013025647056923096 + - 0.00239357895389636 + - 0.02391573511447692 + - - -0.012952775442363527 + - -0.9995159701077205 + - -0.02828517470270504 + - -0.034540805016308095 + - - 0.0027608530927539883 + - 0.028251690540059927 + - -0.9995970286429574 + - 0.9685653810377092 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998907594169097 + - -0.010413655590779355 + - -0.010489280714711214 + - 0.09185463839099398 + - - -0.01024350487259001 + - -0.9998171630082676 + - 0.01614655263595127 + - -0.03381053180716618 + - - -0.01065550752430908 + - -0.01603734177901531 + - -0.9998146147301826 + - 0.968499041840248 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9754717139698366 + - 0.013817614648452626 + - -0.21969071161561682 + - 0.09991255604984887 + - - 0.00813442428949567 + - -0.9996089867091211 + - -0.026752660275996994 + - -0.08974804596286992 + - - -0.21997446757800715 + - 0.024309405911936886 + - -0.9752026899050174 + - 0.9726034499795688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984473082880432 + - 0.023811671983838847 + - 0.05035848339351808 + - 0.012814961320111612 + - - 0.03232465272770293 + - -0.9839211826733912 + - -0.17565370224572222 + - -0.09326787857825822 + - - 0.045366170197566606 + - 0.17700878668566003 + - -0.9831631604355792 + - 0.9708139571188839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990717926813429 + - -0.015521978967619716 + - 0.13504465061389906 + - 0.05445793363773051 + - - 0.003938913243262233 + - -0.989763940339373 + - -0.14265983094880208 + - -0.09344894106677841 + - - 0.1358766884088781 + - 0.14186758111988623 + - -0.9805157392791968 + - 0.974382434985298 + - - 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: + - - 0.999883094530276 + - -0.012250497606493703 + - -0.009150004423621523 + - 0.02391618656889017 + - - -0.012620793997282815 + - -0.9990557774971962 + - -0.04157245492331817 + - -0.034548239775728594 + - - -0.008632081524009808 + - 0.041683075196852534 + - -0.9990935934189032 + - 0.9683717256335566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997714177247454 + - -0.01013669769988647 + - -0.01882444316291099 + - 0.09182451619370276 + - - -0.009967629681989212 + - -0.9999093359883336 + - 0.009053516548427119 + - -0.03382442853761871 + - - -0.018914509223748776 + - -0.008863811996597875 + - -0.9997818132861359 + - 0.9684650126429848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9804206910960832 + - 0.020458516016901913 + - -0.1958487109813718 + - 0.09988368118436634 + - - 0.001976352724777473 + - -0.9955604658751017 + - -0.09410341554087186 + - -0.08972694922362195 + - - -0.19690445017974073 + - 0.09187386956549128 + - -0.9761085132250806 + - 0.9719336237776148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999427818889912 + - 0.011280345497424259 + - 0.031887123332342816 + - 0.012841268164735237 + - - 0.01593870681032909 + - -0.9885813943137066 + - -0.14984253215286575 + - -0.09302710882822775 + - - 0.029832741311647353 + - 0.15026503459629914 + - -0.9881955408336985 + - 0.970360413379294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997438160704426 + - -0.004555047552949652 + - 0.02217101194576945 + - 0.054292000703319625 + - - -0.005674883138949749 + - -0.9986972425967531 + - 0.05071107700494767 + - -0.0931531977871839 + - - 0.02191113712860079 + - -0.05082390354383295 + - -0.9984672417752618 + - 0.9714243205845892 + - - 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: + - - 0.9998904634484747 + - -0.012942539840013392 + - 0.007179955938890673 + - 0.023950146352958827 + - - -0.012658839510126415 + - -0.9991882928367147 + - -0.038242767163332865 + - -0.034574704448033004 + - - 0.007669086454826792 + - 0.038147688272576814 + - -0.999242682731481 + - 0.9686287110753606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998296371679011 + - -0.007205110109502048 + - -0.01699361730218741 + - 0.09184491675942992 + - - -0.0074906687508067655 + - -0.9998308018972588 + - -0.016800519609550014 + - -0.03380617808525977 + - - -0.01686969242069751 + - 0.01692495098353726 + - -0.9997144389833713 + - 0.9683982671445919 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9711713956233837 + - 0.017721697478125742 + - -0.2377226572319581 + - 0.09991350243535706 + - - 0.008085506515176895 + - -0.9991078856168655 + - -0.04144945696375546 + - -0.08978038307801109 + - - -0.2382451361671887 + - 0.03833241887346761 + - -0.9704482885532786 + - 0.9725043414893368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9928183693753113 + - 0.01679651559466711 + - 0.11844645412516985 + - 0.01288884699472175 + - - 0.017967122514119683 + - -0.9997996570362027 + - -0.00882203484773885 + - -0.09306617751330885 + - - 0.11827454476560237 + - 0.010886820204734242 + - -0.9929212502541779 + - 0.9696326326394984 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956192075891214 + - -0.004272799511505168 + - 0.09340308701506811 + - 0.05433225870683281 + - - -0.01804588775300215 + - -0.9889543908668373 + - 0.14711749970825627 + - -0.0931766647886274 + - - 0.0917427894431816 + - -0.14815855010608475 + - -0.9846990934369986 + - 0.9720683962173492 + - - 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: + - - 0.9999174611200647 + - -0.01177512756089045 + - -0.005139778023286844 + - 0.023931703003924235 + - - -0.011941412848377067 + - -0.9993633677689818 + - -0.033619366749301834 + - -0.03455327807441273 + - - -0.004740633542947551 + - 0.0336779680557513 + - -0.9994214930955047 + - 0.9686070565883954 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998143027992528 + - -0.011760597635887132 + - -0.01526591829176767 + - 0.09182299045758206 + - - -0.01163862085708468 + - -0.999899828422004 + - 0.00805454071892372 + - -0.03380827957063242 + - - -0.01535911529317995 + - -0.007875370778225794 + - -0.9998510269597751 + - 0.9682961118856079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9769727225518525 + - 0.007157894265470583 + - -0.21324414162950717 + - 0.09986679377304392 + - - 0.009433217631495973 + - -0.9999088988850677 + - 0.009654446414388396 + - -0.08968409280832637 + - - -0.2131556093438261 + - -0.011443709194828691 + - -0.976951241221959 + - 0.971922449729754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997435513146771 + - 0.021077833453789618 + - 0.008279887777733256 + - 0.012883728621794035 + - - 0.02167537519448583 + - -0.9965333027489236 + - -0.08032157009483895 + - -0.09308365963257366 + - - 0.006558179236329063 + - 0.08048044140793567 + - -0.996734613041951 + - 0.9697750604534523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889611852511421 + - -0.0153212215202336 + - 0.14738057618894074 + - 0.05440207767845002 + - - 0.008138260888443277 + - -0.9875221877846876 + - -0.15726950544417864 + - -0.09332979928634362 + - - 0.1479511499663584 + - 0.15673285808685053 + - -0.9764964251954843 + - 0.9729552964844703 + - - 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: + - - 0.9998965147014032 + - -0.013048468839971709 + - 0.006057833682009934 + - 0.02391595803267106 + - - -0.01277054304613206 + - -0.9989565321331488 + - -0.043849288920352954 + - -0.034557674950609144 + - - 0.006623678607352169 + - 0.04376738933779336 + - -0.9990197908511427 + - 0.9687678623838973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999168007174714 + - -0.008990536406363702 + - -0.009249967462775446 + - 0.09184934344678186 + - - -0.009018114795081451 + - -0.9999550019868045 + - -0.0029440800113602903 + - -0.03381064985104195 + - - -0.009223082374092114 + - 0.0030272523344457153 + - -0.9999528841374603 + - 0.9683654090281772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9665324513625789 + - -0.006160553723504336 + - -0.25647040383027375 + - 0.09988476623427 + - - 0.019891904647792367 + - -0.9949022598969343 + - 0.09886255803617772 + - -0.08968151712492686 + - - -0.2557720324674436 + - -0.10065555538465468 + - -0.961482774977108 + - 0.9720329764197284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964821413566889 + - 0.032481376884440596 + - 0.07725478699005565 + - 0.012767640614798164 + - - 0.020216613803945713 + - -0.987779680965669 + - 0.1545399314017676 + - -0.09295645729033132 + - - 0.0813303786016643 + - -0.15243445157526517 + - -0.98496147512959 + - 0.9683241624391726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981961691122367 + - -0.005793681241952651 + - 0.05975651619130211 + - 0.054318483747062954 + - - -0.017696858044387972 + - -0.9795036214547114 + - 0.20064764332646134 + - -0.09316097005914925 + - - 0.05736923552751497 + - -0.2013432114941368 + - -0.9778392925221487 + - 0.9716060154910258 + - - 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: + - - 0.9998097048793457 + - -0.012818958887038726 + - 0.014704704081622007 + - 0.023916575468387897 + - - -0.012105088120835824 + - -0.9987907605946572 + - -0.04764958963447671 + - -0.03453299881172405 + - - 0.01529774070451122 + - 0.04746252041136924 + - -0.9987558702133065 + - 0.9684511453884708 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994245241945928 + - -0.006004097893399763 + - -0.033385195025612116 + - 0.09185856677513422 + - - -0.007464596709832545 + - -0.999012616193773 + - -0.043795804383901106 + - -0.033812262797654064 + - - -0.03308927672783496 + - 0.04401980797504513 + - -0.9984825267732376 + - 0.9685871392084118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9660629148379376 + - 0.020268526573986808 + - -0.25751044911876375 + - 0.09998723507212037 + - - 0.006655182148176009 + - -0.9985388439004637 + - -0.05362728570886578 + - -0.08980245296513968 + - - -0.25822113222082044 + - 0.050093553002809765 + - -0.9647862368536113 + - 0.9729951959519056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993666678119962 + - 0.020519164197135335 + - 0.02907279083607508 + - 0.012910634697787794 + - - 0.025036922839586306 + - -0.986023611792399 + - -0.16471365906504978 + - -0.09318634127494005 + - - 0.025286671609204975 + - 0.16533723382385426 + - -0.9859128680316556 + - 0.9706157892354275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9862325347882316 + - -0.005127759690329149 + - 0.1652848855937461 + - 0.05435001042217063 + - - -0.0212403756482411 + - -0.9951677376188434 + - 0.09586459432404755 + - -0.09323838523618914 + - - 0.1639946150564131 + - -0.09805549491563866 + - -0.9815757159533582 + - 0.9721318785591843 + - - 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: + - - 0.9999144908084934 + - -0.012311173648300068 + - 0.004409770356022597 + - 0.02392486015673446 + - - -0.012091116285131265 + - -0.9988280580361465 + - -0.04686486302892804 + - -0.034566524687361905 + - - 0.0049815638278443465 + - 0.04680753660621497 + - -0.9988915048886376 + - 0.9686565815290425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996083301549686 + - -0.0077353967061154095 + - -0.026895165413028204 + - 0.09188836795816707 + - - -0.007976713845658236 + - -0.9999287844365273 + - -0.008876828910912751 + - -0.03380206678173481 + - - -0.026824584265550396 + - 0.009087887163040216 + - -0.999598845530492 + - 0.9686581641471155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.975577548436718 + - 0.020885671888791382 + - -0.21866009168560432 + - 0.09988213637571604 + - - 0.006324921924749559 + - -0.9977275403985993 + - -0.06708017958240357 + - -0.08976298180105631 + - - -0.21956421008180946 + - 0.06405890913772604 + - -0.9734926881139047 + - 0.9722482026254057 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995220825055076 + - 0.009438096922961468 + - 0.09719275540474474 + - 0.012906601580252707 + - - 0.030557293558083325 + - -0.975431118559345 + - -0.21817512405512948 + - -0.09325467390481185 + - - 0.09274568015330349 + - 0.2201023745272613 + - -0.9710577652953316 + - 0.9713343034368223 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993731048877725 + - -0.003995234445984033 + - 0.03517719898876259 + - 0.054315140416464056 + - - -0.007827067530352705 + - -0.9939586093536202 + - 0.10947611568599042 + - -0.09319715184671049 + - - 0.03452729703942485 + - -0.1096828199561749 + - -0.9933667725294683 + - 0.9720611823464042 + - - 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: + - - 0.999894207131446 + - -0.013614389093166231 + - 0.0051208353417203836 + - 0.023920356662673146 + - - -0.013493488225962231 + - -0.9996456351179952 + - -0.02294624076043466 + - -0.03453765172677505 + - - 0.005431419747446776 + - 0.022874715280411483 + - -0.9997235853376508 + - 0.9685459090896473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998243244250644 + - -0.011219508198553437 + - -0.015014756866037158 + - 0.09184290913774461 + - - -0.0107759637837784 + - -0.999512505871434 + - 0.029302375520394486 + - -0.033809844692461004 + - - -0.01533619550261127 + - -0.029135429332517306 + - -0.9994578169513291 + - 0.96822989758096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9700850734268313 + - 0.01251404529415623 + - -0.24244246530844227 + - 0.09990465496480744 + - - 0.010618433859760157 + - -0.999901996331166 + - -0.009123957217923246 + - -0.08976989444153424 + - - -0.24253288267124795 + - 0.006276655425017447 + - -0.9701228810928284 + - 0.9725145157166903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995436100565545 + - 0.029691269345190435 + - 0.005567775119564595 + - 0.012733037597076047 + - - 0.029848484897312563 + - -0.9990835736321774 + - -0.030677041051780606 + - -0.0930588429162257 + - - 0.004651832375053037 + - 0.03082923001031786 + - -0.9995138413411419 + - 0.9692704187701939 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9924892982714885 + - -0.009782877834350345 + - 0.12193969049430424 + - 0.054468096017918424 + - - -0.0005185321303965906 + - -0.9971247247860493 + - -0.0757760802943419 + - -0.09338920551645868 + - - 0.12233038846091467 + - 0.07514371910960342 + - -0.9896406911285419 + - 0.9740744611996126 + - - 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: + - - 0.9999201472561323 + - -0.01164473080829357 + - -0.004909109458657688 + - 0.023917917753626054 + - - -0.011675123382157818 + - -0.9999125689507896 + - -0.006208538333929027 + - -0.03453396263749729 + - - -0.0048363834924554545 + - 0.006265357023734001 + - -0.9999686768574699 + - 0.9685101185234141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997558386664018 + - -0.009092203478959742 + - -0.020139386493553697 + - 0.09184389939219281 + - - -0.009200929412837055 + - -0.99994355797025 + - -0.005312604986007471 + - -0.03378692152854612 + - - -0.020089946500165965 + - 0.005496608926834239 + - -0.9997830671400301 + - 0.9684121252601254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9867496541531516 + - 0.013961038630984541 + - -0.16164841301101532 + - 0.09985873584505925 + - - 0.004421664357811141 + - -0.998234978567524 + - -0.05922310738724917 + - -0.08966646622012883 + - - -0.1621899161876055 + - 0.05772362570593554 + - -0.9850697508919956 + - 0.9715355319863863 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992357982172265 + - 0.02152720734158485 + - 0.03262512690020508 + - 0.01284731407826906 + - - 0.022762329122349663 + - -0.9990195301811574 + - -0.03797176173877348 + - -0.09303318013448929 + - - 0.03177571295986767 + - 0.03868536752691855 + - -0.9987460870537617 + - 0.9693131915610098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950237799972476 + - -0.006469214439966732 + - 0.09942749370530711 + - 0.0543664421247111 + - - -0.01571614327714304 + - -0.9955884426942065 + - 0.09250219248329418 + - -0.09325737128880929 + - - 0.09839044709971324 + - -0.09360449795952021 + - -0.9907358466721915 + - 0.9728087335858101 + - - 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: + - - 0.9999117584806595 + - -0.013226891174514335 + - -0.001234747736543504 + - 0.023908748811634885 + - - -0.01325241230923245 + - -0.9996321659221581 + - -0.023662341848632633 + - -0.03453329939755356 + - - -0.0009213143336824446 + - 0.023676617233739324 + - -0.9997192450764695 + - 0.9688470728431484 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995872600580809 + - -0.008542927120601585 + - -0.0274285968615031 + - 0.09181995264800905 + - - -0.00888433380542262 + - -0.9998842730050904 + - -0.012349461928218855 + - -0.033809926768720376 + - - -0.027319922079182307 + - 0.01258804962235183 + - -0.9995474790445392 + - 0.9682321897445998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9979728234309545 + - 0.025160037022263416 + - 0.058456960494771504 + - 0.012793290213884418 + - - 0.03325862021951543 + - -0.9893096266339545 + - -0.14198706571543573 + - -0.09323089192855938 + - - 0.05425963393115532 + - 0.14364343071099273 + - -0.9881409094553434 + - 0.9706777982312984 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9862936827227224 + - -0.012139316039736692 + - 0.16455214500983292 + - 0.05431177327959117 + - - -0.007850555706361327 + - -0.999612969151013 + - -0.026688587077575234 + - -0.09316918132012383 + - - 0.16481243944663584 + - 0.0250309590544068 + - -0.986007257018155 + - 0.9714353768243342 + - - 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: + - - 0.9992076162172201 + - -0.010351190997039815 + - -0.03843166062562957 + - 0.023923712077261572 + - - -0.013618644130285108 + - -0.9962230604731188 + - -0.08575631938012396 + - -0.0346046605059944 + - - -0.037398826526422124 + - 0.08621175457277258 + - -0.9955746386624817 + - 0.9691994282741605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994849528015004 + - -0.010936500155040383 + - -0.03016988710190054 + - 0.09182028004235668 + - - -0.010378530798983559 + - -0.9997733370585943 + - 0.01858926047954063 + - -0.03380757864819799 + - - -0.03036635015666474 + - -0.018266567030519532 + - -0.9993719114058998 + - 0.9681900951183042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9747075463350366 + - 0.014226762616001646 + - -0.2230309358429911 + - 0.09982559937442897 + - - 0.007373188533623846 + - -0.999475548790288 + - -0.031531943504976664 + - -0.08969502157461794 + - - -0.22336256447395142 + - 0.029089974146109858 + - -0.9743012563862367 + - 0.9716287918784792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989317959783026 + - 0.027347707298344986 + - 0.03724741452888778 + - 0.012798034883297017 + - - 0.0327513879609729 + - -0.9876519808549966 + - -0.1532021909106758 + - -0.09319472625842365 + - - 0.03259775406669287 + - 0.15425844423799093 + - -0.9874926424085813 + - 0.9703163433108462 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964471495964425 + - -0.005588681819490392 + - 0.084034782659596 + - 0.05436068918076548 + - - -0.007685452588924372 + - -0.9996666378832344 + - 0.024648466924625852 + - -0.09324195153787554 + - - 0.08386901620758667 + - -0.025206739946916513 + - -0.9961579234145662 + - 0.9726409276061037 + - - 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: + - - 0.9998975595500255 + - -0.01249549392044898 + - -0.00698090521260473 + - 0.02391154075151224 + - - -0.012671175137099793 + - -0.9995889871381056 + - -0.025715717234056263 + - -0.03456575579454603 + - - -0.006656705382416545 + - 0.025801539176975797 + - -0.9996449213843641 + - 0.9686819668848481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996425626579358 + - -0.009554820033398338 + - -0.024969027550228912 + - 0.09182213383272339 + - - -0.009627964386070963 + - -0.9999496995167948 + - -0.002810825155141371 + - -0.03381066534894689 + - - -0.024940914667575243 + - 0.003050221369277339 + - -0.9996842736209985 + - 0.968245247790142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9630937041033623 + - 0.009232466504828243 + - -0.26900795281683143 + - 0.09992827765936135 + - - 0.011226780665230984 + - -0.9999197122234412 + - 0.005876095888098966 + - -0.0897580909055176 + - - -0.26893210390795697 + - -0.00867932423801314 + - -0.9631200303276909 + - 0.972641839081729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990996743649363 + - 0.028175324056417275 + - 0.03171737375941237 + - 0.012763880064892283 + - - 0.028272593360368463 + - -0.9995968105336503 + - -0.0026223721383918518 + - -0.0930338180843203 + - - 0.0316306994636166 + - 0.0035167435602896677 + - -0.9994934373802427 + - 0.9689060624650231 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9858812319303762 + - -0.0005231588599105361 + - 0.1674452830994383 + - 0.054348992938085726 + - - -0.02807690337501327 + - -0.986353615742191 + - 0.1622289499724882 + - -0.09317428310328447 + - - 0.16507538891159368 + - -0.16463982208783273 + - -0.9724422064876517 + - 0.972026784356792 + - - 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: + - - 0.9999021253771468 + - -0.012853419173754028 + - 0.005525330922969393 + - 0.02393663314238446 + - - -0.012643324696888949 + - -0.9992532768362059 + - -0.036510752836860776 + - -0.03455981274138974 + - - 0.005990493040943083 + - 0.036437320807779915 + - -0.9993179852506798 + - 0.968561550352489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997304082333696 + - -0.011699531000051128 + - -0.020055718085349995 + - 0.09181485563028323 + - - -0.010975117017714624 + - -0.9992966529780657 + - 0.03585730264929666 + - -0.033801689574520934 + - - -0.020461125579685564 + - -0.035627521962867816 + - -0.9991556545497794 + - 0.968254012529019 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9773427140432234 + - 0.018680466528891507 + - -0.21083704484005938 + - 0.09991630894791372 + - - 0.005678603067748995 + - -0.9980534290443044 + - -0.06210560554494944 + - -0.0897268126841465 + - - -0.21158679725782797 + - 0.05950120119097485 + - -0.975546326056844 + - 0.9722584990137079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978036880447809 + - 0.014301306844115517 + - 0.06467822467248002 + - 0.01271596735635609 + - - 0.021239585414951332 + - -0.9939355486137513 + - -0.10789349013394085 + - -0.09302825602520715 + - - 0.06274296881431685 + - 0.10903026104908793 + - -0.9920563099138748 + - 0.9707674676938002 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99471370296048 + - -0.008077650692386813 + - 0.10236894403060762 + - 0.0542577473487067 + - - -0.02221190649696051 + - -0.9902254527561619 + - 0.1376959836873391 + - -0.09309688129997157 + - - 0.10025607389290772 + - -0.13924189122941938 + - -0.9851702468986941 + - 0.9709796013082688 + - - 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: + - - 0.9997470851193915 + - -0.012048774101206647 + - -0.01898928218596643 + - 0.023894123869882256 + - - -0.012877771845469713 + - -0.9989416407276067 + - -0.04415610278017344 + - -0.03454530274476497 + - - -0.018437157795500845 + - 0.04438947468821078 + - -0.9988441548857002 + - 0.9681591588617957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997770120123808 + - -0.009011193840819224 + - -0.019097765239916076 + - 0.09182336862754012 + - - -0.008757138554457904 + - -0.9998726033898776 + - 0.013345018347158602 + - -0.0337885218438739 + - - -0.019215586796499137 + - -0.013174800792086173 + - -0.9997285560831773 + - 0.9682165383672148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9708554716463208 + - 0.01904090514406135 + - -0.23890813528570934 + - 0.0998854634810439 + - - 0.010916333610190114 + - -0.9993176894803945 + - -0.03528440380788183 + - -0.08969584457248814 + - - -0.2394169727377551 + - 0.031648055593693124 + - -0.9704009036177925 + - 0.9720959731503361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982393796925336 + - 0.008931514373220272 + - 0.058637606380775434 + - 0.012810216611212143 + - - 0.013229026267540394 + - -0.9972210597638407 + - -0.0733154201208411 + - -0.09283445183083716 + - - 0.057819838248463845 + - 0.07396205793840287 + - -0.9955834873532395 + - 0.9693937748051463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9785671098008853 + - -0.01942538527546924 + - 0.205009916889017 + - 0.054395633312724685 + - - 0.0008717254647373236 + - -0.9951412224930369 + - -0.09845398615484176 + - -0.09333132222681717 + - - 0.20592632592909585 + - 0.0965225450449957 + - -0.9737955363357239 + - 0.9732399429315294 + - - 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: + - - 0.9997527409330675 + - -0.012251954734177312 + - 0.018556578402564115 + - 0.02394273092691502 + - - -0.0116666460793753 + - -0.9994410587042925 + - -0.0313282547439577 + - -0.034575454675120486 + - - 0.01893003872361163 + - 0.03110401551625419 + - -0.9993368770603274 + - 0.9685294332989883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998193766674072 + - -0.009829029941876517 + - -0.016266659484944077 + - 0.09182229627787278 + - - -0.009679013221321853 + - -0.9999101366886713 + - 0.009275518869798414 + - -0.033809017371551085 + - - -0.016356367061756198 + - -0.009116398282447109 + - -0.9998246648982495 + - 0.96845965635983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9751803112578605 + - 0.015399237634058661 + - -0.22087603766663366 + - 0.09986650595926017 + - - 0.008455568178360537 + - -0.9994408949996757 + - -0.03234811847740751 + - -0.08971358841656264 + - - -0.2212506811329707 + - 0.02967761584994805 + - -0.974765292373328 + - 0.9722021565823871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983556312948438 + - 0.02197501704801879 + - 0.05294461339563434 + - 0.012782029958255524 + - - 0.02874972440562875 + - -0.9909912228238916 + - -0.13080462389613617 + - -0.09323945942633755 + - - 0.04959321333080056 + - 0.13211167590999867 + - -0.9899934435539351 + - 0.971184823250183 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874504834890495 + - -0.0033509928803280367 + - 0.15789336117759523 + - 0.05429201507099995 + - - -0.019229370981842173 + - -0.9948872716792436 + - 0.09914407668778871 + - -0.09308308974912352 + - - 0.15675386422313559 + - -0.10093605647808634 + - -0.9824663549220237 + - 0.9709956398474784 + - - 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: + - - 0.9998898599417109 + - -0.012722012723806497 + - -0.007643191610905161 + - 0.023904307866101964 + - - -0.012941156997929535 + - -0.9994856709603914 + - -0.029341438281242947 + - -0.034531386140895876 + - - -0.007265978344355621 + - 0.02943711835612235 + - -0.9995402251143212 + - 0.968489737193368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996664740758403 + - -0.008874294689520609 + - -0.02425257723502377 + - 0.0918578028409462 + - - -0.009058860770177642 + - -0.9999307591603 + - -0.0075109204930110625 + - -0.03382275721651002 + - - -0.02418424384436659 + - 0.007728116126802401 + - -0.9996776473297814 + - 0.9685937279288312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9800405705548785 + - 0.013123812937458058 + - -0.19836392212408704 + - 0.09983514040598139 + - - 0.005365838708919608 + - -0.9992013286416643 + - -0.0395968763374434 + - -0.08972053012944126 + - - -0.19872515653891965 + - 0.037742156466152456 + - -0.9793282604846378 + - 0.9718047626976244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970823439779755 + - 0.026734004304173036 + - 0.07149889748276299 + - 0.012744643124539058 + - - 0.029399106429041835 + - -0.998901638945049 + - -0.0364857267170235 + - -0.09305442377880005 + - - 0.07044495630320217 + - 0.03848127761340454 + - -0.9967731434005836 + - 0.9690474411093024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890705200373705 + - -0.0033966821283566446 + - 0.14740410083686362 + - 0.054322356571100155 + - - -0.015681802476955976 + - -0.9964874080781998 + - 0.0822613312113639 + - -0.09316046557801025 + - - 0.14660691478944332 + - -0.08367381963380709 + - -0.9856495850168104 + - 0.9716181848846694 + - - 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: + - - 0.9998930909746799 + - -0.011396686317115138 + - -0.009160903999595925 + - 0.023914400624503868 + - - -0.011910127724381837 + - -0.9982398506659977 + - -0.058097757270967 + - -0.0345364602202987 + - - -0.00848265752517707 + - 0.058200653633069865 + - -0.9982688658061989 + - 0.9687641356225155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998917387178081 + - -0.00804935416660165 + - -0.01231741618112378 + - 0.09183635891499257 + - - -0.00820283482982271 + - -0.9998887111907109 + - -0.012461088802109341 + - -0.0338225777647389 + - - -0.01221574167347381 + - 0.012560777479122062 + - -0.9998464894795036 + - 0.9686333338244922 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9665721265268603 + - 0.02717906629716672 + - -0.25495023549029594 + - 0.0998933764059275 + - - 0.006079959426685887 + - -0.9965157014706234 + - -0.08318347682011094 + - -0.08974501268534606 + - - -0.25632276199103543 + - 0.0788527429943074 + - -0.9633695483082083 + - 0.9724606937808163 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997719891452373 + - 0.02392180378508179 + - 0.0631091554683856 + - 0.01280645350378469 + - - 0.03201561411286638 + - -0.9909268448544418 + - -0.1305334769313893 + - -0.0931655182705395 + - - 0.059413960087178565 + - 0.13225632480335134 + - -0.9894332953242831 + - 0.9702084113684545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9750176778575278 + - -0.011152989855885042 + - 0.22184710654545126 + - 0.05436206303796234 + - - -0.021139480992012436 + - -0.9988646239813809 + - 0.04269174746860243 + - -0.09317836740180441 + - - 0.2211190860344322 + - -0.046314941172467254 + - -0.9741464345854212 + - 0.9719546943591084 + - - 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: + - - 0.9998612130231365 + - -0.013028107464180181 + - 0.010383790627899335 + - 0.023916616843693853 + - - -0.012606491087260464 + - -0.9991327629559379 + - -0.03968372929173589 + - -0.034523595534386727 + - - 0.01089178930980121 + - 0.03954731854291423 + - -0.9991583350609129 + - 0.9685098188358826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997673168851372 + - -0.011491291693385938 + - -0.018255473248071984 + - 0.09180927185241393 + - - -0.011424855042435006 + - -0.9999277421422281 + - 0.0037394092588355693 + - -0.033836679374301154 + - - -0.01829712478923669 + - -0.0035299730258512045 + - -0.9998263621823961 + - 0.9683898301739753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9785260039100478 + - 0.022036089121653578 + - -0.20494211487162817 + - 0.0998976422021138 + - - 0.0070118624851533305 + - -0.9972521940983133 + - -0.07374886541899123 + - -0.08968649116677577 + - - -0.2060041102898736 + - 0.07072815664444904 + - -0.9759917184081816 + - 0.9720583775728354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992017969259448 + - 0.028672945229964122 + - 0.027814227147317266 + - 0.012753043254829446 + - - 0.030145665977315973 + - -0.998082538230441 + - -0.05406001944380708 + - -0.09310325650996046 + - - 0.026210834453469375 + - 0.05485534697110377 + - -0.998150230709753 + - 0.969511969573965 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9843459206415807 + - -0.009778669614369496 + - 0.1759758112265773 + - 0.0543788145422687 + - - -0.01871437350302832 + - -0.9986140837419746 + - 0.04919028335521829 + - -0.09331193541654395 + - - 0.17525090795961118 + - -0.051713531814705144 + - -0.9831647013021686 + - 0.973321844715457 + - - 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: + - - 0.9998745160516025 + - -0.011327073281026665 + - -0.011074726247634984 + - 0.023912445991550103 + - - -0.01182321601792547 + - -0.9988801575166052 + - -0.045810942825885874 + - -0.03456018930894083 + - - -0.010543420392229176 + - 0.04593613316866544 + - -0.9988887365247164 + - 0.96843604846545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998067027818632 + - -0.010589855642882189 + - -0.016565386500836693 + - 0.09185750086792752 + - - -0.010541048678338839 + - -0.9999398482528669 + - 0.0030308693134189 + - -0.033851863806091904 + - - -0.016596486532398272 + - -0.0028556669093312633 + - -0.9998581908457236 + - 0.9685562745605425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9758438498781893 + - 0.004644505703946527 + - -0.21841980043411788 + - 0.09978177640193307 + - - 0.009521223863216015 + - -0.9997282159435115 + - 0.02128005034181346 + - -0.08965841545025069 + - - -0.21826160209954568 + - -0.02284563006724913 + - -0.9756228524567113 + - 0.9716354782707275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993980349527106 + - 0.02017154294081653 + - 0.028225459926234642 + - 0.012886500077976407 + - - 0.026204234398659577 + - -0.9720960008840877 + - -0.23311521435707505 + - -0.09328805460309847 + - - 0.02273556316084537 + - 0.23371451371395774 + - -0.9720394129083494 + - 0.9714935876004233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99177366851122 + - -0.006682765581785542 + - 0.12782930451182065 + - 0.05429501259633293 + - - -0.011378794705985866 + - -0.9992855005895301 + - 0.036041799935229754 + - -0.09313950889124929 + - - 0.12749711164899344 + - -0.03719985155495922 + - -0.9911410886273725 + - 0.971531267959977 + - - 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: + - - 0.9998735929647834 + - -0.012222910637461424 + - -0.010168507621234477 + - 0.0239073350054937 + - - -0.012492917633028105 + - -0.9995593166488173 + - -0.026927671818489467 + - -0.03455318215090001 + - - -0.009834892002907138 + - 0.02705130229949251 + - -0.9995856651349063 + - 0.9686462571172552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997763453305003 + - -0.009723994669400089 + - -0.01878039523699224 + - 0.09184810649673063 + - - -0.009555659822342253 + - -0.9999135491453677 + - 0.00903236408004427 + - -0.03381852704188669 + - - -0.0188666023159401 + - -0.008850884881427311 + - -0.9997828329961803 + - 0.9685037842084547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9712085250361598 + - 0.007913995252365684 + - -0.23809949511965056 + - 0.09989402906288457 + - - 0.010106632935094846 + - -0.9999170080268428 + - 0.007989557519789154 + - -0.08968727614917736 + - - -0.23801650545246272 + - -0.010165910573691699 + - -0.9712079063693857 + - 0.9722941262052794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998505431913998 + - 0.011451584050617955 + - 0.012951930458213851 + - 0.012846882843621598 + - - 0.01226718998929002 + - -0.9978259572667334 + - -0.06475241350323518 + - -0.09289618235255358 + - - 0.012182254702206729 + - 0.0649016196058228 + - -0.9978173041408491 + - 0.9696103657064759 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9937850606798992 + - -0.005624383104570716 + - 0.11117382553524878 + - 0.05433910035004928 + - - -0.01711853183823232 + - -0.994564340601547 + - 0.10270700205688559 + - -0.09317688125958702 + - - 0.1099918589585263 + - -0.10397181694335582 + - -0.9884794647560184 + - 0.9721311950614415 + - - 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: + - - 0.9999181796989491 + - -0.01231613572325654 + - -0.0034564010742935626 + - 0.02393495091767079 + - - -0.012381626413294135 + - -0.9997309731983393 + - -0.019613173003442674 + - -0.03454017079289012 + - - -0.003213912709093178 + - 0.019654364114559383 + - -0.9998016687005231 + - 0.9687565234816393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996423252972442 + - -0.009383580034867377 + - -0.02504336039847751 + - 0.09182907715790747 + - - -0.009525105235378252 + - -0.9999393001154206 + - -0.005537910701495994 + - -0.0338103077351778 + - - -0.02498987484109841 + - 0.00577447057417495 + - -0.9996710267107947 + - 0.9685088465436452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9712462486798543 + - 0.010488555673773032 + - -0.23784598929809336 + - 0.09992769724974901 + - - 0.010218421849799387 + - -0.9999449851541986 + - -0.0023686535985602136 + - -0.08978354528699925 + - - -0.2378577479928079 + - -0.00012986473190714268 + - -0.9712999922037178 + - 0.9725779140032929 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990767527508788 + - 0.026702172505316313 + - 0.03365465935432288 + - 0.012777875538154796 + - - 0.03020055538178485 + - -0.9936770989205691 + - -0.10813764162138041 + - -0.09315727179475891 + - - 0.03055435431147137 + - 0.10905419324491235 + - -0.9935661097120368 + - 0.9700968117827965 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9863223533921273 + - -0.008434145262690734 + - 0.16461190841705106 + - 0.054345839200560214 + - - -0.019004888237526656 + - -0.9978484829673117 + - 0.06274726498353292 + - -0.09323456195842388 + - - 0.1637285235446008 + - -0.06501746098950964 + - -0.9843605540371793 + - 0.9723771182042592 + - - 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: + - - 0.9999092694407583 + - -0.012678187240326459 + - 0.004551533230474077 + - 0.023928437240134826 + - - -0.012565110081370469 + - -0.9996313707805371 + - -0.0240674169795296 + - -0.03454416730482132 + - - 0.004854986621189458 + - 0.024008042813247626 + - -0.9996999764855377 + - 0.9686687883996966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998739784717693 + - -0.010495709559742473 + - -0.011910804165688607 + - 0.09183734961859058 + - - -0.010339864527158703 + - -0.9998611038869374 + - 0.013071347885979703 + - -0.03380969010057056 + - - -0.012046342872252131 + - -0.012946544513260338 + - -0.9998436240775713 + - 0.9682607654995286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9958317299763533 + - 0.02427327469050397 + - 0.08792026904020898 + - 0.012792554123066721 + - - 0.035205233199594475 + - -0.9915308610191781 + - -0.12500857251376496 + - -0.09316946736109334 + - - 0.0841412926431818 + - 0.12758275660278862 + - -0.9882524389496682 + - 0.969941942667319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979694980141803 + - -0.0021575618744722465 + - 0.06365709669850349 + - 0.05420262903581919 + - - -0.0067456555715876085 + - -0.9973855314943186 + - 0.0719485767524666 + - -0.09295999916945255 + - - 0.06333543371789845 + - -0.07223189387350917 + - -0.9953748923612713 + - 0.9698509287397049 + - - 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: + - - 0.9998062307353632 + - -0.01319546979749991 + - -0.014607551457005158 + - 0.023905306264999048 + - - -0.013178808711438604 + - -0.9999123914962309 + - 0.0012362577548856743 + - -0.034497388064399934 + - - -0.014622584713144792 + - -0.0010435080797352415 + - -0.9998925397797482 + - 0.9682989909665857 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998205257986263 + - -0.010054354757142366 + - -0.01605696553448707 + - 0.09185524752447562 + - - -0.010150609349686838 + - -0.9999309311521681 + - -0.005924361146098522 + - -0.03379296303857227 + - - -0.015996290869705613 + - 0.006086285860595141 + - -0.9998535271742738 + - 0.968468469613234 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9778663863837261 + - 0.0036567715192882076 + - -0.20919837093746463 + - 0.09986402692699173 + - - 0.010554173097148489 + - -0.9994364942864022 + - 0.03186382460944583 + - -0.08966419771522255 + - - -0.20896396773383863 + - -0.03336647884571912 + - -0.977353947287455 + - 0.9717785270355994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981119953715735 + - 0.023113904928332058 + - 0.0569051148346113 + - 0.012795631905103057 + - - 0.03434758197657195 + - -0.9781264542042357 + - -0.20515575350989315 + - -0.09325019565233775 + - - 0.05091844761713521 + - 0.20672297159438616 + - -0.9770736536758362 + - 0.9709541574997478 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9924239731202614 + - -0.006897627360083749 + - 0.12266654113080737 + - 0.05433666049253576 + - - -0.014940978141821248 + - -0.9977882017407821 + - 0.0647724604987478 + - -0.09313462465286065 + - - 0.12194845119295387 + - -0.06611450070671068 + - -0.9903319888037254 + - 0.9716565694833585 + - - 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: + - - 0.9997384497692363 + - -0.012839399533341527 + - -0.01892569345169239 + - 0.02389812534303743 + - - -0.013688778631555933 + - -0.9988725782432206 + - -0.04545536022646476 + - -0.03454605000291449 + - - -0.01832073668225327 + - 0.04570254099461698 + - -0.9987870785878517 + - 0.9683937417153222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998432078280945 + - -0.008817062780747183 + - -0.015356404655588272 + - 0.09184390095134674 + - - -0.008958781020068432 + - -0.9999176901676925 + - -0.00918439613370627 + - -0.03381705524107203 + - - -0.015274161275182087 + - 0.0093205307588538 + - -0.9998399010360173 + - 0.9683279672159661 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9634141979005844 + - 0.021333947139479597 + - -0.26716651358848004 + - 0.09995728339429223 + - - 0.00603226708070938 + - -0.9983004322348328 + - -0.05796428860612108 + - -0.08983355393651012 + - - -0.26794905306315336 + - 0.05423199884935644 + - -0.9619055022523593 + - 0.9732207049125158 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9930622739644981 + - 0.020359475602169823 + - 0.11581369427517912 + - 0.012937389500623123 + - - 0.025552096417834257 + - -0.9987253290683302 + - -0.04352938600542804 + - -0.09315350474278296 + - - 0.1147798344532423 + - 0.04618667373345373 + - -0.9923166736341409 + - 0.9705454469027628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9780416300829698 + - -0.011098686752121648 + - 0.20811388463297092 + - 0.054417755108193154 + - - -0.01526047503625968 + - -0.9997141877256774 + - 0.018402737884784533 + - -0.09331539578783343 + - - 0.20785015690712133 + - -0.021174560499964766 + - -0.9779314650124097 + - 0.9732077948853225 + - - 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: + - - 0.9999228331217225 + - -0.011619248232984542 + - -0.004395551424817869 + - 0.0239113067303751 + - - -0.01181044651889702 + - -0.9988572201436099 + - -0.04631163050470653 + - -0.03455306285607964 + - - -0.003852421946283416 + - 0.04635997020577641 + - -0.9989173699599319 + - 0.9686232234333577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999539401862702 + - -0.01054723823384988 + - -0.02845592890050113 + - 0.09183181683899047 + - - -0.009997085181477973 + - -0.9997616849812457 + - 0.01940699696848322 + - -0.03376446779075722 + - - -0.02865383764570173 + - -0.0191135817966926 + - -0.9994066382504546 + - 0.9683046736521138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9810452570340369 + - 0.020556329250961514 + - -0.19268534188865177 + - 0.09985768910935995 + - - 0.006625248752840162 + - -0.9973342547372162 + - -0.07266698292020245 + - -0.08968870988927077 + - - -0.19366545827788584 + - 0.0700130106157996 + - -0.9785662310822547 + - 0.9718722594438907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906637413598975 + - 0.0009905487936351237 + - 0.13632450391583098 + - 0.012866196137528648 + - - 0.033157469693549414 + - -0.9716967119203503 + - -0.23389331381358802 + - -0.09330717169346667 + - - 0.13223438946934848 + - 0.23622980094871104 + - -0.9626575441897298 + - 0.972004759551292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999239620164787 + - -0.004004750007488025 + - -0.011663282670208604 + - 0.05438200275085839 + - - -0.003836145616441691 + - -0.9998883404352163 + - 0.014442667638577069 + - -0.09334108920667204 + - - -0.011719819626475437 + - -0.014396827396564522 + - -0.9998276737462494 + - 0.9733277999371597 + - - 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: + - - 0.9999068925265308 + - -0.01342421148272421 + - -0.0024488413594986186 + - 0.023948824154391535 + - - -0.013464283848540596 + - -0.9997621704397252 + - -0.017155629341275385 + - -0.03453016135647465 + - - -0.002217958156238397 + - 0.01718700391913598 + - -0.9998498325038117 + - 0.9687353746817134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998981138270667 + - -0.011725113277162826 + - -0.00814147920908793 + - 0.09178275152156978 + - - -0.011666845503906169 + - -0.9999062486478543 + - 0.007167888877774498 + - -0.03382694177060229 + - - -0.008224760243453628 + - -0.007072173188903037 + - -0.9999411671120079 + - 0.968238623451592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9739350605613809 + - -0.004753644397109097 + - -0.22677720492643258 + - 0.09989038850968672 + - - 0.01680768522314854 + - -0.9955194304033375 + - 0.09305141270746069 + - -0.08965564647638397 + - - -0.22620344720348298 + - -0.0944376331467517 + - -0.9694913789812164 + - 0.9719100075776476 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995235182180602 + - 0.030857921472445777 + - 0.000724714696591225 + - 0.012789039570063413 + - - 0.030746043913800553 + - -0.9932790142916555 + - -0.11158620233455346 + - -0.0931646403736145 + - - -0.002723474369575288 + - 0.11155531565191157 + - -0.993754493945643 + - 0.9701762624410506 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875261700883892 + - -0.0037877875169862463 + - 0.1574093899876496 + - 0.05425323869340299 + - - -0.022130519476963182 + - -0.993125831110503 + - 0.11494052239637388 + - -0.09305214813812526 + - - 0.15589196098015304 + - -0.1169903254410284 + - -0.9808215741178228 + - 0.9705674279819908 + - - 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: + - - 0.9999181444875438 + - -0.011897617194918029 + - -0.004706488039996765 + - 0.023919016965546623 + - - -0.011978035129637708 + - -0.999776086022506 + - -0.01744432549430031 + - -0.034551477526547685 + - - -0.004497888284584969 + - 0.017499272059177822 + - -0.9998367589153629 + - 0.9687827742477175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996299626182836 + - -0.009706629234039088 + - -0.025411005188335493 + - 0.09182393048355028 + - - -0.009400317455443289 + - -0.9998820458520085 + - 0.012146127553223331 + - -0.033770320465213305 + - - -0.025525905811657375 + - -0.011902761516353274 + - -0.9996032975139585 + - 0.9683276630784086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9854068321162669 + - 0.01267923940850776 + - -0.16974278219295516 + - 0.09983295985982776 + - - 0.005938160975881244 + - -0.9991755191737319 + - -0.040162421840916104 + - -0.0896499437153114 + - - -0.17011206148538613 + - 0.038568364911218594 + - -0.984669674441773 + - 0.9714144735053636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979672343036058 + - 0.008407907867660044 + - 0.06317203765671052 + - 0.012866973112466994 + - - 0.011972227375055006 + - -0.9983445084391404 + - -0.056257517196287486 + - -0.09295198211555017 + - - 0.06259444886003786 + - 0.05689946884373825 + - -0.9964157693539419 + - 0.9699409640815052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984019946951093 + - -0.004601557636009274 + - 0.05632302065896054 + - 0.054245182560616306 + - - -0.011973884130788362 + - -0.9912747637570712 + - 0.13126678497314137 + - -0.0930814994950149 + - - 0.05522755732104821 + - -0.13173142527766474 + - -0.9897457999439377 + - 0.9708138297869943 + - - 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: + - - 0.9997483498354772 + - -0.013770992625103654 + - 0.017708663511386818 + - 0.023956906005017986 + - - -0.012876999693401647 + - -0.9986840123853249 + - -0.04964298827473398 + - -0.03458541002240804 + - - 0.018368992354952842 + - 0.049402461153960554 + - -0.9986100224571132 + - 0.9688520435946977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998669373765547 + - -0.007862483059097697 + - -0.014292966849962079 + - 0.09188417577154404 + - - -0.008343068675447316 + - -0.9993910421019474 + - -0.033881236274084445 + - -0.03384579915850752 + - - -0.014017872388685916 + - 0.033995975151905375 + - -0.9993236577441593 + - 0.9687434031528779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9596705162960024 + - 0.013393811853719642 + - -0.2808079520885963 + - 0.09997592430844628 + - - 0.014227463424954272 + - -0.9998983517763849 + - 0.0009302684348079493 + - -0.0897812683785136 + - - -0.2807669486187002 + - -0.004887936056902836 + - -0.9597635274610345 + - 0.9730304097150206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980136794437997 + - 0.015472090129715456 + - 0.06106807734051073 + - 0.012854246303907206 + - - 0.023861105221187118 + - -0.9899862636267348 + - -0.13913247459885514 + - -0.09317824269687996 + - - 0.05830388752623683 + - 0.14031326472360195 + - -0.9883890147315139 + - 0.9707255043686297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9856169201414786 + - -0.014382428338247277 + - 0.1683818056855353 + - 0.054567477296307405 + - - 0.002780288323488987 + - -0.9948570676154541 + - -0.10125060499778918 + - -0.0935623144232025 + - - 0.1689720590146917 + - 0.10026245942861786 + - -0.9805079716665545 + - 0.9756884459955406 + - - 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: + - - 0.999824700444235 + - -0.012419565260690383 + - 0.014011523126745758 + - 0.023941963575660263 + - - -0.01227999194297169 + - -0.9998745553436118 + - -0.010003768004844506 + - -0.034551491183461173 + - - 0.014134007905630623 + - 0.009829952957652082 + - -0.9998517899395758 + - 0.9686248891148721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997166444701192 + - -0.008636088012848367 + - -0.022182171968486725 + - 0.0918307205425107 + - - -0.008878622669722626 + - -0.9999016250593198 + - -0.010858649235577065 + - -0.03381497629741776 + - - -0.02208621354813606 + - 0.01105251951217222 + - -0.9996949739713311 + - 0.9684552886312605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9731749069459698 + - -0.0005795218460780361 + - -0.23006578329932723 + - 0.09983747742742993 + - - 0.01207499197199204 + - -0.9984898964262617 + - 0.05359217576801633 + - -0.0896620339745299 + - - -0.22974941797440837 + - -0.054932603152440786 + - -0.9716983143194793 + - 0.9721289216565712 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987402235459607 + - 0.02630243150015458 + - 0.04273345256990252 + - 0.012765686808051792 + - - 0.02979797528945212 + - -0.9960759307341591 + - -0.0833355919204312 + - -0.09309903352376164 + - - 0.0403738348440377 + - 0.08450397806765735 + - -0.9956048569340791 + - 0.9697127948032132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9831210280421803 + - -0.010835861287749068 + - 0.1826352329958244 + - 0.05433254185491816 + - - -0.011233121917694077 + - -0.9999362557574348 + - 0.001140786476137238 + - -0.09316958686252463 + - - 0.182611229647217 + - -0.003173095011905217 + - -0.9831800802878264 + - 0.971832796957161 + - - 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: + - - 0.9999112419730768 + - -0.011732910980574494 + - 0.006312446101239541 + - 0.023926515928704883 + - - -0.011586807716934261 + - -0.999675078470802 + - -0.022704258880820852 + - -0.03457359805226032 + - - 0.006576782099927933 + - 0.02262910259640126 + - -0.9997222962667643 + - 0.9686055670486342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994995378533222 + - -0.00906608482592243 + - -0.03030643391962231 + - 0.0918019399058307 + - - -0.00943611952116023 + - -0.9998823993642121 + - -0.012089131070889625 + - -0.03381808137842 + - - -0.03019326877596451 + - 0.01236905605112812 + - -0.9994675447322074 + - 0.9684217429129971 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9665174387686256 + - 0.009004863256769574 + - -0.2564428844672103 + - 0.099938187544966 + - - 0.01431793099445836 + - -0.9997196329594756 + - 0.01885874670833474 + - -0.08975430760923446 + - - -0.25620116589932607 + - -0.021899039090747315 + - -0.9663753901454277 + - 0.9725836533207322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959277006590728 + - 0.018781964775033022 + - 0.08817739426361926 + - 0.012793745673248088 + - - 0.038431895355194645 + - -0.9731870448276555 + - -0.2267817567597151 + - -0.09332505405183056 + - - 0.08155369077693359 + - 0.22924705795016134 + - -0.9699457623712039 + - 0.9713262761524614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9916350662457059 + - -0.0025587446539893366 + - 0.12904785243339081 + - 0.054344806734823906 + - - -0.021158237562888742 + - -0.9895015128140494 + - 0.14296532839097853 + - -0.09327087098385531 + - - 0.12732723343851812 + - -0.14449985800859338 + - -0.981278536736838 + - 0.9728591761536153 + - - 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: + - - 0.9999230248722308 + - -0.012361131314485647 + - -0.0010708702041588277 + - 0.023909471574908525 + - - -0.012387313864442424 + - -0.9994893989907252 + - -0.02945328097822168 + - -0.03455094718169594 + - - -0.0007062475429375418 + - 0.029464279013482152 + - -0.9995655843798461 + - 0.968326833902386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999703479121155 + - -0.010741847713519976 + - -0.02185329587860891 + - 0.09181003008358643 + - - -0.010288281557569836 + - -0.999731495502194 + - 0.02076266272757977 + - -0.03378164771854966 + - - -0.022070457531520454 + - -0.020531673303620615 + - -0.9995455693942638 + - 0.9682056016687447 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9921875062461809 + - 0.018753155623284966 + - 0.12333803794107241 + - 0.01276204432314056 + - - 0.03280587032383692 + - -0.9930631182449356 + - -0.11291332097649508 + - -0.09309140863281941 + - - 0.12036497547575938 + - 0.11607739804033455 + - -0.9859200324280393 + - 0.969695349679822 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976916015459676 + - -0.005417418810038173 + - 0.06769135674573883 + - 0.0544160552526702 + - - -0.0069123354039267735 + - -0.9997369347276528 + - 0.021869635584993552 + - -0.0933152668923423 + - - 0.06755507252535413 + - -0.022287057113792308 + - -0.9974665905489268 + - 0.9734914514117002 + - - 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: + - - 0.99992802400737 + - -0.011654533811290922 + - -0.0028493238422273868 + - 0.023942210610134282 + - - -0.011720336731611086 + - -0.999636356451718 + - -0.02428556293010489 + - -0.03459414009523548 + - - -0.0025652507897000526 + - 0.024317209987494728 + - -0.9997010016934117 + - 0.9685737259932199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996106323677563 + - -0.010008998499219582 + - -0.02604618218428794 + - 0.09181309445303665 + - - -0.010247464963556668 + - -0.9999066457703248 + - -0.009038208127656008 + - -0.03388896787590955 + - - -0.025953287251428807 + - 0.009301596281325522 + - -0.9996198813486376 + - 0.9683029126781794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9846846089838422 + - 0.011274158164733374 + - -0.17398021205876887 + - 0.09980550477658735 + - - 0.005323356662223949 + - -0.999385929808825 + - -0.03463271825887283 + - -0.08964603802566781 + - - -0.17426383074001436 + - 0.033176145915827585 + - -0.9841399598827337 + - 0.971500683111732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987286020398576 + - 0.02078110068698319 + - 0.04592739184570845 + - 0.012896208221823193 + - - 0.02675238938846311 + - -0.9906892653627442 + - -0.13348816111189588 + - -0.09317729906552313 + - - 0.04272574317106522 + - 0.13454711200640795 + - -0.9899856491491259 + - 0.9704972840568501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996024476065707 + - -0.005168644122645532 + - 0.027716995812797844 + - 0.054224062598544044 + - - -0.008008937336180277 + - -0.9946112685024968 + - 0.10336479812101997 + - -0.09306000654647568 + - - 0.02703338050814861 + - -0.10354568888074249 + - -0.9942572537590632 + - 0.9705289465713318 + - - 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: + - - 0.9997081677743154 + - -0.011232613991367059 + - -0.021387091158971503 + - 0.023928673001251254 + - - -0.012901484883030346 + - -0.9967462236835205 + - -0.07956454776126444 + - -0.034585875696058664 + - - -0.020423784495880077 + - 0.07981725349548514 + - -0.9966002584142268 + - 0.9693278090538116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999753383608223 + - -0.007325601105997843 + - -0.02096443493979982 + - 0.0918674587069183 + - - -0.00807188715623196 + - -0.9993286172976685 + - -0.03573736542706545 + - -0.03386929221616013 + - - -0.02068856209711912 + - 0.03589777456008044 + - -0.9991412979053503 + - 0.968815415631208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9611113935007953 + - 0.02465380582271582 + - -0.27505831952772325 + - 0.09995159223564119 + - - 0.005551504441645675 + - -0.9975307191105651 + - -0.07001175065082542 + - -0.08982901060567229 + - - -0.27610517938168716 + - 0.06576210374687529 + - -0.9588750052167341 + - 0.9731335941148511 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9888203931990388 + - -0.0031600362345973777 + - 0.14907798014694998 + - 0.012841148664729584 + - - 0.019517405397861738 + - -0.9884311658269042 + - -0.15040911311686958 + - -0.09304539618214558 + - - 0.14782861996323274 + - 0.15163721374736408 + - -0.9773192183348811 + - 0.9710913769340168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985139785223187 + - -0.0039775291497149 + - 0.05435084136785391 + - 0.05444630022862214 + - - -0.0033658814403307717 + - -0.9999300283656015 + - -0.0113406002882022 + - -0.09347637788112394 + - - 0.05439214591887406 + - 0.01114080942437771 + - -0.9984574987588152 + - 0.9749272483888565 + - - 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: + - - 0.9999275000342702 + - -0.010546104242664653 + - -0.00581157126062917 + - 0.023942032158842982 + - - -0.010787507676420921 + - -0.9990080329860376 + - -0.04320393162085576 + - -0.034580139356691325 + - - -0.005350173207072832 + - 0.04326349170687996 + - -0.9990493711183563 + - 0.9688163590344274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997862089205521 + - -0.009622196381832702 + - -0.018301633507953607 + - 0.09183692513786254 + - - -0.009634750754430642 + - -0.999953405950159 + - -0.0005979185369973087 + - -0.03382687806131264 + - - -0.01829502747114644 + - 0.0007741223845959313 + - -0.9998323322959526 + - 0.9684186206269132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.974722232581187 + - 0.022975083371050732 + - -0.22223571912732612 + - 0.0999477287287566 + - - 0.004350649670286465 + - -0.9964618238128371 + - -0.08393393551502847 + - -0.08980072511281588 + - - -0.22337779916409098 + - 0.08084540325638674 + - -0.9713734501276631 + - 0.9727763242316638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984861922450935 + - 0.022177129895494096 + - 0.05033387334084918 + - 0.012774093039369022 + - - 0.02958097991371386 + - -0.9880168465135994 + - -0.1514849056264889 + - -0.09326010881897112 + - - 0.046371214381755455 + - 0.15274451189787533 + - -0.9871772001833513 + - 0.9712314693443909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900459022780732 + - -0.008324042389728434 + - 0.14049847579489927 + - 0.054321939318137384 + - - -0.01342799419348904 + - -0.9992823476822164 + - 0.03541861915233768 + - -0.0931483041866031 + - - 0.14010282065089025 + - -0.03695267147328757 + - -0.9894471687344668 + - 0.971716033209207 + - - 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: + - - 0.9998508985864366 + - -0.011785043571494284 + - 0.012621146695656492 + - 0.02393125747793867 + - - -0.011350696606253072 + - -0.9993590791536897 + - -0.03394985419177057 + - -0.03459618030631799 + - - 0.013013158050530797 + - 0.03380153341355489 + - -0.9993438417564019 + - 0.9687833721591944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996760236517949 + - -0.010791928534677054 + - -0.023051724756260692 + - 0.0918282013723341 + - - -0.010625286582349255 + - -0.9999166152211056 + - 0.007339338513172276 + - -0.0338070777183469 + - - -0.02312900821001471 + - -0.007092029559329832 + - -0.9997073332210539 + - 0.9684401118785821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9658160536462412 + - 0.016487903837090017 + - -0.258703497359931 + - 0.09993816411979958 + - - 0.008681239841198481 + - -0.9994726595387995 + - -0.031289597460800456 + - -0.08978327809674502 + - - -0.25908297241235395 + - 0.027974128431431326 + - -0.965449875210765 + - 0.9728849380212357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996869969866566 + - 0.020994767745463105 + - 0.01360616709858059 + - 0.012941987004511254 + - - 0.02264020766427726 + - -0.9905977272683415 + - -0.13492058303948787 + - -0.0931687010692924 + - - 0.010645611899690696 + - 0.13518639893906118 + - -0.990762993096316 + - 0.9704329536026707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9833108129807312 + - -0.0051070319632213115 + - 0.18186193471889664 + - 0.05432346792771826 + - - -0.022192418245938962 + - -0.9955082937103943 + - 0.09203658906226614 + - -0.09318981708441805 + - - 0.18057503052075305 + - -0.09453652933308779 + - -0.9790074070067515 + - 0.971881197611016 + - - 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: + - - 0.9998663283305027 + - -0.011778604272367894 + - -0.011339750979380739 + - 0.023915672961079153 + - - -0.012099034108044096 + - -0.9995172516137483 + - -0.028616028727835703 + - -0.03456039679321834 + - - -0.010997219854663055 + - 0.028749403609377527 + - -0.9995261542088703 + - 0.968810697290264 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998559224040462 + - -0.010929676236757608 + - -0.01298755600232535 + - 0.09182279165366454 + - - -0.011053031400278726 + - -0.9998941218759667 + - -0.009464435258119583 + - -0.033870172522550736 + - - -0.01288273769112504 + - 0.009606623509347113 + - -0.9998708655893183 + - 0.9686826812392879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9879047000448906 + - 0.011351662966136086 + - 0.15464618772254937 + - 0.01278120562799683 + - - 0.029948477017740643 + - -0.9925068936932314 + - -0.11846161697246232 + - -0.09310361981424013 + - - 0.15214267104771292 + - 0.1216602059809031 + - -0.9808421901239525 + - 0.9697197385102385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933643135616786 + - -0.006390895989779614 + - 0.11483247358906307 + - 0.054365086980757676 + - - -0.008769265551770452 + - -0.999757128163986 + - 0.020218423949014866 + - -0.09329943006836447 + - - 0.11467537017083301 + - -0.02109125728228132 + - -0.9931790968110612 + - 0.9730858972066745 + - - 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: + - - 0.9997442024951262 + - -0.012688513618447165 + - -0.018722478456081645 + - 0.02392766565991918 + - - -0.013526634294161297 + - -0.9988800446830285 + - -0.04533967907587869 + - -0.0345351593070825 + - - -0.018126216981377556 + - 0.045581333418255036 + - -0.9987961665433837 + - 0.969095633233126 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996384859834458 + - -0.007208601348932098 + - -0.0259023822710633 + - 0.09187330132673288 + - - -0.0074451280136464725 + - -0.9999313616896397 + - -0.009046655645293208 + - -0.033780599362274205 + - - -0.02583539064122191 + - 0.009236231704340968 + - -0.9996235414466389 + - 0.9686639203319619 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9997481777715099 + - 0.013007984622948878 + - 0.01828587921305678 + - 0.012840707806614985 + - - 0.01501059474098384 + - -0.9933638088758576 + - -0.1140308083860277 + - -0.09297551596770211 + - - 0.016681219621698072 + - 0.11427657481609318 + - -0.9933089153733771 + - 0.9702049948410227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890833571839592 + - -0.011970679061562007 + - 0.14687006292813248 + - 0.05430524559750605 + - - -0.010570366939229796 + - -0.9998909677778393 + - -0.010311154109360236 + - -0.09313383881619522 + - - 0.1469774808753999 + - 0.008646120465389068 + - -0.9891020496978157 + - 0.9711973328535006 + - - 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: + - - 0.9999139628091962 + - -0.01306405161091423 + - 0.0011821737253553653 + - 0.023921578627662338 + - - -0.01305538922839231 + - -0.9998898478424638 + - -0.007060381977588323 + - -0.034535855503291524 + - - 0.0012742807009169176 + - 0.007044340784036876 + - -0.9999743764075224 + - 0.968669389084194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995911663805312 + - -0.008356408539619352 + - -0.02734356469679868 + - 0.09184857171856686 + - - -0.008803253371647606 + - -0.9998290023085932 + - -0.016262498967810634 + - -0.03383803781540318 + - - -0.02720299292511053 + - 0.016496562639605975 + - -0.9994938021803808 + - 0.9686354271481219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9713905868864657 + - 0.013115497512853402 + - -0.23712509659114117 + - 0.09986389628601376 + - - 0.005572920371865159 + - -0.9994577964240738 + - -0.032450820107717444 + - -0.0897379290974092 + - - -0.23742213516624044 + - 0.03020094190790951 + - -0.9709369870599115 + - 0.9721621032007502 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9905048432394721 + - 0.0034332662387648125 + - 0.13743495989770052 + - 0.012907835969471128 + - - 0.02789026391070283 + - -0.9839183203204439 + - -0.17642809333206305 + - -0.09325290273881845 + - - 0.13461905027944646 + - 0.1785859782310178 + - -0.9746716163309209 + - 0.971931735241574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9937419168350461 + - -0.0040659041090189965 + - 0.11162648049985607 + - 0.054390678716759955 + - - -0.018094444851685213 + - -0.991997903006251 + - 0.12495099638142167 + - -0.09329819826103386 + - - 0.11022519580621215 + - -0.12618886184991523 + - -0.9858634679074508 + - 0.9732915174710586 + - - 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: + - - 0.9995869654348061 + - -0.012521329257643135 + - -0.02586725432776962 + - 0.0239229389023632 + - - -0.01333630543918163 + - -0.9994123258034033 + - -0.0315776184894522 + - -0.0345195661812515 + - - -0.02545665905158571 + - 0.03190954944611768 + - -0.9991665222394502 + - 0.968348670818956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998255208251839 + - -0.010053425749160124 + - -0.015743460145593836 + - 0.09185560924500591 + - - -0.009795883098071945 + - -0.9998183220517425 + - 0.016351255730571324 + - -0.033818975148059566 + - - -0.015904986041448944 + - -0.016194181681818857 + - -0.9997423567593188 + - 0.9685577062640742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.97278429118955 + - 0.012247703449377536 + - -0.23138866993666948 + - 0.09987602103830907 + - - 0.006822386291857699 + - -0.9996830717756849 + - -0.024232437979180007 + - -0.08971734146851508 + - - -0.23161212805060435 + - 0.021994312113504232 + - -0.9725595469556214 + - 0.9721985571700098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948883673223186 + - 0.009604423971167418 + - 0.10052308991924869 + - 0.012722587223301584 + - - 0.027341248699301345 + - -0.9839041755953782 + - -0.17659283497792913 + - -0.09312546131027367 + - - 0.0972090154579 + - 0.17843858407351595 + - -0.979137415804107 + - 0.9707635456778247 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976021402027784 + - -0.004910593778848024 + - 0.06903517894215358 + - 0.05433077345920159 + - - -0.010941526448280713 + - -0.9961258483409535 + - 0.08725581508414411 + - -0.09320398131195357 + - - 0.0683392483264017 + - -0.08780193810933741 + - -0.9937910076079516 + - 0.9723074209791632 + - - 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: + - - 0.9999248229253425 + - -0.01226091312234423 + - -0.0001360409087887744 + - 0.023906971924417823 + - - -0.012257018912037579 + - -0.9991787002694416 + - -0.038622408201192074 + - -0.03455778505393949 + - - 0.0003376168131034901 + - 0.038621172137519116 + - -0.9992538671817146 + - 0.9688421143636404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995494004998232 + - -0.007213820081175349 + - -0.029136862567551988 + - 0.09180070303059702 + - - -0.007980689486361364 + - -0.999622511530837 + - -0.026289599390316543 + - -0.033824513189063744 + - - -0.02893621529789724 + - 0.02651028556272984 + - -0.999229653384854 + - 0.9682612283579578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.956286372936039 + - 0.02113248224208023 + - -0.2916672609860817 + - 0.09998200387625783 + - - 0.010489808350223003 + - -0.9992224927447134 + - -0.038004919600197515 + - -0.08983404349006137 + - - -0.2922436258630982 + - 0.03328405304842019 + - -0.9557645290316334 + - 0.9732373212449613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997896323446584 + - 0.019486522078255814 + - 0.0618320556757116 + - 0.012853783264055901 + - - 0.02512597938769146 + - -0.9954621414947353 + - -0.09178131623879045 + - -0.09313297875311712 + - - 0.059762971910707 + - 0.09314182899218378 + - -0.9938576290799356 + - 0.9703368711986802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890950912530612 + - -0.011260404199284955 + - 0.14684721228667394 + - 0.05441057701764819 + - - -0.013512570003026886 + - -0.9998057502910481 + - 0.014348245079705155 + - -0.09334963949703166 + - - 0.14665712021927899 + - -0.016176062012205287 + - -0.9890551168194647 + - 0.9736311651177902 + - - 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: + - - 0.9998819901999528 + - -0.013453796094912476 + - 0.0074162689014059405 + - 0.023925247316399886 + - - -0.013145025692048314 + - -0.9991044304503537 + - -0.04021871895062996 + - -0.03457766427499283 + - - 0.00795072156076622 + - 0.04011648570240032 + - -0.9991633768316133 + - 0.9690426687483759 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9984396019190455 + - 0.02767792714615784 + - 0.04850045018997099 + - 0.012765063942736724 + - - 0.028843461687478457 + - -0.9993076975168558 + - -0.023498519132975418 + - -0.09305692761613704 + - - 0.04781648290726578 + - 0.024860772965694937 + - -0.9985467069345965 + - 0.9689832495928878 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959313204672269 + - -0.004165864084152903 + - 0.09001916734139671 + - 0.05439992373305724 + - - -0.007929815498314481 + - -0.9991072146602651 + - 0.04149568218466285 + - -0.0933041708691447 + - - 0.08976593417643862 + - -0.04204068494018883 + - -0.9950752021185092 + - 0.9734020595251117 + - - 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: + - - 0.999828475473335 + - -0.010802719921017313 + - -0.015043964735891419 + - 0.023932818112666943 + - - -0.011880272245818259 + - -0.9972256598899932 + - -0.07348361986411399 + - -0.03457510620046559 + - - -0.014208404696936574 + - 0.07364974201771805 + - -0.9971829504843595 + - 0.9687592001292757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998870871958931 + - -0.009809090298551546 + - -0.01138396268560929 + - 0.09185683981904028 + - - -0.009674255465304126 + - -0.9998831104972475 + - 0.011839515342279217 + - -0.03377667514696931 + - - -0.011498766894955126 + - -0.011728047146174581 + - -0.9998651065368925 + - 0.9684107175824295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9768463182885163 + - 0.01655481485842541 + - -0.2133007467196819 + - 0.09984524281255985 + - - 0.0051581855042792425 + - -0.9985343094672198 + - -0.053876023787265685 + - -0.0897016440462911 + - - -0.21388002143368623 + - 0.05152835066083362 + - -0.9754999566938484 + - 0.9716652333770293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.992949288905341 + - 0.017975474121900495 + - 0.11716907438599375 + - 0.01281609041212638 + - - 0.03444383780995268 + - -0.9895403270550117 + - -0.14008412889682392 + - -0.09329607120329514 + - - 0.11342544555477543 + - 0.1431321887695189 + - -0.9831825084076442 + - 0.9713845063264377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989417536469306 + - -0.004908474324744456 + - 0.045730511702783395 + - 0.05431142034916762 + - - -0.007955861508289957 + - -0.9977416077529937 + - 0.06669623996997215 + - -0.09318999947085979 + - - 0.0452998574882526 + - -0.06698948453507106 + - -0.9967248024772281 + - 0.971943569262416 + - - 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: + - - 0.9999072206843311 + - -0.012426234718100733 + - -0.005580207349817199 + - 0.023920097600497806 + - - -0.012627442031533528 + - -0.999213096367782 + - -0.037599677589724684 + - -0.03452656326728797 + - - -0.005108593845330263 + - 0.03766665286220229 + - -0.9992773016190667 + - 0.968686653577107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995985758017846 + - -0.007566626410861766 + - -0.027302626609952918 + - 0.09183037354859401 + - - -0.007977866771442613 + - -0.9998558922019565 + - -0.014984941468239293 + - -0.033793487889933624 + - - -0.027185306634672557 + - 0.015196742867729748 + - -0.9995148913895134 + - 0.9684901089005489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9768941321797546 + - 0.0089861441239069 + - -0.2135347834113883 + - 0.09982258563031861 + - - 0.00894716378142055 + - -0.9999593132275248 + - -0.0011489777218724312 + - -0.08970308307964109 + - - -0.213536420249644 + - -0.0007881010857094151 + - -0.9769347860137063 + - 0.9717808653097636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974333449339713 + - 0.014573156419591874 + - 0.07010239315315561 + - 0.012881967435387023 + - - 0.02276501287499534 + - -0.992809930040182 + - -0.11751679455469562 + - -0.09315267324097157 + - - 0.06788576141305913 + - 0.11881105136130791 + - -0.9905934874971621 + - 0.9707205652003523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974998296572274 + - -0.0040196761338762025 + - 0.07055446150018468 + - 0.05421186004094447 + - - -0.016279784048491737 + - -0.9845989580398103 + - 0.17406855103164257 + - -0.09297320218367608 + - - 0.06876815007790141 + - -0.1747819613996245 + - -0.9822027323847988 + - 0.9699072119519137 + - - 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: + - - 0.9998938024849936 + - -0.011741031161964989 + - -0.00863318824967618 + - 0.023926809378850774 + - - -0.012191717560801889 + - -0.9984583494808277 + - -0.05415058979309089 + - -0.0345522562076069 + - - -0.007984095128329488 + - 0.054250092527808026 + - -0.9984954590210747 + - 0.9683121460804962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998872735410288 + - -0.01033559903589533 + - -0.0108910790676159 + - 0.09183678932794212 + - - -0.010282420429283377 + - -0.9999349936577951 + - 0.004927503292887489 + - -0.03379106893573601 + - - -0.010941299776686387 + - -0.004814961178987919 + - -0.9999285495014343 + - 0.968467960822764 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9769469669975492 + - 0.00461366648113612 + - -0.21343227908610826 + - 0.09984827204127422 + - - 0.01038519436609556 + - -0.9996098616465056 + - 0.025928213147706984 + - -0.08967183570843705 + - - -0.21322938684024764 + - -0.027547024896626304 + - -0.9766137363395403 + - 0.9717167542791907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9926807623810715 + - 0.0014604023028474992 + - 0.1207591455072803 + - 0.012844444586503157 + - - 0.013353318415704255 + - -0.9951229615605233 + - -0.09773423280663704 + - -0.09292774586675465 + - - 0.12002746721406508 + - 0.09863142805478867 + - -0.9878589213617749 + - 0.9695343358609502 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999973072271396 + - -0.00725932219013096 + - -0.0010756270010937878 + - 0.05430023986044552 + - - -0.00700098939834589 + - -0.9876135575824635 + - 0.1567496316638544 + - -0.09313164291905052 + - - -0.002200199888614265 + - -0.1567378802990829 + - -0.9876377858303115 + - 0.9715901477476205 + - - 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: + - - 0.9997698017296346 + - -0.01215373309009223 + - -0.01768135519302717 + - 0.02389878226185557 + - - -0.012461387902063482 + - -0.9997710358933324 + - -0.017395102768524656 + - -0.03451976705685559 + - - -0.01746589136120735 + - 0.01761143267164899 + - -0.999692342712602 + - 0.9685861921077908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9804802077045411 + - 0.015643925273226215 + - -0.19599446395678036 + - 0.09983015980478957 + - - 0.005798688680906314 + - -0.9986968038700758 + - -0.05070571120965851 + - -0.08969365859178323 + - - -0.196532281086955 + - 0.04857943537898597 + - -0.9792931639448 + - 0.9715806947553108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999415900842566 + - 0.01988716454060099 + - 0.027791326517047195 + - 0.012897542668518162 + - - 0.023683395284224956 + - -0.989333059886185 + - -0.1437330630163047 + - -0.09314688740406782 + - - 0.024636435027276554 + - 0.14430730162667768 + - -0.9892261868583815 + - 0.9706411359789976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981322930378047 + - -0.004458957976074575 + - 0.060926540102499954 + - 0.054188762289114234 + - - -0.007409991348057136 + - -0.9988055718371143 + - 0.04829618717204983 + - -0.09304473951334344 + - - 0.060638417058129515 + - -0.04865744918204768 + - -0.9969731365567387 + - 0.9707624383594351 + - - 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: + - - 0.9999268459199087 + - -0.012095249590642326 + - -8.80113815481929e-05 + - 0.02391861326204254 + - - -0.012082344116523903 + - -0.9984668756217616 + - -0.05401773085541927 + - -0.03453795541155712 + - - 0.0005654814878628582 + - 0.05401484262180795 + - -0.9985399726637032 + - 0.968222898913153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995708845241912 + - -0.010279489244073752 + - -0.027429526288417626 + - 0.0918289621258753 + - - -0.010143480536508096 + - -0.9999355833749286 + - 0.005093024960364069 + - -0.03382938272910254 + - - -0.02748011306620668 + - -0.004812608598502695 + - -0.9996107653403631 + - 0.9684465781958017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.968876697151308 + - 0.021080735618986015 + - -0.24664457890441244 + - 0.09997402578378134 + - - 0.006155252809130599 + - -0.9981108714292837 + - -0.061129380804424274 + - -0.08982842511168679 + - - -0.24746728789888212 + - 0.05770867283553695 + - -0.9671761217583555 + - 0.9730673441795956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977384293481385 + - 0.016167147987738613 + - 0.06524300673522236 + - 0.012899338045341005 + - - 0.021081378116578703 + - -0.9969342104200025 + - -0.07535088314646743 + - -0.09310788350409062 + - - 0.06382477652617007 + - 0.07655588429499924 + - -0.9950203990276761 + - 0.969983326384579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9815045295506761 + - -0.009644211075745174 + - 0.1911958358966861 + - 0.054373087120458026 + - - -0.015387054729682912 + - -0.9994732283499923 + - 0.02857454038808827 + - -0.09330414685306343 + - - 0.19081954045184102 + - -0.030987981611767152 + - -0.9811358967938018 + - 0.9732664967837428 + - - 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: + - - 0.9997229970471381 + - -0.011479676290789281 + - -0.020546196907131255 + - 0.023908301512801683 + - - -0.012489000064033187 + - -0.9986865990311398 + - -0.04969005728529991 + - -0.03453761336194354 + - - -0.019948785739701012 + - 0.04993289444719281 + - -0.9985533295721553 + - 0.968440589326594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998067301473568 + - -0.010003759385458538 + - -0.016924158774026317 + - 0.09186002202336033 + - - -0.01012481277336726 + - -0.9999236624109209 + - -0.00708219718980282 + - -0.033821147736149346 + - - -0.016852018227941155 + - 0.007252182353529314 + - -0.9998316935028397 + - 0.9685571085940466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9677546602671844 + - 0.014185665034614615 + - -0.2514948994287403 + - 0.09989979940772793 + - - 0.00808093927594926 + - -0.9996474958472976 + - -0.025289967707465194 + - -0.08979336202760366 + - - -0.2517650014429426 + - 0.022442169096411425 + - -0.9675281562283767 + - 0.9727538919444236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990551379653716 + - 0.020390478624426802 + - 0.038380459695777046 + - 0.012872555406209726 + - - 0.024915702243496946 + - -0.9922926611863169 + - -0.1213856759979971 + - -0.09313103195389268 + - - 0.03560953645732803 + - 0.1222272593869474 + - -0.9918631246175301 + - 0.9702897531649978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875755671208909 + - -0.013881145595875527 + - 0.1565305498067288 + - 0.05438368648743951 + - - -0.00940842124907439 + - -0.9995269999746581 + - -0.029278967387189277 + - -0.09325916965946421 + - - 0.15686293646190191 + - 0.02744248747118659 + - -0.9872390435178015 + - 0.9728591290349051 + - - 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: + - - 0.9999223997796164 + - -0.012097221693697586 + - -0.00297517163647135 + - 0.023893412775446793 + - - -0.012222217165570653 + - -0.9988494534300982 + - -0.04637226315322912 + - -0.034529927767088714 + - - -0.0024107730151470413 + - 0.046405027849234545 + - -0.9989197973630225 + - 0.9682687118615118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996864984258975 + - -0.010456165217482249 + - -0.02275024118361527 + - 0.0918278413774637 + - - -0.010791495488740062 + - -0.9998341956817574 + - -0.01466713232125222 + - -0.033870424515643566 + - - -0.02259310713656829 + - 0.01490804327728267 + - -0.9996335837473436 + - 0.9685549008520167 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9789416190785722 + - 0.01244940531803115 + - -0.2037604445005236 + - 0.09988743056891894 + - - 0.007188514634004896 + - -0.9996219365829552 + - -0.0265388236268781 + - -0.08974893619390165 + - - -0.204013802702612 + - 0.02451522403261336 + - -0.9786610097972893 + - 0.9722071009237269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9867610765149563 + - 0.012937329035148876 + - 0.1616638592650839 + - 0.012717852248950647 + - - 0.01465583227813294 + - -0.9998480153624404 + - -0.009442073714234951 + - -0.09305402325923415 + - - 0.16151713362761175 + - 0.01168638922961681 + - -0.9868007113148505 + - 0.9705681079790138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955563749965942 + - -0.006728014325784069 + - 0.09392676949024034 + - 0.05432768143697341 + - - -0.007182007514001073 + - -0.9999641004958351 + - 0.0044962748609738735 + - -0.0931866813867489 + - - 0.09389314656411049 + - -0.005150877865824218 + - -0.9955689556658057 + - 0.9717425904931891 + - - 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: + - - 0.9998503181655054 + - -0.011447786322831825 + - -0.012972642469608121 + - 0.023909086611591288 + - - -0.011976898926442367 + - -0.9990679150963889 + - -0.041471133539627475 + - -0.03453317769951998 + - - -0.012485798190074967 + - 0.04162029809194806 + - -0.9990554817577927 + - 0.9682855366508456 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996544189060272 + - -0.008521143541248027 + - -0.024868310646332707 + - 0.09180475964805397 + - - -0.008851740329822295 + - -0.9998735073667449 + - -0.013214233207307203 + - -0.033782224035856026 + - - -0.024752564610287457 + - 0.013429794446422104 + - -0.9996033969361748 + - 0.968074972445959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.97637447135892 + - 0.011661360571130392 + - -0.2157704899846587 + - 0.09990178381813292 + - - 0.007590413441974097 + - -0.9997773968275372 + - -0.019686097036582403 + - -0.08974071943020814 + - - -0.21595202546484604 + - 0.017583215359652654 + - -0.9762456418521146 + - 0.9723875218095215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995199115846357 + - 0.030929125233379838 + - -0.0018263510450473009 + - 0.012738745391142298 + - - 0.03082513260428043 + - -0.9986408749314899 + - -0.04202635025787733 + - -0.09308904989017633 + - - -0.0031237070557858493 + - 0.04194987638083294 + - -0.9991148334029795 + - 0.9694194211995504 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9881649757436808 + - -0.0028657667089218818 + - 0.1533680804296022 + - 0.054229774921565284 + - - -0.02169547766334392 + - -0.992385764805153 + - 0.12124273199268763 + - -0.09304994270832119 + - - 0.15185284640878566 + - -0.12313521508188212 + - -0.9807030293846798 + - 0.970689531938469 + - - 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: + - - 0.999874815623519 + - -0.013458540661711114 + - 0.008319901747679838 + - 0.023918751594581213 + - - -0.013100897353414458 + - -0.99904671968241 + - -0.041641546325172446 + - -0.03452843621407311 + - - 0.008872404993533351 + - 0.04152733527537318 + - -0.999097973601467 + - 0.9683575365070243 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998859299448325 + - -0.010242921065195684 + - -0.011099984973405053 + - 0.09183496986914143 + - - -0.009987988494487985 + - -0.9996905171633635 + - 0.022783985153630053 + - -0.03379142718412095 + - - -0.011329924280048085 + - -0.022670519660983282 + - -0.9996787885886693 + - 0.9682855863230061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9710448769744376 + - 0.024539799582184905 + - -0.2376334259698442 + - 0.09997976451105296 + - - 0.004486502689277113 + - -0.9964080118880674 + - -0.0845632611651695 + - -0.08982461144035088 + - - -0.23885501500977183 + - 0.08104857853001342 + - -0.9676669931970122 + - 0.9730463462886088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9965543977342853 + - 0.005953798524150574 + - 0.08272777429370241 + - 0.012833102208183048 + - - 0.01734356915160721 + - -0.9903288852657216 + - -0.1376513698349429 + - -0.09295829033942513 + - - 0.08110815597422595 + - 0.13861187283738227 + - -0.9870198659312657 + - 0.9700704395539113 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912561725964624 + - -0.00974205413135137 + - 0.13159138524506156 + - 0.0544409325551745 + - - -0.006316237248558433 + - -0.9996308147943782 + - -0.026426109447821675 + - -0.09342869871721872 + - - 0.13180024824116346 + - 0.025363881698788667 + - -0.9909517486077404 + - 0.974217692414315 + - - 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: + - - 0.9999067480319586 + - -0.011520701593134133 + - 0.007332712660081659 + - 0.023904649184292127 + - - -0.011151588825990464 + - -0.9987594442454949 + - -0.048530553232837004 + - -0.03458350147040303 + - - 0.007882722043140292 + - 0.048444256266673535 + - -0.9987947820888726 + - 0.9686812942452263 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998839111659527 + - -0.010227774410089362 + - -0.01129410563496274 + - 0.09186423752976866 + - - -0.0099271327980279 + - -0.9996031694424702 + - 0.026362011967577478 + - -0.03378204720342232 + - - -0.011559248500127274 + - -0.026246833545871786 + - -0.9995886591508167 + - 0.9684064182261094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9658624460542163 + - 0.020829998668852684 + - -0.2582166657240031 + - 0.09999709266746136 + - - 0.009347490491639942 + - -0.9989152784049331 + - -0.04561678408990672 + - -0.08980742880032883 + - - -0.258886770082356 + - 0.04164586083456628 + - -0.9650094624156152 + - 0.9730613753929875 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994391472838529 + - 0.02047507127999866 + - 0.026498345846564672 + - 0.012861655115650265 + - - 0.019213166689293154 + - -0.998708642903083 + - 0.047030849625024705 + - -0.09292242007287738 + - - 0.027427087018030427 + - -0.046495355109529214 + - -0.998541905405549 + - 0.9685793647426602 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875430333886059 + - -0.011194455085606911 + - 0.15695044243635375 + - 0.05444558261765847 + - - -0.008379581990410173 + - -0.9997921677966156 + - -0.018585042862720575 + - -0.0933704706996698 + - - 0.1571258725076709 + - 0.01703835050348176 + - -0.9874315949982676 + - 0.9736578978514403 + - - 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: + - - 0.9998153639291892 + - -0.011185212206446539 + - -0.015624630524901888 + - 0.02390276190301824 + - - -0.012398159470567065 + - -0.9967319084678501 + - -0.07982348203242531 + - -0.034558392096781305 + - - -0.014680725216600325 + - 0.08000246039926084 + - -0.9966865518492666 + - 0.96869669397348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99959225569048 + - -0.009769053405684935 + - -0.026830727891258607 + - 0.09181873239776367 + - - -0.009570872896991775 + - -0.9999260351234502 + - 0.007504843388556966 + - -0.03379171880461032 + - - -0.026902058575646495 + - -0.007244989844990435 + - -0.9996118193411575 + - 0.9684107784701513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9827021672497838 + - 0.017558866182799664 + - -0.1843587174531018 + - 0.09983904632739318 + - - 0.004111327625825276 + - -0.9973181520479439 + - -0.07307257064609084 + - -0.08969628748516575 + - - -0.18514736689386438 + - 0.07105061445229975 + - -0.9801388997066793 + - 0.9716775430479749 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.994792376030857 + - 0.02154275733120713 + - 0.0996194669602824 + - 0.012778515641597437 + - - 0.03332343649687937 + - -0.9924364070459832 + - -0.11815044032799275 + - -0.09325739514412386 + - - 0.09632069959733744 + - 0.12085482024407983 + - -0.9879860501306945 + - 0.9706753880155986 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982472645131328 + - -0.005950228114970587 + - 0.05888118271083908 + - 0.054390204606461136 + - - -0.005187650516360576 + - -0.9999007928608903 + - -0.013095522833532002 + - -0.09339176249961012 + - - 0.05895326262529924 + - 0.012767114848048787 + - -0.9981790989618495 + - 0.9741439425952562 + - - 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: + - - 0.9999278521532534 + - -0.011659922753890252 + - -0.002887332602024513 + - 0.02391556608786054 + - - -0.011710078633229967 + - -0.9997692241717598 + - -0.01801034306729395 + - -0.03455993658234517 + - - -0.0026766670665161647 + - 0.01804285455163247 + - -0.9998336315872978 + - 0.9686643210749475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998524703396854 + - -0.009911994080210654 + - -0.01402818338141002 + - 0.09182407351318438 + - - -0.01003780590812596 + - -0.9999097742417686 + - -0.00892669190273036 + - -0.033840300357453224 + - - -0.013938436360632094 + - 0.009066187132932408 + - -0.9998617525651692 + - 0.9684325914447732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9570620468617084 + - 0.003610888364019324 + - -0.28986065607822603 + - 0.09994608993715177 + - - 0.017508848983556754 + - -0.9988168862002946 + - 0.04536813913330737 + - -0.08975761335317933 + - - -0.2893538986503345 + - -0.04849525055477827 + - -0.9559929560459541 + - 0.9727763255230961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983327645502272 + - 0.02955108984688658 + - 0.04958250008180106 + - 0.012740153022409415 + - - 0.02760650338702326 + - -0.9988398771998537 + - 0.03945606019515636 + - -0.09309158794321204 + - - 0.05069094787279913 + - -0.03802147819644531 + - -0.9979903782098877 + - 0.9695436722234037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9798398131497766 + - -0.007257931241761276 + - 0.1996528562297591 + - 0.05447240961597604 + - - -0.014137725643434244 + - -0.999353546501883 + - 0.033054709312597304 + - -0.09344623067033105 + - - 0.19928388113503304 + - -0.03521095750187988 + - -0.9793090029156065 + - 0.9746091732007242 + - - 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: + - - 0.9998996526115583 + - -0.012647547671965123 + - -0.006381555074608014 + - 0.023905866637194278 + - - -0.01284330327519712 + - -0.9994171786026427 + - -0.03162835239012298 + - -0.034534821662331606 + - - -0.005977814673122329 + - 0.03170713881475048 + - -0.9994793259892448 + - 0.9686534231511164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998506829515945 + - -0.009237061454134454 + - 0.014604399916554735 + - 0.0918678975154138 + - - -0.009039353011998617 + - -0.9998673873248595 + - -0.013546138242418659 + - -0.033809433796918587 + - - 0.01472758969942441 + - 0.013412101246664867 + - -0.9998015871370646 + - 0.9685362582007422 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.9649993925173449 + - 0.014608708067584878 + - -0.2618449122854049 + - 0.09988596499219884 + - - 0.010293374016831324 + - -0.9997877864807304 + - -0.017844563746745232 + - -0.08971733236384014 + - - -0.2620500312774355 + - 0.01452472555878812 + - -0.9649449794962082 + - 0.972211906237913 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964915706234649 + - 0.017988766083586887 + - 0.08173710278184607 + - 0.012722714889796868 + - - 0.0197043977784255 + - -0.9996011292356214 + - -0.020231637083069343 + - -0.09290625697963999 + - - 0.08134055805420598 + - 0.02177123619966125 + - -0.9964485570714475 + - 0.9692251329434952 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997664478286366 + - -0.007829435006065224 + - 0.06785490927765711 + - 0.054457705187729556 + - - -0.002253695557019138 + - -0.996641166258109 + - -0.08186150851293131 + - -0.09346393419188513 + - - 0.06826792527922282 + - 0.08151739487472753 + - -0.9943311343364987 + - 0.9742934456677977 + - - 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: + - - 0.9998697088563537 + - -0.012501452617233053 + - 0.010211708670411462 + - 0.023927835270963992 + - - -0.011924770077576686 + - -0.998431379653752 + - -0.05470447862198301 + - -0.03453070627376897 + - - 0.010879575823864254 + - 0.05457557883490692 + - -0.9984503698355408 + - 0.968407825256535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999336019275359 + - -0.009913989569146868 + - -0.00587405711983027 + - 0.09186889266547278 + - - -0.009920286458547862 + - -0.9999502479433023 + - -0.0010438173732257151 + - -0.0337953150973562 + - - -0.005863416478857144 + - 0.0011020203950667174 + - -0.9999822027907519 + - 0.9686890887859199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9800208818272442 + - -0.0013921996696698085 + - -0.1988897507732119 + - 0.09984065748007406 + - - 0.012437738525978393 + - -0.9975893892403889 + - 0.06826941581225719 + - -0.08970311053935767 + - - -0.19850534965816405 + - -0.06937919180177334 + - -0.9776411171294006 + - 0.9719123162043777 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985752324404844 + - 0.028569483018302307 + - 0.04506983244365862 + - 0.012751643625470923 + - - 0.02980625569968431 + - -0.999190640541261 + - -0.027012052419420684 + - -0.09300779670333006 + - - 0.04426163437558043 + - 0.028316929473575173 + - -0.9986185754468976 + - 0.969019368454542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989683882733268 + - -0.005002226807595094 + - 0.0451346536217693 + - 0.05427268473004539 + - - -0.005979118735143879 + - -0.9997502164736879 + - 0.0215349669135171 + - -0.09313185571752072 + - - 0.04501565694003329 + - -0.021782616642189747 + - -0.9987487713346523 + - 0.9711047185479627 + - - 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: + - - 0.9997994155569111 + - -0.012468259636627222 + - 0.015673900398195707 + - 0.02394040911910965 + - - -0.012076205921838438 + - -0.9996179065441514 + - -0.024863752066468316 + - -0.03456943271200417 + - - 0.015977919219731376 + - 0.02466948353579997 + - -0.9995679680139244 + - 0.968751941082518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998839307869798 + - -0.007714423754968768 + - -0.013138212211214759 + - 0.09186274058632764 + - - -0.007926078004139919 + - -0.9998384116553228 + - -0.0161346789876506 + - -0.03382173716169236 + - - -0.013011619478390397 + - 0.016236940742979204 + - -0.9997835063221735 + - 0.9686814830469573 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9828280450066893 + - 0.00414245269566383 + - 0.18447729950862013 + - 0.01280957121957709 + - - 0.03926259029089692 + - -0.9815490539873435 + - -0.18713605644076306 + - -0.09330641940800719 + - - 0.18029831655336698 + - 0.1911656211305147 + - -0.9648565812315355 + - 0.9715608910714785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898729012031736 + - -0.010869802745209415 + - 0.1415397006210352 + - 0.054506579421373824 + - - -0.010772638341930351 + - -0.9999409181863458 + - -0.0014527215156442275 + - -0.0935016878060826 + - - 0.14154712899513722 + - -8.674634448448376e-05 + - -0.9899315141707057 + - 0.9750492528869769 + - - 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: + - - 0.9996824367902702 + - -0.012403685305994054 + - -0.02193568243518158 + - 0.023922379834811727 + - - -0.013187988681753873 + - -0.9992655217817832 + - -0.03597907631819243 + - -0.03456938347291546 + - - -0.021473298013980017 + - 0.03625693821891543 + - -0.9991117714767414 + - 0.9690844235062381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997788459521822 + - -0.0068568750387268465 + - -0.01988070550121066 + - 0.09183157799643213 + - - -0.007931600164883607 + - -0.9984826053547473 + - -0.05449382096000489 + - -0.03385444877242226 + - - -0.01947688130443376 + - 0.05463945523794994 + - -0.9983161728760853 + - 0.9687806161818409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9636479017735781 + - 0.00319274545286718 + - -0.2671563732794966 + - 0.09986672818716459 + - - 0.0151488027852971 + - -0.9989729136216516 + - 0.042704000098828486 + - -0.08975238136352529 + - - -0.2667456376054774 + - -0.04519871930422104 + - -0.9627065184113516 + - 0.9721670530820996 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990836244432029 + - 0.019775782396916096 + - 0.03795826392267024 + - 0.01288129044887999 + - - 0.021955236465069694 + - -0.9980817216218526 + - -0.05788647990784303 + - -0.09306288886500239 + - - 0.03674069897533441 + - 0.0586668168128122 + - -0.9976012859072784 + - 0.9694469454320114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998864838578254 + - -0.007747139641575627 + - 0.012922895411187471 + - 0.05432673991153184 + - - -0.009799180586286677 + - -0.985879351092669 + - 0.1671702160940626 + - -0.09319126282157805 + - - 0.011445324734226854 + - -0.16727787336187702 + - -0.9858433534924583 + - 0.9722773498367743 + - - 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: + - - 0.9999134717668414 + - -0.012424508968086456 + - 0.004322100887752726 + - 0.02389162199681307 + - - -0.012320859290422172 + - -0.9996541350164151 + - -0.023233742077593315 + - -0.03449877521873806 + - - 0.0046092738612053975 + - 0.023178479706064667 + - -0.9997207173370909 + - 0.9684999679881853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9760275070384348 + - 0.014949325545587422 + - -0.2171331922347899 + - 0.09983739691524558 + - - 0.0069000394449712 + - -0.9992621930069003 + - -0.03778172948263426 + - -0.08967584154031685 + - - -0.21753780122083613 + - 0.03537777964730348 + - -0.9754105380542244 + - 0.9716465914391055 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984635268785736 + - 0.016256181486125947 + - 0.05297473035976662 + - 0.012898660077744692 + - - 0.023477845433895264 + - -0.9900570896200802 + - -0.13869300655331865 + - -0.09313826889257082 + - - 0.05019338867801183 + - 0.13972364100790854 + - -0.988917553629478 + - 0.9705968142338863 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860731580352537 + - -0.011360470442706543 + - 0.16592367737517688 + - 0.0543179274482608 + - - -0.005462650198547679 + - -0.9993383508305832 + - -0.035958587458613835 + - -0.09319634551901312 + - - 0.16622240058184007 + - 0.03455141488464495 + - -0.985482781825375 + - 0.9716882732064955 + - - 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: + - - 0.99992546624788 + - -0.012208705614352678 + - -9.724290164820434e-05 + - 0.02391502592644885 + - - -0.012205886138239338 + - -0.999448587931642 + - -0.030879385114142614 + - -0.034556441566394494 + - - 0.0002798080416721181 + - 0.03087827049349217 + - -0.9995231133489565 + - 0.968589400565255 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999448853150751 + - -0.01048118936161198 + - 0.0006090991605666489 + - 0.09185091106126594 + - - -0.010485716356114802 + - -0.9999132046932263 + - 0.007977019031053044 + - -0.03382217478980672 + - - 0.0005254376466125023 + - -0.007982966221192957 + - -0.9999679975707179 + - 0.9685229834912026 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.97167301901654 + - 0.01730839144504093 + - -0.2356946407979359 + - 0.09989572565176208 + - - 0.0068929868518171 + - -0.9989657839069611 + - -0.044942733733172716 + - -0.08978613596999513 + - - -0.23622876803544368 + - 0.0420450017093045 + - -0.9707874056577581 + - 0.9723924326275277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974081479699203 + - 0.01690134612900143 + - 0.06993805017471778 + - 0.012875717037767966 + - - 0.02019692438997486 + - -0.9987054241522287 + - -0.046685758150656086 + - -0.09311274198115506 + - - 0.06905845790632233 + - 0.04797728908497854 + - -0.9964582826810444 + - 0.9699462213681858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9845653528191681 + - -0.013014472323697563 + - 0.1745327749684933 + - 0.05434795294970051 + - - -0.01437141703209621 + - -0.9998755132889475 + - 0.006513086645648728 + - -0.09325409356715142 + - - 0.17442628357147494 + - -0.008920842746056172 + - -0.984629823925796 + - 0.9724377979434508 + - - 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: + - - 0.9999136230138106 + - -0.013074481860917735 + - -0.0013432927691051303 + - 0.02392788099316122 + - - -0.013108982278819375 + - -0.9994614630513188 + - -0.030082195048420208 + - -0.034542552327770794 + - - -0.0009492602428189114 + - 0.03009720584017943 + - -0.9995465257333476 + - 0.9688327728827583 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9736853726302419 + - 0.01019248166219543 + - -0.2276684177558952 + - 0.099867995756414 + - - 0.007455728038536537 + - -0.9998892838072448 + - -0.01287758699646409 + - -0.08971075251680961 + - - -0.22777446574478533 + - 0.010841284287478619 + - -0.973653562264154 + - 0.9721302676987423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989753486403173 + - 0.021375241170691447 + - 0.03989175195264209 + - 0.012861607205495517 + - - 0.024342716605241146 + - -0.9968524498816358 + - -0.07544948848904358 + - -0.09306555470624514 + - - 0.03815343965140318 + - 0.07634325268074567 + - -0.9963513551016484 + - 0.96950899696171 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889405701746533 + - -0.009725993217488951 + - 0.14799308672557993 + - 0.054381232274314406 + - - -0.014887668155912878 + - -0.9993173833681911 + - 0.03381012622028661 + - -0.09329534719343976 + - - 0.14756322712488734 + - -0.03563947746650691 + - -0.9884103002530902 + - 0.9732177743874963 + - - 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: + - - 0.9998826561540797 + - -0.013277674822857887 + - 0.007640502179890705 + - 0.023901956588427226 + - - -0.012772925507593689 + - -0.9979508409769939 + - -0.06269745901780015 + - -0.0345429529718473 + - - 0.00845732204896629 + - 0.06259251029164521 + - -0.9980033323387008 + - 0.9686517058199429 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997155771862641 + - -0.009544416941573323 + - -0.021855636261158322 + - 0.09185456810298838 + - - -0.009138142623090394 + - -0.9997849832270552 + - 0.01861401791869526 + - -0.033804553092303444 + - - -0.022028596880752732 + - -0.018409003746071042 + - -0.9995878398122613 + - 0.9684635063686482 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9612040555418656 + - 0.01029938259720704 + - -0.27564594379019375 + - 0.09996257910238056 + - - 0.011701717918815292 + - -0.9999256040905151 + - 0.003443266177074621 + - -0.08979170150548883 + - - -0.27558997334376806 + - -0.006535212493412724 + - -0.9612530663618434 + - 0.9730263727143144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988309377913737 + - 0.020750197300963648 + - 0.04365990177240616 + - 0.012888052473574992 + - - 0.024071781714649083 + - -0.9967418093195917 + - -0.07698256217734827 + - -0.09306630997185708 + - - 0.041920246133430074 + - 0.07794353639833189 + - -0.996076050358523 + - 0.9697106140597818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955915250639313 + - -0.006980635980756605 + - 0.09353494503221461 + - 0.054374746327782296 + - - -0.010500845897544497 + - -0.9992528128916142 + - 0.03719607726134809 + - -0.09329073348852535 + - - 0.09320540465182943 + - -0.03801429533083994 + - -0.9949209344938862 + - 0.9728775488372956 + - - 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: + - - 0.9999026762026328 + - -0.012804695459263242 + - 0.005538763129825575 + - 0.02393809562276002 + - - -0.012638362541983856 + - -0.9994969041084797 + - -0.02908969697027342 + - -0.0345537018319592 + - - 0.005908461311557458 + - 0.029016864954031104 + - -0.999561459657769 + - 0.9687712852716258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996586085530261 + - -0.008193485469981315 + - -0.024809940380439092 + - 0.09183922695005073 + - - -0.008222787679445159 + - -0.9999656098707544 + - -0.0010792768823094708 + - -0.033786378308002255 + - - -0.024800244123929546 + - 0.0012829152985009773 + - -0.9996916034556508 + - 0.9684428753749372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9762971045196072 + - -0.00919657216590014 + - -0.2162391887864655 + - 0.09983188811424586 + - - 0.015769077738301357 + - -0.9934190771361869 + - 0.11344546429526976 + - -0.08966791709433276 + - - -0.21585944476421384 + - -0.11416637089039534 + - -0.9697271471211896 + - 0.9716493965517918 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981301094455035 + - 0.01717043132277398 + - 0.05866396599699848 + - 0.01268964098311742 + - - 0.022359580477939497 + - -0.9957826647846084 + - -0.0889771525466823 + - -0.09295727286548608 + - - 0.056888784300225995 + - 0.09012247667843427 + - -0.9943045838263989 + - 0.9694964062217145 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9884861558151369 + - -0.003435957842988781 + - 0.151272317214731 + - 0.05425873523673926 + - - -0.02099106390885047 + - -0.9931891467065689 + - 0.11460669308662792 + - -0.09310027586705519 + - - 0.14984823988885404 + - -0.11646249635818039 + - -0.9818258460359626 + - 0.9711025050814162 + - - 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: + - - 0.999922912809525 + - -0.012416454391283516 + - 9.943042556369882e-06 + - 0.02393194445824188 + - - -0.012409238847853433 + - -0.9993684933911887 + - -0.03329602391040331 + - -0.03453942186261741 + - - 0.000423355325753892 + - 0.033293333827876116 + - -0.9994455336299689 + - 0.9689068688703092 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999954552706582 + - -0.009513928302321983 + - 0.000614564592233191 + - 0.0918136231212691 + - - -0.009517856635358405 + - -0.9999319810339807 + - 0.006741195037047744 + - -0.033778726413561756 + - - 0.0005503875439306343 + - -0.00674673800566095 + - -0.9999770890374611 + - 0.9682940557982256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.98051221613456 + - 0.014382239771357611 + - -0.19593097047188107 + - 0.09988086932801678 + - - 0.005809471557862447 + - -0.9990032128989016 + - -0.044258678899070314 + - -0.0897285098985696 + - - -0.1963722079396989 + - 0.042257919930254545 + - -0.9796184074179377 + - 0.9721417791689115 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983201998381446 + - 0.017111226486722222 + - 0.055353270212763074 + - 0.012694530285871775 + - - 0.023710784316536723 + - -0.9923863201365848 + - -0.12086020979984688 + - -0.09302456216352378 + - - 0.05286376171085202 + - 0.12196965825109302 + - -0.9911250300360144 + - 0.9704539762953054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999547991475384 + - -0.0055047364356471725 + - 0.029555212980111992 + - 0.05425346865559601 + - - -0.010036579515333396 + - -0.9877919723198992 + - 0.15545509477658098 + - -0.0930869793118921 + - - 0.028338662797635885 + - -0.1556814609937145 + - -0.9874007306528106 + - 0.970952405876207 + - - 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: + - - 0.9999127749775025 + - -0.01189926864309898 + - -0.005731478216822351 + - 0.023901466501605264 + - - -0.012152207042439843 + - -0.9988523028814953 + - -0.04632926604568139 + - -0.03453059885287904 + - - -0.005173615833072963 + - 0.04639487508435832 + - -0.9989097803431093 + - 0.968637942932837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999126900852403 + - -0.007365012676864491 + - -0.010971271337809622 + - 0.09188513047324771 + - - -0.007634909254337603 + - -0.9996641450333394 + - -0.0247650014221783 + - -0.03382982557055336 + - - -0.010785192032423327 + - 0.024846603853084 + - -0.9996330956454932 + - 0.9688598855881972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9704537771775159 + - 0.009508873471791999 + - -0.24109966339086758 + - 0.09984145457609042 + - - 0.010939051691861174 + - -0.9999296131452174 + - 0.004594116165211282 + - -0.0897132958750737 + - - -0.24103900827454255 + - -0.007095779066044603 + - -0.9704894880468679 + - 0.971908385957424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99006097825941 + - 0.008102394095397808 + - 0.1404051656383876 + - 0.012732159890042886 + - - 0.024083320359848462 + - -0.9933600030482898 + - -0.11249843565289014 + - -0.09314531339591825 + - - 0.1385613691057688 + - 0.11476173383940055 + - -0.9836821089344414 + - 0.9711128932866099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939571735197323 + - -0.006677095408055643 + - 0.10956529380043807 + - 0.054384127727113 + - - -0.011321561509181944 + - -0.9990608987877208 + - 0.041822754075565884 + - -0.09332420206413289 + - - 0.10918314638101616 + - -0.04281047664279359 + - -0.9930993422794914 + - 0.973310700863486 + - - 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: + - - 0.9999132237310401 + - -0.011862299982171004 + - -0.00572982084640549 + - 0.023947459690665217 + - - -0.012177244977487376 + - -0.9982144149345766 + - -0.05847817132554019 + - -0.0345803243289541 + - - -0.005025904153202248 + - 0.05854287024014075 + - -0.998272243744906 + - 0.9688563356415408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998787873076638 + - -0.010481248720045919 + - -0.011513214903933653 + - 0.09183619769967612 + - - -0.01034958408412122 + - -0.9998810378390951 + - 0.011436620090743567 + - -0.03382290942129064 + - - -0.011631715326697474 + - -0.011316076841504322 + - -0.9998683161314174 + - 0.9683330436900124 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.980275762016148 + - 0.0054318574507759955 + - -0.1975599284477871 + - 0.09984277990398618 + - - 0.006578305006066271 + - -0.999965115391307 + - 0.005147222911202154 + - -0.08966211214020108 + - - -0.19752507766586871 + - -0.006345307327851839 + - -0.9802772978948395 + - 0.9717229195240568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972313365214887 + - 0.019676217360213962 + - 0.07171128174812533 + - 0.012873617122617633 + - - 0.021012288792360254 + - -0.9996185220855394 + - -0.0179246763772089 + - -0.09304813877111706 + - - 0.07133123564941132 + - 0.019381867142121107 + - -0.9972643571525117 + - 0.9695157378831541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999898542075676 + - -0.0028501540389428643 + - 0.0034882809350678034 + - 0.054367836728562706 + - - -0.0030702853471394733 + - -0.9978923041888258 + - 0.06481915294573425 + - -0.09327050799811115 + - - 0.0032961841293836234 + - -0.06482920532190446 + - -0.9978909305668205 + - 0.9729760629363079 + - - 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: + - - 0.9999098311490016 + - -0.013364211606165228 + - 0.001314313402873355 + - 0.023931900240864168 + - - -0.013300017717310908 + - -0.999090675962508 + - -0.04050840324547994 + - -0.03452177678590094 + - - 0.001854481138903788 + - 0.040487270257759195 + - -0.999178333355353 + - 0.9688177698966407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998545321469192 + - -0.009166748655121555 + - -0.014383506678106409 + - 0.09188224945290284 + - - -0.009115457855305925 + - -0.9999518738103228 + - 0.003627463481809454 + - -0.03383392198298545 + - - -0.014416066500729179 + - -0.003495823553548836 + - -0.9998899720690915 + - 0.9687442923990177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9822674062203129 + - 0.009314469945842927 + - -0.18725379389173036 + - 0.09983768046772477 + - - 0.005430655311819747 + - -0.9997595877371532 + - -0.021243227403596857 + - -0.08970696408640344 + - - -0.18740664518661776 + - 0.019849619071022836 + - -0.9820818407661511 + - 0.9717920566414585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967304109024879 + - 0.015012569504649152 + - 0.07939213272752914 + - 0.012719713915364417 + - - 0.022153563352893507 + - -0.9957093563216095 + - -0.08984485162977449 + - -0.09307066437930939 + - - 0.0777026872954009 + - 0.09130991452451884 + - -0.9927863777755006 + - 0.9707676900955005 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935513536588223 + - -0.0036910259236327906 + - 0.11332291899855365 + - 0.05434074177197771 + - - -0.011568385269423146 + - -0.9975541564097583 + - 0.06893386317242495 + - -0.09318217445837801 + - - 0.11279131218750793 + - -0.06980029625472575 + - -0.991163981658824 + - 0.9721747527428968 + - - 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: + - - 0.9998801889712855 + - -0.012354181853531262 + - -0.009326408391033512 + - 0.023924572258274684 + - - -0.012781072738771954 + - -0.998804050955042 + - -0.04719228724531323 + - -0.03452755192171559 + - - -0.008732232383112683 + - 0.04730583459286827 + - -0.9988422829111109 + - 0.9684669443595483 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992371063982913 + - -0.011261327306722404 + - -0.03739502245033238 + - 0.09181532535309733 + - - -0.010701991429881737 + - -0.9998283492383493 + - 0.015124134314128356 + - -0.03384111398433418 + - - -0.03755892139298908 + - -0.014712394999045031 + - -0.999186105216234 + - 0.9685117898168725 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9598703072892903 + - 0.01577652174270442 + - -0.2800001688322088 + - 0.09990956254221484 + - - 0.009142097445858139 + - -0.9996460317224166 + - -0.024984661612988592 + - -0.08976755427143561 + - - -0.2802952287118956 + - 0.02142224599165751 + - -0.9596747741490441 + - 0.9727556744546038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933132508913186 + - -0.002509441270731329 + - 0.11542308394870189 + - 0.012849808170959697 + - - 0.019763519556030187 + - -0.9813098653886593 + - -0.19141669568156677 + - -0.093132277807368 + - - 0.11374615992849492 + - 0.1924179066391688 + - -0.9746984971293027 + - 0.9714497711560703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9943422123542549 + - -0.007704498477767429 + - 0.10594435064528955 + - 0.05435610168849014 + - - -0.009999660738164452 + - -0.9997263102933601 + - 0.021149735041948642 + - -0.0932652013650345 + - - 0.10575240666560547 + - -0.022089481895895553 + - -0.9941471134967913 + - 0.9725058287019184 + - - 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: + - - 0.999861003723858 + - -0.011795779482765549 + - -0.01178273392354565 + - 0.023921592380459596 + - - -0.012235389088859804 + - -0.9992042776936866 + - -0.037961911075213954 + - -0.0345736849322565 + - - -0.011325567807545747 + - 0.03810080084502435 + - -0.9992097179715601 + - 0.9688983062530498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996858915020352 + - -0.01091250114495221 + - -0.02256181842278001 + - 0.09178868082197836 + - - -0.010435267069223155 + - -0.9997215795689114 + - 0.021162904938499986 + - -0.03376822259715102 + - - -0.02278647697594048 + - -0.020920818889408156 + - -0.9995214333890108 + - 0.9681758651788687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9695655160007006 + - 0.0254860834600346 + - -0.24350188855974667 + - 0.10005730604179232 + - - 0.0045179126691825364 + - -0.9962603215661873 + - -0.08628418243195474 + - -0.08989247089111746 + - - -0.24479031567324874 + - 0.08255804759504282 + - -0.9660547966496963 + - 0.9737396665792544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994954878838344 + - 0.031282959794904815 + - 0.005490548818317995 + - 0.012749805095371164 + - - 0.0317087433915987 + - -0.9927490130892029 + - -0.11594805993607618 + - -0.09320373131260487 + - - 0.0018235384234257918 + - 0.11606366113855163 + - -0.9932401025284542 + - 0.9701555935830501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.969226736500596 + - -0.012723341589642325 + - 0.2458407001112663 + - 0.05438461920020604 + - - -0.016055798446534306 + - -0.9998043196155678 + - 0.011555683203355777 + - -0.09322974256881067 + - - 0.24564556700386142 + - -0.015147245850164647 + - -0.9692413612483254 + - 0.9722481582254793 + - - 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: + - - 0.999834353181287 + - -0.01311916408230852 + - 0.012615614623906873 + - 0.02392409101048569 + - - -0.012519492897723333 + - -0.9988401903872348 + - -0.04649232586972056 + - -0.03454519686530348 + - - 0.013210923364448146 + - 0.046326683466161256 + - -0.9988389809688469 + - 0.9686563655756548 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998030103565111 + - -0.010134960860329953 + - -0.017065258580451992 + - 0.09181996380688814 + - - -0.010230907817377273 + - -0.999932291401825 + - -0.00554446905742203 + - -0.03384547166857265 + - - -0.017007910138827728 + - 0.005717969941855384 + - -0.9998390049465236 + - 0.9685986787953212 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9701385858461914 + - 0.004480441532250238 + - -0.24250989649090224 + - 0.09993288268584159 + - - 0.014002249323206786 + - -0.9991964842764665 + - 0.03755426504993203 + - -0.08973725340906001 + - - -0.24214677628711637 + - -0.03982852562204479 + - -0.96942180049787 + - 0.9723948901498077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977549558046906 + - 0.023018347969614446 + - 0.06289041122404429 + - 0.01278245433757461 + - - 0.034373692507037264 + - -0.981960982394954 + - -0.18593299416017942 + - -0.0932840538219167 + - - 0.05747605963017385 + - 0.18767734202798006 + - -0.9805476622065356 + - 0.971256998016533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9873753937645875 + - -0.012134032522927926 + - 0.15793225459974358 + - 0.05438474572344781 + - - -0.0006008072202186637 + - -0.9973412548071066 + - -0.07287016186664284 + - -0.09336663096313523 + - - 0.15839656189106455 + - 0.07185531792789678 + - -0.9847575043971848 + - 0.973461010721736 + - - 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: + - - 0.9999075492905474 + - -0.011816536328433318 + - 0.006727729258108977 + - 0.023904737610403543 + - - -0.011345939419500354 + - -0.9977455132318599 + - -0.06614499591338814 + - -0.034558823415672624 + - - 0.0074941664286715635 + - 0.0660625483529959 + - -0.9977873406566392 + - 0.9688348732859541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998265428036247 + - -0.010170849973221971 + - -0.015602503522634417 + - 0.09187003493730368 + - - -0.010114725361985533 + - -0.9999421032079537 + - 0.0036718609594217607 + - -0.033835829687139204 + - - -0.015638946134673377 + - -0.003513409010623401 + - -0.9998715314083708 + - 0.9684451273556883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9629598988200244 + - 0.023822522827366 + - -0.26859024678991616 + - 0.09997039596862525 + - - 0.005297337233122491 + - -0.9975688046349489 + - -0.069486820602459 + - -0.08983535231865705 + - - -0.2695926027968256 + - 0.06549020862189533 + - -0.9607449511144434 + - 0.9731163193389525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977492060148472 + - 0.008118491878367388 + - 0.06656284238494416 + - 0.012818248528806926 + - - 0.01210034195647815 + - -0.9981467409797168 + - -0.05963778329303148 + - -0.09294398411728054 + - - 0.06595531533757025 + - 0.06030898408356066 + - -0.995998354826719 + - 0.9699336201126564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9759912281610444 + - -0.016952488653599364 + - 0.21714910932616271 + - 0.05456994780313959 + - - -0.00253743268719386 + - -0.9977838151787082 + - -0.0664907482495128 + - -0.09357042537356494 + - - 0.21779505042138614 + - 0.06434338579738959 + - -0.9738712670143189 + - 0.9756770038498637 + - - 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: + - - 0.9993594444351896 + - -0.009424656752871019 + - -0.03452356678096071 + - 0.023944198870826897 + - - -0.011724185445356184 + - -0.997682571141725 + - -0.06702261346500783 + - -0.034596755338610403 + - - -0.03381189574442387 + - 0.06738444245615981 + - -0.9971539964423954 + - 0.9689649622256589 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999845391211489 + - -0.009849169770311266 + - -0.014566658092376098 + - 0.09182146440651881 + - - -0.010101964256912331 + - -0.9997978568282417 + - -0.01738377979056224 + - -0.03380549870986998 + - - -0.014392497743500434 + - 0.017528243964820927 + - -0.9997427752538216 + - 0.9684552442447352 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9644721781500558 + - 0.017190634547301374 + - -0.26362454297418514 + - 0.09994655664868834 + - - 0.008187152052728594 + - -0.9993462798487587 + - -0.03521339934898764 + - -0.0897413281978914 + - - -0.26405754697745787 + - 0.03180400975202513 + - -0.9639824255908092 + - 0.9728081447558007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9899013429220318 + - 0.008843914960916091 + - 0.14148185908208197 + - 0.012729756554002993 + - - 0.020694535573138353 + - -0.9963753363479344 + - -0.08251015279923285 + - -0.09303158408872556 + - - 0.14023932215527188 + - 0.08460481242639054 + - -0.986496304217976 + - 0.9704767491262379 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953181301298528 + - -0.009037271988217598 + - 0.09622966044741235 + - 0.05448476538889194 + - - -0.0030294115667235102 + - -0.99804684327857 + - -0.06239648457438659 + - -0.09345925932857105 + - - 0.09660560284151587 + - 0.061812833106833394 + - -0.9934014954503213 + - 0.9748789689282705 + - - 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: + - - 0.9999028045111311 + - -0.01191172666309813 + - 0.00724515691192309 + - 0.02390657343441591 + - - -0.011699983063398166 + - -0.9995225328938182 + - -0.028597493488807378 + - -0.034567763868320486 + - - 0.007582343113506923 + - 0.02850994572828615 + - -0.9995647508128123 + - 0.9688482346825747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9822522772753345 + - 0.01153519681116454 + - -0.18720951637656438 + - 0.09985511629161103 + - - 0.009436901998007494 + - -0.9998823131404345 + - -0.012095650028578455 + - -0.0896765437244067 + - - -0.18732700998013987 + - 0.010114301926556636 + - -0.9822455356113555 + - 0.9717502454238959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995864624930613 + - 0.021849392038854436 + - 0.018695134878900312 + - 0.012896583894766325 + - - 0.024325718936980885 + - -0.9891994498365979 + - -0.14454310028905193 + - -0.09312288033482315 + - - 0.015335038272102234 + - 0.14493809889226628 + - -0.9893218809319284 + - 0.9702658831633015 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944190537403512 + - -0.005992611557308077 + - 0.1053320187068864 + - 0.05433362925931641 + - - -0.01756062217749108 + - -0.9938599298929467 + - 0.10924314304305974 + - -0.0931554232057033 + - - 0.10403062100595216 + - -0.11048315871620534 + - -0.9884184850220101 + - 0.9718152083884175 + - - 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: + - - 0.9999235363845184 + - -0.012281874639384342 + - -0.0014411591242577656 + - 0.02391326213141664 + - - -0.01235546973584805 + - -0.9970931195835352 + - -0.07518412895539257 + - -0.03455533565003859 + - - -0.0005135678003210126 + - 0.0751961863030101 + - -0.9971686265690463 + - 0.9688706443206501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998111428032507 + - -0.008215619027561148 + - -0.01761199393742676 + - 0.09188711484778939 + - - -0.0086180374659835 + - -0.9997006992523935 + - -0.022896317269625804 + - -0.03385945694816679 + - - -0.017418615234653025 + - 0.023043773958933794 + - -0.99958270109333 + - 0.9687037900929475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9709508597081564 + - 0.010020571317855524 + - -0.23906906153338964 + - 0.0998878545148808 + - - 0.011872800859401665 + - -0.9999096136911685 + - 0.006308807155991693 + - -0.08968574913722198 + - - -0.23898423511132455 + - -0.008963961091073083 + - -0.970982071291645 + - 0.9719643005024411 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979859938841189 + - 0.009394009146697767 + - 0.06273522617540378 + - 0.012797651140314526 + - - 0.015614778757892852 + - -0.9949232302418843 + - -0.09941802959925077 + - -0.09298248365389103 + - - 0.06148279999698589 + - 0.10019739775666432 + - -0.9930661341458203 + - 0.9702639541007732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996588953236737 + - -0.006825466744734837 + - 0.025209244414875303 + - 0.05439559418883873 + - - -0.009370881629562592 + - -0.9947118736659641 + - 0.10227646339912265 + - -0.09330645312855815 + - - 0.024377850145924047 + - -0.10247780926456161 + - -0.9944365334351909 + - 0.9733844226960966 + - - 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: + - - 0.9999159645191046 + - -0.0127544035132611 + - 0.0023214415456043144 + - 0.023924329698747637 + - - -0.012658063853462792 + - -0.9992116809691749 + - -0.03762698545242737 + - -0.03454753754289408 + - - 0.002799521264502831 + - 0.03759443849529389 + - -0.999289157789132 + - 0.9687701784416336 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997725462354025 + - -0.010462572260657646 + - -0.018584681209817162 + - 0.09183574373521755 + - - -0.010306302218747102 + - -0.9999108926225324 + - 0.008484512324605875 + - -0.03379812616341777 + - - -0.018671795000906113 + - -0.008291043149149422 + - -0.9997912895574471 + - 0.9683965211109286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9710849407802045 + - 0.021762880580987264 + - -0.23774022549565402 + - 0.0998857382272581 + - - 0.005602896047725426 + - -0.9976395926718051 + - -0.06843866370344476 + - -0.0897102973752754 + - - -0.23866848419048778 + - 0.06512772191972102 + - -0.9689147199272816 + - 0.9722730035039269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9883925992550092 + - 0.0016062095857671682 + - 0.151912770459541 + - 0.012881605098285861 + - - 0.034817899717808534 + - -0.9757237026184534 + - -0.21621972622260274 + - -0.09335717378010916 + - - 0.14787759667091982 + - 0.21899926081907958 + - -0.9644540114300579 + - 0.9722599152561059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958276485695805 + - -0.005422179932412185 + - 0.0910927785785493 + - 0.05449077566962283 + - - -0.010690490626178325 + - -0.9982913407347539 + - 0.05744660498391836 + - -0.09343690386755152 + - - 0.09062564622970506 + - -0.058180744054947484 + - -0.9941840841950048 + - 0.974629642064581 + - - 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: + - - 0.999817984693805 + - -0.012084099192516289 + - -0.014763875830002163 + - 0.023929395130110238 + - - -0.012596263009979305 + - -0.9993042621139379 + - -0.03510449941392083 + - -0.03454484276525505 + - - -0.014329397789220662 + - 0.03528407952071257 + - -0.9992745879343549 + - 0.9690076880415145 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995713841296314 + - -0.007949506593315808 + - -0.02817540370776584 + - 0.09183625644950104 + - - -0.00856748860729794 + - -0.9997238727048627 + - -0.02188096165519031 + - -0.03380631233111185 + - - -0.02799368086080458 + - 0.02211297557803827 + - -0.999363482494207 + - 0.9685512427199892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9662160004795014 + - 0.00035445284970004286 + - -0.2577334180516243 + - 0.09992188458375982 + - - 0.01660972313183632 + - -0.9980059326203105 + - 0.06089561192850913 + - -0.08969927924846582 + - - -0.25719789562684947 + - -0.06311919531997522 + - -0.964295188034908 + - 0.9722996834349172 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979117269824623 + - 0.024311881645006216 + - 0.059842439470318615 + - 0.012784694158111542 + - - 0.030382316965715216 + - -0.9942464593185146 + - -0.10271753963365779 + - -0.09315051157528575 + - - 0.05700087689390709 + - 0.10432118933120182 + - -0.9929088525589089 + - 0.9703589551124481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962216360550863 + - -0.004196935906715705 + - 0.08674582171333796 + - 0.05433208905109215 + - - -0.018120952175523383 + - -0.9868922419279154 + - 0.16036001345331172 + - -0.09315845090880762 + - - 0.08493575777009167 + - -0.16132603184696773 + - -0.9832394563383492 + - 0.9718544006486396 + - - 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: + - - 0.9998134792025761 + - -0.013410011941902328 + - 0.013898862707354537 + - 0.02393726150725446 + - - -0.01305372838125187 + - -0.999591748153046 + - -0.025415294601594234 + - -0.034538930401480976 + - - 0.014234007875098046 + - 0.025229122141988265 + - -0.999580354156561 + - 0.9687203535563276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999284633804149 + - -0.010401367777801986 + - -0.0059059012888079765 + - 0.09187063255753053 + - - -0.010350240099739472 + - -0.9999092574907223 + - 0.00862260484027421 + - -0.03379219930926307 + - - -0.005995052256651828 + - -0.008560860511927396 + - -0.9999453840164155 + - 0.9685896133312275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9770395239919294 + - 0.002325736946039974 + - -0.21304544000114553 + - 0.09987055386247697 + - - 0.010743947424503119 + - -0.9992060531609964 + - 0.038364448649281506 + - -0.08970082865216114 + - - -0.21278706763185443 + - -0.03977253165290926 + - -0.976288794145746 + - 0.971905980424473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980834172560115 + - 0.025331735476658603 + - 0.05646056478908978 + - 0.012792338620987028 + - - 0.03080834829218384 + - -0.9946756821608569 + - -0.09834191880038376 + - -0.09318689504497449 + - - 0.05366877932345678 + - 0.0998928951205959 + - -0.9935497328419728 + - 0.9704824748663806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988831155426159 + - -0.006365339820255862 + - 0.04681884164361294 + - 0.054337736552767524 + - - -0.0067594520407220525 + - -0.999943003857146 + - 0.008264311541589965 + - -0.0932243058264669 + - - 0.04676356799888369 + - -0.008571550975170346 + - -0.9988692092671059 + - 0.9723134023856903 + - - 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: + - - 0.9998694443815321 + - -0.013249469692254868 + - 0.009249094282161639 + - 0.02392681660851877 + - - -0.01290654832828186 + - -0.9992612150048344 + - -0.03620007178600221 + - -0.03453032144003709 + - - 0.009721892944073192 + - 0.036075971780896054 + - -0.9993017607598057 + - 0.9686320566316056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997813933375345 + - -0.010551154258843471 + - -0.018051002184482592 + - 0.09183583274822624 + - - -0.010166794343492564 + - -0.9997224161712414 + - 0.021253867824753053 + - -0.03380190851128704 + - - -0.01827024435619934 + - -0.021065700760739832 + - -0.9996111416058864 + - 0.9683119575797593 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9681980848415711 + - 0.007132709935802568 + - -0.25008317208098096 + - 0.0998764671739669 + - - 0.010245128115356793 + - -0.9998853957223087 + - 0.011145975558123425 + - -0.08974372872873235 + - - -0.24997501046907422 + - -0.013353646326530529 + - -0.9681602007264978 + - 0.9724369896129645 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994744609400634 + - 0.030364667156218567 + - 0.011348520478968845 + - 0.012752530869592615 + - - 0.03198094483039571 + - -0.9808258958268342 + - -0.19224406686096734 + - -0.0932475072656204 + - - 0.005293495662102687 + - 0.1925059715021354 + - -0.9812815242526963 + - 0.9710571418928081 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9825181019208864 + - -0.007448147232200054 + - 0.18601802197794262 + - 0.054378862212633966 + - - -0.022430969945319075 + - -0.9966561466445334 + - 0.0785708402843181 + - -0.0932419760859517 + - - 0.184810797804379 + - -0.08136983752275226 + - -0.9793997746356853 + - 0.9725846497208357 + - - 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: + - - 0.9997990017357316 + - -0.011425484071006875 + - -0.016474660602816677 + - 0.023916013319718227 + - - -0.012235864920522864 + - -0.9986763537855635 + - -0.049958222538624836 + - -0.034580870438138095 + - - -0.01588205710484476 + - 0.05014976274435616 + - -0.998615422251631 + - 0.9684974715844563 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999940516692118 + - -0.007576551447078976 + - -0.007845950909211658 + - 0.09186859067799172 + - - -0.007872668143119921 + - -0.9992304838617383 + - -0.038424747464947534 + - -0.033860074700630835 + - - -0.0075487862473578166 + - 0.03848423040163923 + - -0.9992306940024338 + - 0.9688364233327444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9725891103306082 + - 0.013035261644975196 + - -0.23216482166806193 + - 0.09996197143946117 + - - 0.008999300636029219 + - -0.9997895644411336 + - -0.018434734136129487 + - -0.08977363239885656 + - - -0.23235626751688523 + - 0.01584010064533847 + - -0.9725017512360409 + - 0.9728875539267052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979677016068839 + - 0.01815880298997339 + - 0.061079656379558145 + - 0.012880123286501927 + - - 0.025326090251295154 + - -0.9926073096504521 + - -0.11869843293437203 + - -0.0931283985958745 + - - 0.05847269193441343 + - 0.1200041111898409 + - -0.9910499268934336 + - 0.9705332010586829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.987280875517842 + - -0.001902712959322964 + - 0.15897437692948418 + - 0.05430943796958532 + - - -0.022699315355814487 + - -0.9913711579572184 + - 0.12910448579712824 + - -0.09311363005486656 + - - 0.15735696336387717 + - -0.13107099928648608 + - -0.9788049750726348 + - 0.97141502502624 + - - 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: + - - 0.9999312487413082 + - -0.011514482559367073 + - 0.0022168631076036442 + - 0.023944312898145803 + - - -0.011338524943027221 + - -0.9976526838355709 + - -0.0675319205102279 + - -0.03456573238706898 + - - 0.0029892545499124214 + - 0.06750214164805012 + - -0.9977146512055255 + - 0.9689474403259908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996591316329735 + - -0.008917523429096018 + - -0.024537691796519587 + - 0.09181896880847984 + - - -0.008819901854088598 + - -0.9999527648797023 + - 0.004083789994951429 + - -0.03379939630357633 + - - -0.024572950048655243 + - -0.0038659779267533937 + - -0.9996905642950603 + - 0.9683753190591773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9691520333207513 + - 0.013385278593162065 + - -0.2460999200065634 + - 0.09989799923702061 + - - 0.008652290596170096 + - -0.9997564278700436 + - -0.02030327067173182 + - -0.08975236275689466 + - - -0.24631174185915883 + - 0.017547628030979465 + - -0.9690317882158425 + - 0.9724979217564581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999389584841969 + - 0.03061433076833878 + - 0.016829155088815162 + - 0.012809341892085135 + - - 0.03401179858357761 + - -0.9626576994446108 + - -0.26857652774790375 + - -0.09334606259631477 + - - 0.007978425064309118 + - 0.2689849743974877 + - -0.9631113270447383 + - 0.9720594577200729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929801593340895 + - -0.0071160510987615345 + - 0.1180667818889219 + - 0.05434361752807488 + - - -0.01900284162499985 + - -0.9948199296379038 + - 0.09986090128479579 + - -0.09325346458310937 + - - 0.11674457237500001 + - -0.10140349802643088 + - -0.9879716774325985 + - 0.9725846391159036 + - - 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: + - - 0.999880346023449 + - -0.012940411061901901 + - 0.008475812502468458 + - 0.023928740470122344 + - - -0.012469201399948454 + - -0.998491714383025 + - -0.05346789059703318 + - -0.0345421275623934 + - - 0.00915492503931721 + - 0.05335580633818396 + - -0.9985335974705748 + - 0.9684904016556692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997332592295004 + - -0.009560667866421048 + - -0.021023891654698666 + - 0.09183625484734995 + - - -0.00946164850572749 + - -0.9999436964184824 + - 0.004804289801456269 + - -0.03378900068298598 + - - -0.02106864015342682 + - -0.0046040876284336694 + - -0.9997674303452755 + - 0.9684066090043641 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9681392425039338 + - 0.02220472470341618 + - -0.24942605582567925 + - 0.09999678447121924 + - - 0.008902637939570215 + - -0.9984831869276434 + - -0.05433294084194246 + - -0.08983015906183159 + - - -0.2502541711173388 + - 0.05038130232201817 + - -0.9668684368696246 + - 0.9731096587648909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945158454044114 + - 0.006494132330575527 + - 0.10438419173812599 + - 0.01282778700515562 + - - 0.014598706607603472 + - -0.9969190728106357 + - -0.07706646502706571 + - -0.0930054262880125 + - - 0.10356211182152472 + - 0.07816769480837849 + - -0.9915466204286164 + - 0.9705252199949703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959477447762617 + - -0.004050428025023421 + - 0.08984254954025139 + - 0.054330887409675094 + - - -0.01708365414921792 + - -0.9893165972353056 + - 0.14477851772851782 + - -0.09318495391220208 + - - 0.0882963104324769 + - -0.14572667726799696 + - -0.9853768299977635 + - 0.9718264823970123 + - - 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: + - - 0.9999131209485796 + - -0.013156202018479045 + - -0.0008154160411165077 + - 0.023893390753048926 + - - -0.013170728822091764 + - -0.9996807309998424 + - -0.021563115960260677 + - -0.03449429906745967 + - - -0.0005314669943312687 + - 0.02157198220075511 + - -0.999767156455324 + - 0.9684681771800835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999667199995062 + - -0.008773483589344265 + - -0.02425933304400526 + - 0.09183904558480932 + - - -0.008824680263466273 + - -0.9999590533851156 + - -0.0020041385660640445 + - -0.03380921554487138 + - - -0.024240756429617608 + - 0.002217552446257651 + - -0.9997036901946841 + - 0.9683556922631449 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9811378620390684 + - 0.01812851014330015 + - -0.19245740514043688 + - 0.09990983873585435 + - - 0.004895719240316047 + - -0.997603879556123 + - -0.06901109640987745 + - -0.08971094203927008 + - - -0.193247322378671 + - 0.06676718216727186 + - -0.9788756896454816 + - 0.9721790070770927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972685355469855 + - 0.015667016270092197 + - 0.07218041707529624 + - 0.012885159750912235 + - - 0.02062497706672358 + - -0.9974404023827926 + - -0.06846352324742075 + - -0.09301187609180721 + - - 0.0709230451191161 + - 0.0697652370141868 + - -0.9950390612309582 + - 0.9692365219321345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956305868725205 + - -0.01288863639929591 + - 0.09248576936830413 + - 0.0543103690635849 + - - -9.481446476071465e-05 + - -0.9905678744777405 + - -0.13702290707348896 + - -0.09320810281589116 + - - 0.09337947041024419 + - 0.13641542839583604 + - -0.9862408962324998 + - 0.9716727456240598 + - - 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: + - - 0.999926858224958 + - -0.01167834276160203 + - 0.0031455541176617302 + - 0.02393008880218292 + - - -0.011560040804193938 + - -0.9993094012380628 + - -0.03531410559294415 + - -0.034545367117769295 + - - 0.0035557920313162754 + - 0.03527515992262509 + - -0.9993713120934896 + - 0.9686280268136775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999036981146665 + - -0.008920822867762461 + - -0.010630776828436229 + - 0.09186533012936793 + - - -0.008910093988369377 + - -0.9999597465611257 + - 0.001056164062687835 + - -0.033797482771830596 + - - -0.010639770755633516 + - -0.0009613411313866304 + - -0.9999429339224796 + - 0.9685555603018079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9733327685917817 + - 0.011111334229905378 + - -0.22912847888703927 + - 0.09985032706190747 + - - 0.010822548430164716 + - -0.9999382667728902 + - -0.002516960211302768 + - -0.08965898026628565 + - - -0.22914230083276596 + - -2.9914208582276476e-05 + - -0.9733929345717517 + - 0.9718260287136214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997918155784364 + - 0.017233559101421957 + - 0.06214787845640052 + - 0.012898848969805319 + - - 0.025766922871550788 + - -0.9899235948952678 + - -0.1392384356252315 + - -0.0931178334723582 + - - 0.0591220774471372 + - 0.1405499224842475 + - -0.9883067839734822 + - 0.970261221927856 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901657451198134 + - -0.005163944304442342 + - 0.13980390148542143 + - 0.05425040676137016 + - - -0.018668693004253643 + - -0.9952582179328789 + - 0.09545972731252851 + - -0.09315479655875844 + - - 0.1386480331372852 + - -0.09713090814097224 + - -0.9855669990370374 + - 0.9714310767451829 + - - 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: + - - 0.9999204470899508 + - -0.011348112960860158 + - -0.00550634394681011 + - 0.02389599021922551 + - - -0.01164729437621183 + - -0.9982634447655173 + - -0.05774457012220105 + - -0.034585234148133526 + - - -0.004841489971783365 + - 0.05780411038249346 + - -0.99831620481576 + - 0.9684911922640898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99968054693792 + - -0.009564591552953484 + - -0.023394928132531346 + - 0.09179089041609137 + - - -0.009582721871285874 + - -0.9999538648857982 + - -0.0006629792544464716 + - -0.03379819164860981 + - - -0.02338750767907335 + - 0.0008869545531863125 + - -0.9997260813823861 + - 0.9682634881355413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9782780871653136 + - 0.011614156676716633 + - -0.20697124326066088 + - 0.09982694991138935 + - - 0.007097671753630576 + - -0.9997204980952487 + - -0.02255102533957455 + - -0.08963390229931295 + - - -0.20717530554545513 + - 0.020592159985710512 + - -0.978087090048361 + - 0.9714833569709668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9923582891812764 + - 0.013372427019829752 + - 0.12266296950917743 + - 0.012891808287882646 + - - 0.0194387175613825 + - -0.9986392353383625 + - -0.048392291766152146 + - -0.09304031156500898 + - - 0.1218489316850126 + - 0.050406902686149294 + - -0.9912678659216243 + - 0.969748940962325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974397872469463 + - -0.005593639491383599 + - 0.07129222968884509 + - 0.05428086889909352 + - - -0.016069418628566166 + - -0.988971800141129 + - 0.1472295904720082 + - -0.09310845533126326 + - - 0.06968245547988748 + - -0.14799827608068886 + - -0.9865297084606415 + - 0.9715948461788442 + - - 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: + - - 0.9999070300873245 + - -0.011838521789230737 + - 0.006766135070487977 + - 0.023885762449088795 + - - -0.011579545464344664 + - -0.999244029306179 + - -0.03711177741353891 + - -0.03456842709191071 + - - 0.007200368656211512 + - 0.037029978366166935 + - -0.999288214377322 + - 0.9688466368577112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9990790102371632 + - -0.007343597633870537 + - -0.04227532232073728 + - 0.09181940611689432 + - - -0.008075368334220524 + - -0.9998200598706035 + - -0.017164973248129444 + - -0.03379078397769594 + - - -0.04214166263683821 + - 0.0174905532826764 + - -0.9989585380865755 + - 0.9685062664735449 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9711182355216286 + - 0.012854458607987012 + - -0.2382522518912557 + - 0.09990027672261359 + - - 0.011201399294991856 + - -0.9999028900447262 + - -0.008290906707830014 + - -0.08967697273200939 + - - -0.2383356903428292 + - 0.005382692086617383 + - -0.9711679181968005 + - 0.9721819119007059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994941935079655 + - 0.030495327526565377 + - 0.00902175941316613 + - 0.012781278896279093 + - - 0.03141488091166846 + - -0.9908899887684428 + - -0.13095852555592333 + - -0.09316657054160597 + - - 0.004945947954359815 + - 0.13117570338108822 + - -0.991346797261841 + - 0.9703872785010944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.974624385206024 + - -0.006303937171109489 + - 0.2237578336906271 + - 0.0543088296590825 + - - -0.016392342554254716 + - -0.998929470038332 + - 0.043257427044625305 + - -0.09315897911486043 + - - 0.22324560212323022 + - -0.04582765829801709 + - -0.973684356897838 + - 0.9715102975956389 + - - 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: + - - 0.9999193789835623 + - -0.012117859786929683 + - 0.0037938117126795033 + - 0.023915525862464915 + - - -0.011964250134229505 + - -0.9991990438881462 + - -0.03818543454958692 + - -0.03456088879374097 + - - 0.004253498777775883 + - 0.03813696588874775 + - -0.9992634685511868 + - 0.9688250169044887 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997063764962671 + - -0.009700525683827642 + - -0.022204967781129147 + - 0.09183726225854826 + - - -0.00969673854634449 + - -0.999952946820332 + - 0.000278220950957152 + - -0.03379066936048129 + - - -0.02220662185627116 + - -6.282349174310756e-05 + - -0.9997534005938369 + - 0.9686649633186093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9596836965702644 + - 0.015274275429436227 + - -0.2806668827049932 + - 0.09997630046890524 + - - 0.007087677712782057 + - -0.9995199435334831 + - -0.030160359803265833 + - -0.08986414768806944 + - - -0.2809928243956995 + - 0.02695512917662317 + - -0.9593312533474551 + - 0.9733842849460587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9914192359238558 + - 0.004761445999125319 + - 0.1306339437977565 + - 0.012846564020117232 + - - 0.013146968626660854 + - -0.997901347858954 + - -0.06340392067698163 + - -0.09302616806834547 + - - 0.13005789424747577 + - 0.06457730695283596 + - -0.989401190402878 + - 0.9708489290939386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9831204510990702 + - -0.008353880953501668 + - 0.1827686825027071 + - 0.05436132256690879 + - - -0.017551932655068665 + - -0.9986559700152973 + - 0.048766619863159916 + - -0.09320918156722828 + - - 0.1821156453763173 + - -0.0511514049251898 + - -0.9819457344901229 + - 0.9724219089123622 + - - 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: + - - 0.9998904761729009 + - -0.013138182200128114 + - 0.006813503299015385 + - 0.02392929943429516 + - - -0.012768256875313046 + - -0.9985781101498691 + - -0.05175644448647518 + - -0.034577644013894716 + - - 0.0074838008455248095 + - 0.05166377936225536 + - -0.9986364937387939 + - 0.9689715152332838 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994183002898092 + - -0.008537626339774175 + - -0.03301772224595649 + - 0.09185680371415125 + - - -0.008664228148552508 + - -0.9999556447881905 + - -0.003693183832960429 + - -0.03381794484690695 + - - -0.0329847267143229 + - 0.003977108587479619 + - -0.9994479428218686 + - 0.9683416048422908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9643469375654011 + - 0.008192085333082792 + - -0.26451441122579267 + - 0.09993976195427573 + - - 0.010384307607722878 + - -0.99992234083945 + - 0.006890460482609268 + - -0.0897966377035432 + - - -0.2644374220184058 + - -0.009391593477664 + - -0.9643571163257983 + - 0.9729969294159674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972404685030787 + - 0.012388225437309122 + - 0.07319822299943195 + - 0.012894878586590313 + - - 0.028686804329593828 + - -0.9736969955472228 + - -0.22603368801943632 + - -0.09324743937428075 + - - 0.0684727335303313 + - 0.22750976403844006 + - -0.9713654266186635 + - 0.9717945946185376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966913998708093 + - -0.005587692527984041 + - 0.08108656556902072 + - 0.05437668213972938 + - - -0.011782123610704794 + - -0.9970292962799323 + - 0.07611677819485492 + - -0.09329160708286265 + - - 0.08042036425426372 + - -0.07682031015138756 + - -0.9937963599055171 + - 0.9731282858600313 + - - 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: + - - 0.9999051996215212 + - -0.013331051509839223 + - -0.003445988317991477 + - 0.02390780009512322 + - - -0.013420479971163905 + - -0.9995349703156303 + - -0.02738126793041273 + - -0.034527583758291444 + - - -0.003079364737946577 + - 0.02742491899305217 + - -0.999619123131924 + - 0.9689071787576358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997311547081268 + - -0.008435731195891744 + - -0.021597609709088934 + - 0.0918348529017966 + - - -0.00907809808057237 + - -0.9995140810148017 + - -0.02981928886434053 + - -0.03385917938936603 + - - -0.02133556751518417 + - 0.030007337308167376 + - -0.9993219467551375 + - 0.9686073130601719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9654093980490015 + - 0.011534400069045929 + - -0.26048349616379113 + - 0.09991858254969543 + - - 0.011129410555006686 + - -0.999933476259309 + - -0.0030297321123226055 + - -0.08975764146112783 + - - -0.2605011139695235 + - 2.5904083196756113e-05 + - -0.9654735464784191 + - 0.9726902876154727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999478944109415 + - 0.014383886525806928 + - 0.02889539912065139 + - 0.012774439193929548 + - - 0.015443975940209693 + - -0.9992031082024649 + - -0.036805327952506996 + - -0.09290271768760969 + - - 0.028342968953291667 + - 0.03723241016837452 + - -0.9989046119344763 + - 0.969250863893375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9637267338545358 + - -0.013558214809089713 + - 0.26654635106348645 + - 0.05430684590835602 + - - -0.016095353207978783 + - -0.9998435478898356 + - 0.007336167131104316 + - -0.09312346190282977 + - - 0.26640518399456714 + - -0.011360218054934888 + - -0.9637941810296244 + - 0.9716738539838379 + - - 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: + - - 0.9999043157110213 + - -0.013079365914654223 + - 0.0045043989326835196 + - 0.02391083481360077 + - - -0.012778417324231742 + - -0.9980331339539584 + - -0.06137243339422393 + - -0.034522008165981555 + - - 0.005298251896800796 + - 0.061309001927215064 + - -0.9981047714591527 + - 0.9686900576321276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997217827361881 + - -0.008662597879391389 + - -0.021938927064876265 + - 0.09184443720191564 + - - -0.008570743781504587 + - -0.9999541221182261 + - 0.004277383522524324 + - -0.03379987113914074 + - - -0.02197497380680571 + - -0.004088160557870243 + - -0.9997501625253393 + - 0.9686085318277224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9700675092807113 + - 0.008239427910084576 + - -0.24269556911001003 + - 0.09987331494913568 + - - 0.010651058303938523 + - -0.9999060655858255 + - 0.008626410706763184 + - -0.08969036045373747 + - - -0.24260169495476167 + - -0.010953165405040481 + - -0.9700641451845786 + - 0.9720943414990488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995638906260329 + - 0.022782943689914625 + - 0.018787390275671164 + - 0.012895605672051539 + - - 0.02460748128053842 + - -0.994333854750113 + - -0.10341497552486824 + - -0.09309001247802959 + - - 0.016324840629425925 + - 0.10383218563915202 + - -0.9944608472955687 + - 0.9700602422671052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9905069182101586 + - -0.009242364847103335 + - 0.13715182707440385 + - 0.05431707466609549 + - - -0.011251368484003838 + - -0.9998403632561398 + - 0.01388001120561995 + - -0.09314474840592162 + - - 0.13700164847567095 + - -0.015291392868669575 + - -0.9904527861635228 + - 0.9715411257874654 + - - 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: + - - 0.9998311123100714 + - -0.011722932581715516 + - -0.014153434512164284 + - 0.023907677477858547 + - - -0.012126962576327506 + - -0.9995114453216084 + - -0.028806378630111186 + - -0.03451491468935598 + - - -0.013808824550913897 + - 0.028973151758024653 + - -0.999484803707254 + - 0.9687511945662062 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998548219801343 + - -0.009780421361950122 + - -0.013952717335946696 + - 0.09185726913762726 + - - -0.009828055541705653 + - -0.9999460936431173 + - -0.0033494972966202274 + - -0.033819225957057546 + - - -0.013919205700874836 + - 0.003486139104170562 + - -0.9998970459736362 + - 0.968625838395584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9630240969226581 + - 0.001584191892811497 + - -0.2694106142718686 + - 0.09991566972662587 + - - 0.015863061105601078 + - -0.9985812507263767 + - 0.05083157473564358 + - -0.08972283724704778 + - - -0.2689478611899689 + - -0.05322570839164194 + - -0.9616829373174661 + - 0.9726255768344618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994781842709104 + - 0.02983151171967247 + - 0.012387093082844608 + - 0.012767675854247703 + - - 0.032025626888195644 + - -0.9651667680120661 + - -0.25966799792727596 + - -0.09332202837661693 + - - 0.004209321672442334 + - 0.2599292035029169 + - -0.9656185016751679 + - 0.9717301993744532 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9829753540336712 + - -0.0016851953253182502 + - 0.18372972943727497 + - 0.05428115445462161 + - - -0.03103534895391854 + - -0.9871126232450299 + - 0.15698877713270984 + - -0.09311814085172489 + - - 0.18109737843957666 + - -0.16001821504763344 + - -0.970359680930366 + - 0.9712941249615292 + - - 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: + - - 0.999905992269135 + - -0.011951291122779963 + - 0.006721105919052194 + - 0.023927608676442134 + - - -0.011709041341452293 + - -0.9993188662002543 + - -0.03499574269968185 + - -0.0345571450190572 + - - 0.0071347722557008565 + - 0.03491375512225425 + - -0.9993648606630726 + - 0.9683811514852579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995441097767646 + - -0.008906343251934838 + - -0.02884873758856749 + - 0.09181062501704315 + - - -0.009092807405218915 + - -0.9999385684385059 + - -0.006338785581103237 + - -0.0337981060301189 + - - -0.028790509965384566 + - 0.006598211805506169 + - -0.9995636898851933 + - 0.9683458316377402 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9709907799051903 + - 0.013277406355152687 + - -0.2387480174149943 + - 0.09991897714462919 + - - 0.008096403489433565 + - -0.9997102548628769 + - -0.02266836060543377 + - -0.08974035729662451 + - - -0.238979818373114 + - 0.020077768862148127 + - -0.9708169392876659 + - 0.9724694777730877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985026092760816 + - 0.025053220138802672 + - 0.04862998488107488 + - 0.012769835483777314 + - - 0.030259150440364646 + - -0.9935313266912391 + - -0.10945266875582972 + - -0.09318265558233038 + - - 0.04557327159074999 + - 0.11076027737335571 + - -0.9928017112559249 + - 0.9704949251476742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9863938669734253 + - -0.006167954540245255 + - 0.164283582667295 + - 0.054362282221143164 + - - -0.020657532370849992 + - -0.9960257589695938 + - 0.08663690798610255 + - -0.09323752377714074 + - - 0.16309630760247076 + - -0.08885180811798138 + - -0.9826011147157356 + - 0.9724861311787855 + - - 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: + - - 0.9999253164672668 + - -0.011899165503649577 + - -0.0027877137860835414 + - 0.023929917336298352 + - - -0.012019387233145187 + - -0.9987730618029924 + - -0.048040663476018146 + - -0.03454941963595374 + - - -0.0022126496279507974 + - 0.048070582241045025 + - -0.9988414905802778 + - 0.9687935286648655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999622878851606 + - -0.008284241297095143 + - 0.002606559726284508 + - 0.09186791273556236 + - - -0.008242224303018924 + - -0.9998421875591822 + - -0.015737398622636935 + - -0.03381504472613678 + - - 0.002736520786310463 + - 0.015715321282129553 + - -0.9998727619707347 + - 0.9685013665160631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9647544124636923 + - 0.019201505490560627 + - -0.26245042544970626 + - 0.09996848440814976 + - - 0.010072445706393391 + - -0.9992979539201325 + - -0.03608524807354251 + - -0.08979317788321337 + - - -0.262959064246372 + - 0.03216988464283508 + - -0.964270516531922 + - 0.9731502467552682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.991235430290069 + - 0.002767508526545108 + - 0.1320782443637752 + - 0.012945807390219359 + - - 0.028378459523568624 + - -0.9809013709913988 + - -0.19242443561633163 + - -0.0932798039900458 + - - 0.12902319470828022 + - 0.1944860953480996 + - -0.9723827301754796 + - 0.9716386342827203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9920638507883378 + - -0.0059381412787104515 + - 0.1255948025881997 + - 0.054385196772773765 + - - -0.017906951970252574 + - -0.9953747866439552 + - 0.0943841892725445 + - -0.09333182377978691 + - - 0.12445343317944205 + - -0.09588416236091604 + - -0.9875816778262927 + - 0.9734987670203596 + - - 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: + - - 0.9999021561893341 + - -0.011481063550799513 + - 0.00799144715699349 + - 0.023917535973184127 + - - -0.011220938252902143 + - -0.9994291083070003 + - -0.031867664071889824 + - -0.03457513220129738 + - - 0.008352759582621414 + - 0.03177487448310006 + - -0.9994601486597343 + - 0.9687235736836558 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99991015690818 + - -0.010936516773537732 + - -0.007750529834861511 + - 0.09185620496400777 + - - -0.01069631231519943 + - -0.999481073523673 + - 0.030383755048070383 + - -0.03377558532966517 + - - -0.008078800326450924 + - -0.030298123189853813 + - -0.9995082574528621 + - 0.9683512400112481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9796445856982909 + - 0.007624139446698617 + - -0.20059501043077074 + - 0.09981341272693538 + - - 0.008638869332993989 + - -0.9999539321508357 + - 0.004183719963062712 + - -0.08963837165878218 + - - -0.2005538721856828 + - -0.005831472693854235 + - -0.979665319523739 + - 0.9713795703648801 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975045924224699 + - 0.025672170648266917 + - 0.06576874447857878 + - 0.012768653740881479 + - - 0.03131587570418537 + - -0.9957794418535958 + - -0.0862706155688084 + - -0.09315908596833777 + - - 0.06327640970347745 + - 0.08811494104831132 + - -0.9940985127939234 + - 0.97013121576821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998809116898932 + - -0.004261640183373657 + - 0.014832426003033567 + - 0.05437511024738671 + - - -0.005985314185813937 + - -0.9929740943726185 + - 0.11818047181736589 + - -0.0932606381132571 + - - 0.014224572130124189 + - -0.11825517463445552 + - -0.9928813500211843 + - 0.972855328990549 + - - 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: + - - 0.9999095203900847 + - -0.013036885673253134 + - 0.003315214203230236 + - 0.02391212602777269 + - - -0.012862896509350815 + - -0.9987655365406923 + - -0.04797862974255916 + - -0.03453695777694953 + - - 0.0039366136031496555 + - 0.04793164539765331 + - -0.9988428607357686 + - 0.968879899529332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992588389511734 + - -0.009992831752446545 + - -0.03717413202107332 + - 0.09178004647248642 + - - -0.009570353023844425 + - -0.9998877792871744 + - 0.011525501080741404 + - -0.03381159139798326 + - - -0.03728513270664173 + - -0.011161189261475479 + - -0.9992423363395478 + - 0.9683648371109487 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9706216357472599 + - 0.016843379138859763 + - -0.24002070910339857 + - 0.09989642962611156 + - - 0.007257981402403831 + - -0.9991424452023522 + - -0.040763904388897154 + - -0.08973696317432175 + - - -0.2405014800895745 + - 0.037824261714532015 + - -0.9699115234393675 + - 0.9722356839015672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9892993594189052 + - 0.011745581917145042 + - 0.14542633447478298 + - 0.012797284934413 + - - 0.033085196180475965 + - -0.9888483253787613 + - -0.14520454259188784 + - -0.09327856011272302 + - - 0.14209907546160616 + - 0.1484622197767755 + - -0.9786556197416484 + - 0.9712481467215244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997686000155404 + - -0.005805336287556449 + - 0.06774173871771903 + - 0.0544155062350371 + - - -0.009765166131901601 + - -0.9982530435014363 + - 0.05827094190534658 + - -0.0934038646827023 + - - 0.0672851144334889 + - -0.05879761228747554 + - -0.9959997761872059 + - 0.9741118100672985 + - - 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: + - - 0.9991428178156965 + - -0.010811954172822054 + - -0.039959119788536716 + - 0.023873832502641808 + - - -0.012689957839203864 + - -0.9988120509896121 + - -0.04704733539705649 + - -0.03454189867657649 + - - -0.03940297675746161 + - 0.047514086804743415 + - -0.9980930903366487 + - 0.9684794739288527 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998103344005149 + - -0.010721957300578493 + - -0.01625837807332401 + - 0.09178447036981617 + - - -0.010690373904251982 + - -0.9999407992778517 + - 0.0020282616591904548 + - -0.0338077137353884 + - - -0.016279162500505352 + - -0.001854068827046426 + - -0.9998657666392357 + - 0.9682767768178125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.974255176221284 + - 0.017393816692311947 + - -0.22477612583837486 + - 0.09992492127609515 + - - 0.006848120997346119 + - -0.9988424675695711 + - -0.04761121945861238 + - -0.08973363735420081 + - - -0.2253440810068913 + - 0.04484618289670475 + - -0.9732465592206093 + - 0.9726123375635063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9892311407537502 + - 0.015293089588268277 + - 0.14556054264078283 + - 0.012857330840931977 + - - 0.018906142164114202 + - -0.9995457397730286 + - -0.02347066019648962 + - -0.09307615923785029 + - - 0.14513548136656407 + - 0.025969896273069316 + - -0.9890709057171087 + - 0.9698613507297691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971994288916844 + - -0.007371868009570208 + - 0.0744241532041041 + - 0.054362162293158704 + - - -0.01192167679416282 + - -0.9980741603154446 + - 0.06087564482644998 + - -0.09324342886429494 + - - 0.07383205699771613 + - -0.06159241895452753 + - -0.9953668676858881 + - 0.9727018469738261 + - - 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: + - - 0.999924143965653 + - -0.012315163172023053 + - 0.00020753458143423035 + - 0.023948857277133064 + - - -0.0123063276744955 + - -0.9996214369536603 + - -0.02460766307206612 + - -0.034573993124267004 + - - 0.0005105034025255219 + - 0.024603242443768006 + - -0.9996971640689646 + - 0.9687704058144089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994832720531559 + - -0.008628958295522026 + - -0.030963364879342887 + - 0.09178369859605773 + - - -0.00879159751196629 + - -0.9999482436263455 + - -0.005120340005681584 + - -0.03379456007598416 + - - -0.03091757912749268 + - 0.005389911624538639 + - -0.9995074047517479 + - 0.9680157418547433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9854191828604081 + - 0.005924070701995297 + - -0.17004099340171921 + - 0.09976458862433736 + - - 0.007379116539610531 + - -0.9999413593093338 + - 0.007926322078775434 + - -0.08960244542948241 + - - -0.16998406598802315 + - -0.00906550213277773 + - -0.9854051116070283 + - 0.9709990392960295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978783206563169 + - 0.02471020757153937 + - 0.060235062927669926 + - 0.012753958429896827 + - - 0.027968001187299543 + - -0.998156983972014 + - -0.053855605627266594 + - -0.09308869196342467 + - - 0.058793265547306774 + - 0.05542599561274381 + - -0.9967303100320667 + - 0.9693009284000114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9877392715846087 + - -0.005087731015887763 + - 0.1560296329631543 + - 0.054219781043715345 + - - -0.026542474180343806 + - -0.9903899913641112 + - 0.13573194933464477 + - -0.09299608276441532 + - - 0.153839619194447 + - -0.13820918927085407 + - -0.9783821296237998 + - 0.9700616706682543 + - - 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: + - - 0.9997272200671186 + - -0.013282098881917451 + - 0.019211228647901934 + - 0.023926611358300962 + - - -0.012499867062218457 + - -0.9991102510510343 + - -0.040279766237726645 + - -0.03456665616942607 + - - 0.019729135315514127 + - 0.040028640921595186 + - -0.9990037382941428 + - 0.9686572509927471 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997176461367565 + - -0.004709214051969865 + - -0.023290584058705124 + - 0.09192940540886468 + - - -0.006253566060205642 + - -0.9977543982745107 + - -0.06668623272759527 + - -0.03385056220749726 + - - -0.022924242938721525 + - 0.06681305281815136 + - -0.9975021278467553 + - 0.9691045077614768 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9605962359130085 + - 0.007362005559337063 + - -0.2778500898396543 + - 0.09998616361885475 + - - 0.013030873468339841 + - -0.9997428016877301 + - 0.01856143340961274 + - -0.08982245323904005 + - - -0.2776419778895327 + - -0.02145067243029135 + - -0.9604451055452758 + - 0.9732154215357818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989104976984606 + - 0.010950884145755868 + - 0.04536403558150508 + - 0.012831352814925043 + - - 0.01696556849302245 + - -0.9907812378221473 + - -0.13440501577441788 + - -0.09302370564594414 + - - 0.04347398156969741 + - 0.13502820785317116 + - -0.989887567358252 + - 0.9706338892571377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944456770157409 + - -0.0014146345542172482 + - 0.10524159954021398 + - 0.05438736436800959 + - - -0.019608948623315317 + - -0.9848931108386826 + - 0.17204955494388857 + - -0.0933046710612285 + - - 0.10340833911533892 + - -0.17315761326485174 + - -0.9794504358924072 + - 0.9733239482054955 + - - 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: + - - 0.9998612207859328 + - -0.01387170191065036 + - 0.009225782057158637 + - 0.023928014583558387 + - - -0.013584300090856684 + - -0.9994419260500835 + - -0.03051726141613518 + - -0.03452432369888347 + - - 0.00964395974201895 + - 0.030387700462543084 + - -0.9994916616466056 + - 0.9687568288161841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998047987805263 + - -0.009050299358658014 + - -0.01756292734569241 + - 0.09184708463904011 + - - -0.009039007326614643 + - -0.9999588865243464 + - 0.000722224022473751 + - -0.03377976945380345 + - - -0.017568741616313978 + - -0.0005633316145093165 + - -0.9998454990524842 + - 0.9685580049875224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9681688622001164 + - 0.017609611176031326 + - -0.24967770397126174 + - 0.0999577142706021 + - - 0.0070811436732997925 + - -0.999049805977357 + - -0.04300398331415462 + - -0.08977930329040311 + - - -0.25019774513454374 + - 0.039867113901497754 + - -0.9673736101211132 + - 0.972853697519711 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9835229204179894 + - 0.007821752198190113 + - 0.1806141888252955 + - 0.012735591149814339 + - - 0.01857660859699207 + - -0.9981477082270018 + - -0.05793153005245613 + - -0.093073168781095 + - - 0.17982651257671534 + - 0.0603321867143449 + - -0.9818464506330724 + - 0.9707081528961249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982757116345816 + - -0.007080895345073548 + - 0.058270614220048964 + - 0.0543904248014871 + - - -0.01990731730676361 + - -0.9747059571469235 + - 0.22260277585858723 + - -0.09322393859546677 + - - 0.055220487847514405 + - -0.22337895608900293 + - -0.9731662446357614 + - 0.9727183828702587 + - - 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: + - - 0.9998934305086753 + - -0.012953588915587504 + - -0.00673291614375936 + - 0.02389850548688613 + - - -0.013112110161793662 + - -0.9996245476266677 + - -0.02405901804490698 + - -0.034511472749067074 + - - -0.006418737624947311 + - 0.024144736825779254 + - -0.9996878670319632 + - 0.9687762233216832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998163550539961 + - -0.009675727746943585 + - -0.016541960558182408 + - 0.09186039616610281 + - - -0.009797297007341707 + - -0.9999254756126588 + - -0.007283968159447961 + - -0.03379522317260453 + - - -0.01647025008587816 + - 0.00744469699618087 + - -0.999836640331181 + - 0.9685933042222679 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9738191586966158 + - 0.015070307589180206 + - -0.2268240110406805 + - 0.0999136205509688 + - - 0.007549920082286548 + - -0.999393780414762 + - -0.033986326295158124 + - -0.08971474550338315 + - - -0.22719869027387973 + - 0.031384032523838735 + - -0.9733425900680478 + - 0.9724135820051772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986306118721203 + - 0.02500809558315527 + - 0.045951019436115244 + - 0.012768565938821055 + - - 0.030343659670134585 + - -0.9923881496483512 + - -0.11935251465866037 + - -0.09317104237983567 + - - 0.042616468057988084 + - 0.12058339683731945 + - -0.9917880222393478 + - 0.9703564136903495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9892831547412315 + - -0.0036423058656539446 + - 0.1459642879378984 + - 0.054297261086768175 + - - -0.025550666583264138 + - -0.9885818320883338 + - 0.14850294509545314 + - -0.09313514479293072 + - - 0.1437567500411287 + - -0.1506409468665586 + - -0.9780804169109808 + - 0.9717974238318547 + - - 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: + - - 0.9998462582195817 + - -0.012471657999081679 + - 0.01232548867410442 + - 0.023924259802327173 + - - -0.012012550796728739 + - -0.9992561176965157 + - -0.036645734669176123 + - -0.03456443201070202 + - - 0.01277335303111701 + - 0.036492040129891164 + - -0.9992523067071205 + - 0.9688771497483539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99985990094482 + - -0.011470112397973162 + - -0.01219077537289697 + - 0.09184569106022065 + - - -0.010927828613024472 + - -0.9989868776563601 + - 0.04365547883371643 + - -0.03375099935179007 + - - -0.012679157874990457 + - -0.043516144038443505 + - -0.9989722639611205 + - 0.9684541110457469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.970393704779335 + - 0.013785968263563814 + - -0.24113482702354042 + - 0.09985306304553511 + - - 0.008942329291742426 + - -0.9997359048000658 + - -0.021169681160365605 + - -0.08973252556400607 + - - -0.24136298902581313 + - 0.018386618303252625 + - -0.9702607071276748 + - 0.9719058581799207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963902835135285 + - 0.013732617637515945 + - 0.0837724186868925 + - 0.012903016267102605 + - - 0.023344368123929343 + - -0.9931073027370235 + - -0.11486046198448048 + - -0.09319051624369373 + - - 0.08161766595979514 + - 0.11640146246167012 + - -0.9898430462149338 + - 0.9712471107438649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988972315681388 + - -0.006463656535649653 + - 0.046503138708017096 + - 0.05431247019827128 + - - -0.009739697651903986 + - -0.9974592846962023 + - 0.07056992038390725 + - -0.09325628057570091 + - - 0.04592884774471726 + - -0.07094502461434957 + - -0.9964222721453555 + - 0.972774337485276 + - - 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: + - - 0.999941583412231 + - -0.010501212065457998 + - -0.0025601383159009157 + - 0.023896725487564566 + - - -0.010594871413201342 + - -0.9991504289441943 + - -0.03982673775707563 + - -0.03454627009705423 + - - -0.0021397342774264324 + - 0.03985153555121087 + - -0.9992033209769837 + - 0.9686603433788743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995525817835038 + - -0.007322884998201258 + - -0.029000200089566906 + - 0.09184013913116226 + - - -0.008780908849709683 + - -0.9986868515375142 + - -0.0504724499688748 + - -0.0338406634008249 + - - -0.028592514574707968 + - 0.050704515788937365 + - -0.9983043224332473 + - 0.968718914648903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9694166350433902 + - 0.01600157146637297 + - -0.2448986268065975 + - 0.09990177403540941 + - - 0.006845910646870068 + - -0.9992469977862009 + - -0.03819124143935813 + - -0.08977003465135122 + - - -0.24532533747773713 + - 0.03534667064761309 + - -0.9687962074995771 + - 0.972335778211202 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987721818149664 + - 0.02667840580716466 + - 0.04174196325234488 + - 0.012780204792831904 + - - 0.032895215325992586 + - -0.9871842340287633 + - -0.15615758993305623 + - -0.09320237421360422 + - - 0.037040972466019985 + - 0.15733896767372096 + - -0.9868497431778251 + - 0.970883215538842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940322393587581 + - -0.006275476738299089 + - 0.10890603981010356 + - 0.05436262997230358 + - - -0.014848165158971862 + - -0.9968361238585549 + - 0.07808504441993269 + - -0.09322131875200756 + - - 0.10807145370922282 + - -0.07923610643108378 + - -0.9909804237878852 + - 0.9722339775156807 + - - 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: + - - 0.9998878352564887 + - -0.013217254320041094 + - 0.007044224182419725 + - 0.023941207538042186 + - - -0.013029914542607173 + - -0.9995768070203783 + - -0.026008233195600097 + - -0.03453510466902857 + - - 0.00738500054876003 + - 0.025913530349678637 + - -0.999636909438477 + - 0.9689273888162723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999064094326229 + - -0.010031331947813681 + - -0.00930294334674277 + - 0.09183025423280936 + - - -0.00999813402976303 + - -0.9999435074800611 + - 0.0036082079204406937 + - -0.03381529501421188 + - - -0.009338612931416928 + - -0.0035148581517621784 + - -0.9999502168011623 + - 0.9683736684307052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9689772757943297 + - 0.029080632818968288 + - -0.2454329965368302 + - 0.10000162841808088 + - - 0.006257793765759325 + - -0.9956219043065772 + - -0.09326233796195561 + - -0.08983263249715451 + - - -0.24707059519777863 + - 0.08883321709694604 + - -0.9649169811589089 + - 0.9734602534349232 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984173043836231 + - 0.019294144753851175 + - 0.05282634083066252 + - 0.012850206659008559 + - - 0.02331886062012587 + - -0.9967842970437754 + - -0.07666352396235657 + - -0.09306299262383211 + - - 0.05117730988161675 + - 0.07777403901794683 + - -0.9956566083786703 + - 0.969607598251532 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9871437853302142 + - -0.013459511016724109 + - 0.15926703565749806 + - 0.054490037492298256 + - - -0.008307229462022905 + - -0.9994217626625259 + - -0.03297165836284526 + - -0.09344319784648081 + - - 0.15961872390982634 + - 0.03122469983397066 + - -0.9866847931825432 + - 0.9745627717285071 + - - 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: + - - 0.9999103448172262 + - -0.013151961716030322 + - -0.0025155974470818655 + - 0.02391861541150275 + - - -0.013202754453574096 + - -0.9996844481783165 + - -0.021370337977041208 + - -0.0345420549501701 + - - -0.0022337417787921423 + - 0.021401634830881797 + - -0.9997684634075186 + - 0.9686203777730567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996102281656011 + - -0.008275686348877436 + - -0.02666279734330193 + - 0.09182131011644923 + - - -0.008809145885772909 + - -0.9997621161846814 + - -0.019952693820432386 + - -0.03380218703378667 + - - -0.02649133245946974 + - 0.020179793293880737 + - -0.9994453387990456 + - 0.9683149945427614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9750104599476783 + - -0.005668815533900207 + - -0.22208662166609522 + - 0.09985218185766648 + - - 0.013992000181142529 + - -0.9961227589384202 + - 0.08685432088181565 + - -0.08962934791426326 + - - -0.22171789942074505 + - -0.08779130740200365 + - -0.9711507912889222 + - 0.9718079009668176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999433998537563 + - 0.029895715372206314 + - 0.015424939857344618 + - 0.0127592515330949 + - - 0.030190997915035506 + - -0.9993582009233672 + - -0.019279260673188466 + - -0.09308306397765805 + - - 0.014838672855514847 + - 0.019734042910525374 + - -0.9996951442006169 + - 0.9696480236412295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870150362472634 + - -0.0032160776972361502 + - 0.16059568819261186 + - 0.054363820970924986 + - - -0.02448334867170427 + - -0.9911294352931853 + - 0.13062544979150315 + - -0.09314924531685169 + - - 0.15875101215309786 + - -0.1328612032899676 + - -0.9783383958532498 + - 0.9718745466983062 + - - 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: + - - 0.9998275060141065 + - -0.011673785248341645 + - -0.014445793698770224 + - 0.02392751774458511 + - - -0.012341141277262827 + - -0.9988184275870414 + - -0.047004733214059506 + - -0.03458034493048966 + - - -0.013880001786255942 + - 0.04717490276117026 + - -0.9987902052482733 + - 0.9691716505754157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998373941154705 + - -0.010425309694273884 + - 0.014713879371666887 + - 0.09184171882759452 + - - -0.010117796547087029 + - -0.9997320125088398 + - -0.020821463878811296 + - -0.03387215086258768 + - - 0.014927006445273585 + - 0.020669206148359178 + - -0.9996749313630803 + - 0.9687026952113 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9618975122957474 + - 0.012254089407756451 + - -0.273135521549357 + - 0.0999943132095816 + - - 0.011731633769382023 + - -0.999924894491062 + - -0.003546004249859308 + - -0.08985429074694723 + - - -0.27315846062012 + - 0.00020656675830360897 + - -0.9619690289826494 + - 0.9733873102589944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994732909220373 + - 0.030828220614576175 + - 0.010137137032294918 + - 0.012745185417108352 + - - 0.03119196546063362 + - -0.9987934195889354 + - -0.0379310727048846 + - -0.09303598678500283 + - - 0.008955558283833764 + - 0.03822729129273513 + - -0.9992289388204513 + - 0.9693313802625956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.97892261258066 + - -0.0106661723035935 + - 0.20395281647146982 + - 0.054451771915312946 + - - -0.0028919794200878064 + - -0.9992591187394859 + - -0.03837772884134414 + - -0.09340850156915959 + - - 0.20421105512015938 + - 0.036978999234376315 + - -0.9782281935122987 + - 0.9742761752574557 + - - 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: + - - 0.9998927552606313 + - -0.013344549288008479 + - 0.006033322600635188 + - 0.023927546925681123 + - - -0.01316196599306918 + - -0.9994824835993235 + - -0.029351790904896397 + - -0.03455212333404056 + - - 0.006421886677660499 + - 0.029269232692836017 + - -0.9995509348647879 + - 0.9686579740052215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996940996047436 + - -0.00835455221921102 + - -0.023278931948813517 + - 0.09181039251687259 + - - -0.00883502382389415 + - -0.9997484724055493 + - -0.020613934044777796 + - -0.03378574215467997 + - - -0.023100856466638578 + - 0.02081329815256829 + - -0.9995164616205782 + - 0.9684862349191682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9687595145913637 + - 0.011783939196283916 + - -0.24772190388765322 + - 0.09986792720145765 + - - 0.009375606879068743 + - -0.9998966455140234 + - -0.010899370874219999 + - -0.08970180584640985 + - - -0.2478247382412712 + - 0.008236326051275526 + - -0.9687698705310893 + - 0.9720295984487852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9965030796828873 + - 0.012674702401951322 + - 0.0825891282284963 + - 0.01289649221939386 + - - 0.024977848826992763 + - -0.9884177279885984 + - -0.14968801577225 + - -0.09319196043386185 + - - 0.07973530742711744 + - 0.15122746746831223 + - -0.9852778967543239 + - 0.9710178894328865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830783800257156 + - -0.01592585297373947 + - 0.18249182429104527 + - 0.054422201243817234 + - - 0.003863146293436986 + - -0.9941897409640467 + - -0.10757246423949086 + - -0.09332705819216822 + - - 0.18314468276947166 + - 0.1064571564945254 + - -0.9773049160852354 + - 0.9735108935357456 + - - 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: + - - 0.9998849091192313 + - -0.011974995986189192 + - -0.009314933534766407 + - 0.023913502766524906 + - - -0.0123503901442902 + - -0.9990685938929451 + - -0.04134504275071287 + - -0.0345373299380365 + - - -0.008811150827796705 + - 0.041455327376649774 + - -0.9991015060809315 + - 0.9687333669830334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999664208155621 + - -0.008519675441457954 + - -0.024472148719871963 + - 0.0918230737404587 + - - -0.00855969941962162 + - -0.9999621927682475 + - -0.0015312021302674123 + - -0.033803593233642716 + - - -0.024458178150488685 + - 0.0017401622022743546 + - -0.9996993394801601 + - 0.9682773705354186 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9679638118023366 + - 0.012370849445419333 + - -0.2507848103954651 + - 0.09991571801575987 + - - 0.01050175045516136 + - -0.999906220997388 + - -0.008789906034762887 + - -0.08969985063751604 + - - -0.25087003065027136 + - 0.005874631454075316 + - -0.9680029526952955 + - 0.9725279820508643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9942752434058534 + - 0.008305579195193017 + - 0.10652585462911512 + - 0.012721992931401667 + - - 0.019563978363153038 + - -0.9942710697496723 + - -0.10508230397858896 + - -0.09304154520656502 + - - 0.10504280604038085 + - 0.1065648028810398 + - -0.9887416000584219 + - 0.9710282625757936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960481245912114 + - -0.006904543843172524 + - 0.08854637639479314 + - 0.05442239606287278 + - - -0.013630336981819324 + - -0.9970465906209279 + - 0.075579825647761 + - -0.09333102144444075 + - - 0.08776301847642161 + - -0.07648806054216312 + - -0.9932004979773247 + - 0.9737305648084561 + - - 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: + - - 0.9999282795931694 + - -0.011791281904760144 + - 0.0020979372933470682 + - 0.023904068086664537 + - - -0.011731707409084064 + - -0.9995814221480678 + - -0.02644517985784981 + - -0.034551929582390624 + - - 0.0024088817139873223 + - 0.02641867081230355 + - -0.9996480636310957 + - 0.9687823584302808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995830977560414 + - -0.00951367006453824 + - -0.027260241421150473 + - 0.09182550586345188 + - - -0.009493467451520925 + - -0.9999545571811256 + - 0.0008704300357667847 + - -0.03381485850423927 + - - -0.027267283623111635 + - -0.00061127293687937 + - -0.9996279915994822 + - 0.9683186844401074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9808633776839398 + - 0.022239210526769082 + - -0.19342298682834683 + - 0.09993041647703767 + - - 0.0043810586031855624 + - -0.9957244975227145 + - -0.09226879948635765 + - -0.08974800996401563 + - - -0.19464799162582755 + - 0.08965568887853277 + - -0.97676712516738 + - 0.9723062325260075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998567680240564 + - 0.02713621640080966 + - 0.046110885248789917 + - 0.012771071737464399 + - - 0.031010477700044115 + - -0.9958557933675797 + - -0.08549613493628647 + - -0.09309590081722191 + - - 0.04359975059325121 + - 0.0868035977115987 + - -0.9952709164707514 + - 0.969475715509257 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990814087325525 + - -0.004669497139695706 + - 0.04259735345583019 + - 0.05430876538734483 + - - -0.0071844276963138574 + - -0.9982274585408607 + - 0.059078972686828046 + - -0.09315410465831597 + - - 0.042245978786802814 + - -0.05933074086438589 + - -0.997344043179097 + - 0.9717613900737765 + - - 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: + - - 0.9999106498768314 + - -0.011938954646484685 + - 0.006012788441469678 + - 0.023927756375581425 + - - -0.011773915067778638 + - -0.9995721835406312 + - -0.02677358429107785 + - -0.03457998793791232 + - - 0.006329864680182729 + - 0.026700398007593388 + - -0.9996234398809216 + - 0.9686393059067941 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998306877663906 + - -0.007584879298416379 + - -0.016765005416488767 + - 0.09184939255617534 + - - -0.008273631169636328 + - -0.9991082889084042 + - -0.04140258520660507 + - -0.03381335171014034 + - - -0.016436022263773713 + - 0.041534282713799525 + - -0.9990018821461727 + - 0.9685036153586671 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9731466450145139 + - 0.018197969271816612 + - -0.22946555560993845 + - 0.09994268749255864 + - - 0.005393196529393992 + - -0.9983989493434738 + - -0.056306761414972234 + - -0.08973349731156288 + - - -0.2301228383455042 + - 0.05355718312448193 + - -0.9716867331643358 + - 0.9726863279000235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9973471394984107 + - 0.025790781245285502 + - 0.06806995620018834 + - 0.012785953525898732 + - - 0.03160435426906375 + - -0.9958144332632298 + - -0.08576000988728473 + - -0.09316516651217291 + - - 0.06557322720114696 + - 0.08768380755526924 + - -0.9939877774736652 + - 0.9701930514611671 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949013739968168 + - -0.005935935308048812 + - 0.10067780634908957 + - 0.05436095412973928 + - - -0.01987837814962261 + - -0.9902250039326846 + - 0.1380553934790488 + - -0.09323969733213366 + - - 0.09887419330334243 + - -0.13935281216585851 + - -0.9852942137453564 + - 0.9729094712540793 + - - 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: + - - 0.9999064036583687 + - -0.01322926198612388 + - 0.00348863157842174 + - 0.023918500337464902 + - - -0.013090161825939192 + - -0.999219693989005 + - -0.03726460529631718 + - -0.03453046233554899 + - - 0.00397889260450543 + - 0.03721545071367648 + - -0.9992993438613977 + - 0.9686531676126132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998778601420675 + - -0.009392791442226699 + - -0.012491607848587704 + - 0.09186097174626964 + - - -0.009569762628057003 + - -0.9998536102905646 + - -0.014183710098817871 + - -0.03384642393585641 + - - -0.012356554574909162 + - 0.014301519424435203 + - -0.9998213750971674 + - 0.9686956903964916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9761720912795738 + - 0.016566000873169246 + - -0.2163645438188372 + - 0.09987773579443521 + - - 0.007152079719366474 + - -0.998996201320427 + - -0.04422032906983981 + - -0.08974249095701098 + - - -0.2168799113854282 + - 0.04161919463933978 + - -0.9753106923821874 + - 0.9722440465582081 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9818281610157052 + - 0.0006900568656985073 + - 0.18977087779224852 + - 0.012922487520581019 + - - 0.029989476538685885 + - -0.9879921519948208 + - -0.15156562569916188 + - -0.09327470005269765 + - - 0.18738754903529217 + - 0.15450252884067928 + - -0.9700592121352083 + - 0.9718507902599554 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993779298061498 + - -0.0060974532524528165 + - 0.03473578097881709 + - 0.05431459471511362 + - - -0.010556935824305077 + - -0.9914988892241026 + - 0.12968617417972156 + - -0.09318192681036663 + - - 0.03364973287227854 + - -0.1299722036868104 + - -0.9909464777405586 + - 0.9719727285192166 + - - 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: + - - 0.9998946899477075 + - -0.012238029798183963 + - -0.007799976989495559 + - 0.023927310426969307 + - - -0.012640862911323563 + - -0.9984674395879373 + - -0.05387931576743144 + - -0.03456430345859565 + - - -0.007128646381678867 + - 0.053972240173706186 + - -0.9985169901866454 + - 0.9689593134814312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995380357462188 + - -0.007231284609664421 + - -0.029519885153652725 + - 0.09179920587549842 + - - -0.007862229444700363 + - -0.9997419217262945 + - -0.0213137348011785 + - -0.033810897976798315 + - - -0.029358141030210047 + - 0.021535980727845003 + - -0.9993369307142315 + - 0.9681441451252726 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9698884424326655 + - 0.008121708477812479 + - -0.2434141472612871 + - 0.09988185416867709 + - - 0.011861681172208625 + - -0.9998329914083501 + - 0.013902870610046553 + - -0.08966761664072939 + - - -0.2432605799452657 + - -0.016371534528939358 + - -0.9698227998463749 + - 0.97214486191105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992713334270494 + - 0.01817648743697198 + - 0.03356214378403479 + - 0.012907939542226052 + - - 0.02219786993811212 + - -0.9920805691148237 + - -0.12362604480860477 + - -0.09310026561438008 + - - 0.031049263455632626 + - 0.12428097074476886 + - -0.9917611524704935 + - 0.9702461214107319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9919530190403342 + - -0.003101017813719931 + - 0.12656852572928753 + - 0.054361457185381545 + - - -0.023806442573015334 + - -0.9864362348430977 + - 0.16240938359771911 + - -0.09323631876896624 + - - 0.12434814557838832 + - -0.1641156247195627 + - -0.9785722254458912 + - 0.9727114152098155 + - - 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: + - - 0.9998712310686123 + - -0.012775317258688702 + - 0.009711464888337427 + - 0.023937351686155125 + - - -0.012408112696577525 + - -0.9992391513947882 + - -0.03697508700643698 + - -0.03455849574463807 + - - 0.010176444400997419 + - 0.03684982481321185 + - -0.9992689980133428 + - 0.9687894685724643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999395993229392 + - -0.008289762931514141 + - -0.007216476731697497 + - 0.09186546710864817 + - - -0.008467319741157909 + - -0.9996532957917886 + - -0.024931761049220513 + - -0.03381220747828884 + - - -0.007007296360282963 + - 0.024991359369864734 + - -0.9996631081292163 + - 0.9688443461746011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9683658840914415 + - 0.011723087727884598 + - -0.2492590695279213 + - 0.0999447341020418 + - - 0.012546510983781794 + - -0.9999198187994139 + - 0.0017149443959909975 + - -0.08974006634948482 + - - -0.24921897919286687 + - -0.00478802529983078 + - -0.9684353232011903 + - 0.9727750121155044 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995323178311863 + - 0.023204147527838583 + - 0.09377280124149887 + - 0.012772414631283325 + - - 0.03054980328273055 + - -0.9965106089333515 + - -0.07767442180452216 + - -0.09314863953715746 + - - 0.0916432225238605 + - 0.08017589301521166 + - -0.9925589886473523 + - 0.9702523489926569 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9897127248129116 + - -0.006184184446835341 + - 0.14293522381180007 + - 0.054338573953106505 + - - -0.016690713943610803 + - -0.9972342722583586 + - 0.07242393458929892 + - -0.09322571786714587 + - - 0.14209202092818024 + - -0.07406458057715586 + - -0.9870786673272177 + - 0.9723125458187928 + - - 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: + - - 0.9999177659176917 + - -0.011850419416634218 + - -0.004901934497940405 + - 0.023878070906683525 + - - -0.012055937426419455 + - -0.998946874845792 + - -0.0442695788165581 + - -0.03452269956614136 + - - -0.004372159071042387 + - 0.04432503576394553 + - -0.9990075952812282 + - 0.9685424473777164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999778467070227 + - -0.007454490706440543 + - -0.019683682354038827 + - 0.09184791899825895 + - - -0.008268617235912611 + - -0.9990997826569459 + - -0.04160834368068077 + - -0.0338179987624227 + - - -0.01935579375053053 + - 0.041761882897581024 + - -0.9989400874852985 + - 0.9684533328466871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9662029493652624 + - 0.015572940577223873 + - -0.257311764518544 + - 0.09990486826000859 + - - 0.0076009817570220455 + - -0.9994606478588945 + - -0.03194743272642533 + - -0.08976032676754499 + - - -0.2576704983388626 + - 0.028911881696947854 + - -0.9658001953730104 + - 0.9724880990548734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957407183820175 + - 0.007346639247418431 + - 0.09190456271498211 + - 0.012835951679171185 + - - 0.015606603245445477 + - -0.9958661025078822 + - -0.08948262295495728 + - -0.09297248091122529 + - - 0.09086724212389764 + - 0.09053580931061526 + - -0.9917390844074204 + - 0.9702732716046334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990070243938896 + - -0.007595320924503964 + - 0.14036817006297683 + - 0.05433984467275672 + - - -0.01556180566079421 + - -0.9983238104597175 + - 0.055744055053125026 + - -0.09326405403254354 + - - 0.13970949241676697 + - -0.057374912368072094 + - -0.9885288954600192 + - 0.97239991665099 + - - 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: + - - 0.9999159098042278 + - -0.01296640386448699 + - -0.0002137550144933214 + - 0.023929249535989003 + - - -0.012966748969059166 + - -0.9994272132475879 + - -0.03125874023907912 + - -0.034541533655924106 + - - 0.0001916808717822324 + - 0.03125888339310664 + - -0.9995113033215082 + - 0.9686295472737563 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997448352731004 + - -0.010270483125525458 + - -0.02011918291406762 + - 0.09180548503764098 + - - -0.009955108623779685 + - -0.9998269798698449 + - 0.015713247170233535 + - -0.03375155390097863 + - - -0.020277084530330315 + - -0.015508949052479402 + - -0.9996741030667129 + - 0.9682120770463905 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.964988817518539 + - 0.021466477162858544 + - -0.2614111176334863 + - 0.09995972537054529 + - - 0.006441267178008029 + - -0.9982842148518232 + - -0.05819911042981215 + - -0.08979062550680803 + - - -0.26221192219522255 + - 0.05447767190231632 + - -0.9634713753520605 + - 0.9730263126727849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989721084087408 + - 0.027228986686726506 + - 0.03623960410116175 + - 0.012764725560742131 + - - 0.03275733889914406 + - -0.9862554439505978 + - -0.16194800408173066 + - -0.09322416751958355 + - - 0.031331826784301804 + - 0.16296865208322642 + - -0.9861336294177049 + - 0.9706572388314451 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9903347171880011 + - -0.007063550363636359 + - 0.1385180644841039 + - 0.05442535843000737 + - - -0.00826951958956251 + - -0.9999327353700248 + - 0.008132636791242948 + - -0.09330337331502167 + - - 0.13845130182818735 + - -0.009199510404407897 + - -0.9903265148578018 + - 0.9731807708348496 + - - 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: + - - 0.9998972875126135 + - -0.012698399677575894 + - 0.006645680593176228 + - 0.02391584811664631 + - - -0.012547289704814876 + - -0.9996724476325236 + - -0.022306119462199944 + - -0.03452172173468273 + - - 0.006926755804951213 + - 0.022220443065497794 + - -0.9997290992883976 + - 0.968611872755141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999265024683737 + - -0.010721305587793984 + - -0.005660677332127155 + - 0.09187501762918922 + - - -0.01066878810131983 + - -0.9999005084626936 + - 0.009227683159703461 + - -0.033832263340472075 + - - -0.005759046953659707 + - -0.009166612380802184 + - -0.9999414015809355 + - 0.9685608691706917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9671571889086386 + - 0.016103467765792603 + - -0.25366838641867867 + - 0.099958178970957 + - - 0.008249571358259898 + - -0.9994539929375443 + - -0.0319946960229845 + - -0.08976903125395402 + - - -0.25404510724425494 + - 0.028851244810480552 + - -0.966761960959439 + - 0.9727645933825411 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976388648188645 + - 0.01776904146843693 + - 0.06633970581951915 + - 0.012891287322196575 + - - 0.020507275702497395 + - -0.9989558098483836 + - -0.04082574694261277 + - -0.09304836744644682 + - - 0.06554500016163806 + - 0.042089798472473884 + - -0.9969615347737132 + - 0.9697482288976097 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9804833143171094 + - -0.012888173917694845 + - 0.19617942124189183 + - 0.054358080525830375 + - - -0.009204281492977405 + - -0.99976399397288 + - -0.01967835251216054 + - -0.09323342685065472 + - - 0.1963867397456723 + - 0.017488605675183816 + - -0.980370540726109 + - 0.9724703107619905 + - - 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: + - - 0.9998491733133865 + - -0.012706346081832043 + - -0.01183973791037394 + - 0.023901114977911635 + - - -0.013003693362377838 + - -0.9995931622814745 + - -0.02538530833098887 + - -0.0345010746662546 + - - -0.011512366545366982 + - 0.025535439870322064 + - -0.9996076263850505 + - 0.9688896213936045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997931191122003 + - -0.010132546564440537 + - -0.017636623146656327 + - 0.09181291180879984 + - - -0.010103183807690567 + - -0.9999474246348341 + - 0.001753180855139222 + - -0.03382838889082418 + - - -0.01765346008140468 + - -0.0015746321101297984 + - -0.9998429256042531 + - 0.9683684228866514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9794169268454038 + - 0.010294272337372146 + - -0.20158499786876194 + - 0.0998708172124487 + - - 0.008088013567761633 + - -0.9998980769809043 + - -0.011765189603936412 + - -0.08966021546925415 + - - -0.20168556578305857 + - 0.009892603647821149 + - -0.9794003619296012 + - 0.9719060010025902 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9870155884706255 + - 0.01276250561363737 + - 0.16011666548628425 + - 0.0127663822214023 + - - 0.016225433427612956 + - -0.9996614782774706 + - -0.02033873541272363 + - -0.09307940041244098 + - - 0.15980288929199896 + - 0.022672611198636845 + - -0.9868885394386568 + - 0.9710868220730415 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996232840218154 + - -0.005431768227227021 + - 0.02690326997534947 + - 0.05430873026990232 + - - -0.008041105419860396 + - -0.9951684437452263 + - 0.09785248692461194 + - -0.09316665825583548 + - - 0.026241773283593943 + - -0.09803195635929311 + - -0.9948372253124138 + - 0.9722635269509035 + - - 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: + - - 0.999874718188168 + - -0.014008433000685114 + - 0.007369649448713499 + - 0.02393223549452888 + - - -0.013682469752608251 + - -0.9990001127600566 + - -0.042562480271511216 + - -0.034545350245376055 + - - 0.007958514283493322 + - 0.042456312961197396 + - -0.999066626176723 + - 0.9689554009417831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996471444405117 + - -0.008069278899604182 + - -0.02530757495239782 + - 0.09184069827820165 + - - -0.00824324650620616 + - -0.999943056550724 + - -0.006777355165019087 + - -0.033788682308532596 + - - -0.025251445482759018 + - 0.006983580316377387 + - -0.9996567381391451 + - 0.9684682914205454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9666017899791198 + - -0.0005141248806857495 + - -0.256282491178716 + - 0.09984952061834722 + - - 0.01652035057522816 + - -0.9977931999808867 + - 0.06431024870713495 + - -0.08965204168784685 + - - -0.2557499904712279 + - -0.06639627811488422 + - -0.9644601996072505 + - 0.9720481000961051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980052728769018 + - 0.027721534933253984 + - 0.056718531458819416 + - 0.012745554296407592 + - - 0.030439954997446544 + - -0.9984006696388833 + - -0.047639395508161174 + - -0.0931060227635857 + - - 0.05530718262264077 + - 0.04927087745894076 + - -0.9972529750192637 + - 0.9697592365569031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957450104484278 + - -0.0036829889161003023 + - 0.09207773759006142 + - 0.054404002894804446 + - - -0.010214717713085443 + - -0.9974547477603474 + - 0.0705668882152504 + - -0.0933063315125751 + - - 0.09158347945509772 + - -0.07120717494034959 + - -0.9932482089225795 + - 0.9734242061047567 + - - 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: + - - 0.9997865140650426 + - -0.011172729050659691 + - -0.01738092112722711 + - 0.023925472020173377 + - - -0.01240439414307204 + - -0.9972949384505044 + - -0.07244954621630613 + - -0.03457620776314771 + - - -0.01652444551607299 + - 0.07264967905342669 + - -0.9972206209429392 + - 0.9691293288242164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994502048390588 + - -0.008863422210093874 + - -0.031948830868890506 + - 0.09180630670214891 + - - -0.009026232165352121 + - -0.9999469844706993 + - -0.004955338621365596 + - -0.03381134273224939 + - - -0.0319032158263163 + - 0.005240991765004919 + - -0.9994772217640874 + - 0.9682796328766645 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9972051951724081 + - 0.01891796134472546 + - 0.07227661765549714 + - 0.012798661654807659 + - - 0.036146273310010246 + - -0.9688159320550381 + - -0.24513085632397563 + - -0.09337204271775845 + - - 0.06538536263535968 + - 0.24705829379902838 + - -0.9667920944123175 + - 0.9722911344276418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993570010099458 + - -0.006154776928924844 + - 0.113051995789186 + - 0.05433320697756646 + - - -0.0130213130562906 + - -0.9981074093471675 + - 0.06010028962140528 + - -0.09317623127999677 + - - 0.11246813076268776 + - -0.061185930794929434 + - -0.9917697320625921 + - 0.972042695985942 + - - 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: + - - 0.9998387052225792 + - -0.01314012833988713 + - -0.012243388666851974 + - 0.02390935421857203 + - - -0.013513284015486002 + - -0.9994307881537396 + - -0.030911014954418566 + - -0.034530204901209775 + - - -0.011830244881367198 + - 0.031071477557508796 + - -0.9994471514734737 + - 0.9684824733380436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998756779563576 + - -0.008487400285646176 + - -0.01328881739303619 + - 0.09183803848894523 + - - -0.008384542468074786 + - -0.9999346078572303 + - 0.007776853927495064 + - -0.03377541006838307 + - - -0.013353953681037626 + - -0.007664466439339287 + - -0.9998814569114113 + - 0.968502721302872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.973513551958199 + - 0.013520553756797478 + - -0.22822918038638398 + - 0.09990460780973892 + - - 0.008155602704492686 + - -0.9996681857775901 + - -0.024433675300041677 + - -0.08974241320740224 + - - -0.22848380751873318 + - 0.02192516750793354 + - -0.9733007945807356 + - 0.9723738225204688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993519874307449 + - 0.021105485732594895 + - 0.029157566603053752 + - 0.012848554558363435 + - - 0.025353771592265054 + - -0.9877441321130993 + - -0.15400881709235592 + - -0.0931684791008842 + - - 0.025549784427026694 + - 0.15464827172694406 + - -0.98763916516489 + - 0.9706172112505795 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9835301055859172 + - -0.010476677550143781 + - 0.18044049056036401 + - 0.05435596957646968 + - - -0.011779552862643611 + - -0.9999117030776478 + - 0.006150461991899043 + - -0.09319839375487664 + - - 0.18036012181330632 + - -0.00817467282941179 + - -0.98356667348158 + - 0.9723300190782331 + - - 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: + - - 0.999820101147867 + - -0.012957072828526196 + - 0.013852061376745262 + - 0.02394558895544083 + - - -0.012369121629502433 + - -0.9990527887537596 + - -0.04171966099395461 + - -0.034531617023858374 + - - 0.01437950523430569 + - 0.04154081784284213 + - -0.999033327913621 + - 0.9687017612014631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.968486763662866 + - 0.00011095647648622434 + - -0.2490650041625444 + - 0.09991144022194058 + - - 0.015860962549696975 + - -0.9979976173840454 + - 0.06123059335632186 + - -0.08975288983488894 + - - -0.24855948679707446 + - -0.06325142990028339 + - -0.9665492424800436 + - 0.9726037369179031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906691385664778 + - 0.017147396215394236 + - 0.13520586043136343 + - 0.012794707806528426 + - - 0.02977245371289117 + - -0.9953216532593122 + - -0.09191521937668014 + - -0.09323299418283755 + - - 0.13299721385001564 + - 0.09508298142244893 + - -0.9865449648910847 + - 0.9706050246822765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930263208230361 + - -0.0039021013939608863 + - 0.11782826383077998 + - 0.05430700092276874 + - - -0.020827234463656835 + - -0.9895387321944265 + - 0.1427561690143116 + - -0.0931852041586951 + - - 0.11603858176167316 + - -0.14421467016832262 + - -0.982719276523556 + - 0.9722102561074759 + - - 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: + - - 0.9999035003348661 + - -0.013075253532343257 + - 0.004693374388139427 + - 0.02391605491244423 + - - -0.012942640944543062 + - -0.9995447727326068 + - -0.027253171343952706 + - -0.034526388187864326 + - - 0.005047579961024432 + - 0.027189796762520174 + - -0.9996175453084798 + - 0.9686864029247929 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9813645799808584 + - 0.009422525850766505 + - -0.19192388378100564 + - 0.0998376007255823 + - - 0.008437243425504741 + - -0.9999467017858334 + - -0.005950337050296933 + - -0.08964464904261107 + - - -0.1919697217854214 + - 0.004220141493480564 + - -0.9813917751455852 + - 0.9716435275946826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9936098908571063 + - 0.0019557836828585345 + - 0.11285193707294183 + - 0.012842997963123905 + - - 0.019578077107911797 + - -0.9876797711373875 + - -0.15525903704053765 + - -0.09310242383249827 + - - 0.11115792228935381 + - 0.15647633877421932 + - -0.9814066800853407 + - 0.971430419490952 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987918910992187 + - -0.005880092122008371 + - -0.04878711706058315 + - 0.05428839717806137 + - - -0.0005917085734178573 + - -0.9941821164662679 + - 0.10771058062983761 + - -0.09314530312208197 + - - -0.049136627432196565 + - -0.1075515867632333 + - -0.9929845155032885 + - 0.9718037815927525 + - - 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: + - - 0.9999227746884527 + - -0.011812284527531696 + - -0.0038619416860638544 + - 0.023925594689925 + - - -0.011925629199273714 + - -0.9994551214651008 + - -0.030777256950252005 + - -0.034537434468925175 + - - -0.003496287680862757 + - 0.030820936251532663 + - -0.9995188071572398 + - 0.9688990426957614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9724499491431412 + - 0.012296348780008882 + - -0.23278723379554664 + - 0.09994700228525447 + - - 0.008382518775741046 + - -0.9998065214763981 + - -0.01779474619763139 + - -0.08972601591426109 + - - -0.23296100487093643 + - 0.015353156676857759 + - -0.9723648753372258 + - 0.9725426127360622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996567126927373 + - 0.022968940767973994 + - 0.01260494063244975 + - 0.012896358150714661 + - - 0.02403288144646939 + - -0.9954679796688175 + - -0.09201044540410917 + - -0.09307801575860031 + - - 0.010434432314708253 + - 0.0922817924299258 + - -0.9956782579770384 + - 0.9699546183859371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9854139512816428 + - -0.012248955769989574 + - 0.1697330483495922 + - 0.054407456870362345 + - - -0.00016796761894620049 + - -0.9974756842491352 + - -0.07100866932001666 + - -0.09332814543923008 + - - 0.17017437059198767 + - 0.06994442375390143 + - -0.9829285127512358 + - 0.9732629011844978 + - - 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: + - - 0.9998688222789635 + - -0.01326748511140372 + - 0.00929042912341395 + - 0.0239253064986021 + - - -0.012962512498050529 + - -0.9993989554443299 + - -0.03215122278422628 + - -0.034532611161684 + - - 0.009711411031172625 + - 0.0320265779564684 + - -0.9994398365085227 + - 0.9688402655751625 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995693438547004 + - -0.01136166653777048 + - -0.02705622588921244 + - 0.09181026305224356 + - - -0.010423439694600106 + - -0.9993479545124172 + - 0.034569028288071436 + - -0.03378022627179188 + - - -0.027431345771154168 + - -0.034272121984682456 + - -0.9990360068205005 + - 0.9682340072883293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9785482612649913 + - 0.006935304852894741 + - -0.20590095172645456 + - 0.09988623362866544 + - - 0.010998244887314459 + - -0.9997666141823025 + - 0.018594509293157212 + - -0.08971244239267516 + - - -0.2057239387739332 + - -0.020460173827513372 + - -0.9783961581600199 + - 0.9721315543774542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959601082091775 + - 0.016073937644801146 + - 0.0883464282501251 + - 0.012905036630124728 + - - 0.022294442266104213 + - -0.9973061725800364 + - -0.06988101299926505 + - -0.09310763162066236 + - - 0.08698517517374328 + - 0.07156833561255388 + - -0.9936355230353047 + - 0.9704431480997995 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959201081431299 + - -0.006894214418485832 + - 0.08997559671226588 + - 0.054292743703529184 + - - -0.018480091407511633 + - -0.9915271814968514 + - 0.1285781263453469 + - -0.09309115230011687 + - - 0.08832680463905837 + - -0.129716298746387 + - -0.9876092635358336 + - 0.9714787410284612 + - - 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: + - - 0.9998078794295795 + - -0.01312675918843401 + - 0.014556525125735778 + - 0.023902734323485362 + - - -0.012661339967244799 + - -0.9994198538894101 + - -0.031617180802613686 + - -0.03451665636260282 + - - 0.01496311133291346 + - 0.03142680137844412 + - -0.9993940471377443 + - 0.9685158546934173 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998825339016646 + - -0.00978282653011059 + - -0.01179892806437349 + - 0.09183829444859348 + - - -0.009866423021782344 + - -0.9999264882913543 + - -0.007047815979110997 + - -0.033819560396946294 + - - -0.011729113143871504 + - 0.007163401315152833 + - -0.9999055523330473 + - 0.9686329956371473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9699843200141351 + - 0.004613894539542523 + - -0.24312369465746017 + - 0.0998811365062994 + - - 0.010150856794589158 + - -0.9997167464228494 + - 0.02152642627212658 + - -0.08974880325389423 + - - -0.24295550834062538 + - -0.023348209757742412 + - -0.9697564034684474 + - 0.9724421207355232 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991288492835461 + - 0.019995189864176147 + - 0.036629699857254394 + - 0.012695609164601466 + - - 0.025343890033852814 + - -0.9880658680972643 + - -0.15193264145387458 + - -0.09307719439071797 + - - 0.033154634175164274 + - 0.15272862430957462 + - -0.9877118697014914 + - 0.970700084330584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9857982772211887 + - -0.010755000384613385 + - 0.16758904079462716 + - 0.0544589279127087 + - - -0.009232951736704806 + - -0.9999087762585506 + - -0.009858588304432826 + - -0.09340393179680637 + - - 0.16767978181630583 + - 0.008171237841085395 + - -0.9858076494135056 + - 0.9740863540228102 + - - 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: + - - 0.9998999378273116 + - -0.012802657760217431 + - 0.006017166045002371 + - 0.023918094360231817 + - - -0.01260260822500574 + - -0.9994024808291052 + - -0.03218471032271685 + - -0.03451355281441708 + - - 0.0064256205043095056 + - 0.032105657864384636 + - -0.9994638253254742 + - 0.9685222417996409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9686166349573205 + - 0.01921167677182043 + - -0.24781591143341086 + - 0.09994170883051935 + - - 0.007441635883208949 + - -0.9988029892137495 + - -0.04834470801504744 + - -0.08979719843703733 + - - -0.24844805601843373 + - 0.04498333261657645 + - -0.9676001567007767 + - 0.9728565490225735 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9911469206016205 + - 0.013461822410158558 + - 0.13208543113955593 + - 0.012801489880144191 + - - 0.03598455775770189 + - -0.9848473868889907 + - -0.16964886130154339 + - -0.09326908437687309 + - - 0.1278002088609703 + - 0.17289998228838843 + - -0.9766128725036182 + - 0.9712613558273533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997025113095116 + - -0.004212140791769966 + - 0.024023878775210276 + - 0.05434875621164341 + - - -0.007278158526477123 + - -0.9916174472990466 + - 0.12900335895079343 + - -0.09324085975609415 + - - 0.023279117034783768 + - -0.12913983150861744 + - -0.9913531089516026 + - 0.9725936483584773 + - - 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: + - - 0.9999074130670501 + - -0.012270492095148973 + - -0.005882203439392887 + - 0.023901160751916253 + - - -0.012463817503987 + - -0.9993427124346453 + - -0.0340410980579889 + - -0.03451238593292242 + - - -0.005460636115584542 + - 0.034111261007315374 + - -0.9994031235320933 + - 0.9684249140421503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999885592132102 + - -0.0073418913969191995 + - -0.013224949049105674 + - 0.09187393605810898 + - - -0.007786745992074367 + - -0.999394684575982 + - -0.033906209285751325 + - -0.03383361150264415 + - - -0.012968008077207195 + - 0.03400530946764196 + - -0.9993375154043403 + - 0.9688687520805904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9685045729548823 + - 0.013474482678427692 + - -0.24863091216103772 + - 0.09993903035724896 + - - 0.0061635314991518204 + - -0.999526082750608 + - -0.030159920104073243 + - -0.08976847146071298 + - - -0.2489194710040576 + - 0.027677576081981424 + - -0.9681286323300673 + - 0.9728404219650376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962910017243657 + - 0.008788004058065657 + - 0.08559796065173239 + - 0.01282350927203594 + - - 0.016343996226900193 + - -0.9959884409167841 + - -0.08797669775281092 + - -0.09297208325395286 + - - 0.08448143979830822 + - 0.089049405078472 + - -0.9924379526120389 + - 0.9700435981305363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928513077877881 + - -0.009176809826999777 + - 0.1190044822075117 + - 0.05435937459498781 + - - -0.007851748546340588 + - -0.9999019059203365 + - -0.011598645681459099 + - -0.09331117960696082 + - - 0.1190992471380232 + - 0.010581337263223002 + - -0.9928259689557271 + - 0.9728624358853104 + - - 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: + - - 0.9999079294828638 + - -0.013456615864118638 + - 0.0017470108121612129 + - 0.02392048169768691 + - - -0.01340875227458539 + - -0.999597439170911 + - -0.02500329909022842 + - -0.03450326672222744 + - - 0.002082767325233113 + - 0.02497757178834978 + - -0.9996858421463347 + - 0.9684992977086263 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9690636024264538 + - 0.009900484452034349 + - -0.2466124791243923 + - 0.09992319798398498 + - - 0.010615214481632756 + - -0.9999424262728933 + - 0.0015688725210902914 + - -0.08976356595347608 + - - -0.24658274812681594 + - -0.004138181616788236 + - -0.9691129055889891 + - 0.9726383265349716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985903290004999 + - 0.025462114409387695 + - 0.04657290581954841 + - 0.01274394056427006 + - - 0.0298721794049913 + - -0.9948759966071289 + - -0.09658884134602884 + - -0.09322265349792061 + - - 0.04387490996309039 + - 0.09784391705556135 + - -0.9942341576162808 + - 0.971140013237867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874649820071433 + - -0.005714632441074587 + - 0.1577347529420696 + - 0.054358548238058135 + - - -0.014579696700657566 + - -0.9983742453394301 + - 0.055102619602329955 + - -0.0932109005362026 + - - 0.15716342371477263 + - -0.056711632131209735 + - -0.9859429238182421 + - 0.9722497175374816 + - - 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: + - - 0.9999179780538939 + - -0.012788108463928615 + - -0.0007081288917786413 + - 0.023899959794513117 + - - -0.012795264266421311 + - -0.9998549271800584 + - -0.011243033670331599 + - -0.03452442801566065 + - - -0.0005642490274836271 + - 0.011251172191134817 + - -0.9999365443603709 + - 0.9687058602609492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999778484261506 + - -0.008488021083126513 + - -0.019259696411368616 + - 0.09183071782474564 + - - -0.009415683134829168 + - -0.9987740392120174 + - -0.04859797842725122 + - -0.03384683903772169 + - - -0.018823584113291995 + - 0.04876855640885304 + - -0.9986327155600931 + - 0.9685940896941008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9835160550565657 + - 0.0022752242208455573 + - -0.18080650652206945 + - 0.09977531952703136 + - - 0.00788576203605532 + - -0.9995092006736291 + - 0.030317858200618664 + - -0.089606112801196 + - - -0.1806487868851628 + - -0.031243897380240346 + - -0.9830512879160533 + - 0.9711772863239512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995495064392869 + - 0.030012446805628232 + - 0.00019290857272479266 + - 0.012762141553683 + - - 0.030010539393279797 + - -0.9993612780036367 + - -0.019401122448520016 + - -0.09303769476122174 + - - -0.00038948979767958045 + - 0.01939817165810741 + - -0.999811761900219 + - 0.9691909664099376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980745270012902 + - -0.0067139261091361 + - 0.061661671623073934 + - 0.05427690565479962 + - - -0.007739810599324886 + - -0.9998353317073202 + - 0.016413555422255255 + - -0.09310863672890397 + - - 0.06154131850259075 + - -0.016859201224077233 + - -0.9979621402894243 + - 0.9712518557036586 + - - 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: + - - 0.9999257911183137 + - -0.010680905166682218 + - -0.0058592253101330816 + - 0.023894583140402856 + - - -0.011088223253582379 + - -0.9971545882888767 + - -0.07456392129924387 + - -0.034600930225492425 + - - -0.0050461432295643375 + - 0.07462335639236191 + - -0.99719902282305 + - 0.9688712840688286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999028011964837 + - -0.010871909901632249 + - -0.00872867312458938 + - 0.09185053390019626 + - - -0.010834242453131531 + - -0.9999318411483942 + - 0.004351120321313623 + - -0.03380873023839225 + - - -0.008775383176357641 + - -0.004256128836698502 + - -0.9999524378776397 + - 0.9687803415898067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.960714077445065 + - 0.004234386812747896 + - -0.27750771406791125 + - 0.09991158611275057 + - - 0.013712789591094107 + - -0.999386613362916 + - 0.032223538487139915 + - -0.08969425008816578 + - - -0.2772010476179842 + - -0.03476301194260694 + - -0.9601828535233123 + - 0.972579542519467 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951320133119634 + - 0.018422542952779165 + - 0.09681366635362619 + - 0.012700187581479665 + - - 0.018180902799583353 + - -0.9998290087949591 + - 0.0033775650225544 + - -0.09295865868392833 + - - 0.09685933540485576 + - -0.0016009632233400563 + - -0.995296792952578 + - 0.9699535794541293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959310483922348 + - -0.00464538076937134 + - 0.08999870713433404 + - 0.05436172633506707 + - - -0.018179287837437698 + - -0.9884959551554816 + - 0.15015079132317463 + - -0.09323138623058491 + - - 0.08826585037299343 + - -0.1511759474214053 + - -0.9845582626636032 + - 0.9725800423854707 + - - 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: + - - 0.9998509588703826 + - -0.012564600137595557 + - -0.011840222521507153 + - 0.023906431517930656 + - - -0.012572862799745147 + - -0.9999207639409743 + - -0.0006236671532245995 + - -0.03453446226598672 + - - -0.011831448220537335 + - 0.0007724396944489395 + - -0.9999297076144523 + - 0.968819919667189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999880137661614 + - -0.011422012196609616 + - -0.010452174279653174 + - 0.0918103126347746 + - - -0.011348661714547289 + - -0.9999107463620115 + - 0.007050332407366944 + - -0.03382404798738412 + - - -0.010531770367820919 + - -0.006930869147956923 + - -0.999920519274294 + - 0.9684597459461901 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9806260193193069 + - 0.0048173231858887125 + - -0.19583003761244824 + - 0.09980346670309512 + - - 0.009648121537320023 + - -0.9996720394135356 + - 0.023721875254362056 + - -0.08963615663544701 + - - -0.19565153713878994 + - -0.025151680105017088 + - -0.9803508907544907 + - 0.9714765403300017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980798728211356 + - 0.004288849440147385 + - 0.06179136865149878 + - 0.012866547689476747 + - - 0.018364522434519467 + - -0.9732342021778674 + - -0.22908062342101737 + - -0.09309378797945086 + - - 0.059154981067512054 + - 0.2297755284656956 + - -0.9714442314066272 + - 0.9714632395715392 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934253909373087 + - -0.009712521072653016 + - 0.11406866167124342 + - 0.0544114422746532 + - - -0.006628812335112097 + - -0.9996030619474656 + - -0.02738206333126341 + - -0.09331612055332916 + - - 0.11428933234594203 + - 0.02644589721799443 + - -0.9930954450767833 + - 0.9734502380406764 + - - 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: + - - 0.9998855358952918 + - -0.012447586357265275 + - -0.008600738413856966 + - 0.02390102709128393 + - - -0.01276678057798245 + - -0.9991919147724648 + - -0.03811202916414294 + - -0.03452067789542293 + - - -0.008119385509927555 + - 0.038217470444984386 + - -0.9992364587682574 + - 0.9684137043778657 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997547132667679 + - -0.010914769914697317 + - -0.019271250571561774 + - 0.09181440815495667 + - - -0.010557111421901562 + - -0.9997719297247162 + - 0.018564372678420277 + - -0.03378144632058445 + - - -0.0194694812285345 + - -0.018356370344568124 + - -0.9996419273762308 + - 0.9684501556479407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9737681548621906 + - 0.007404680227613104 + - -0.22742196746799004 + - 0.09985953182256659 + - - 0.009867784798987563 + - -0.9999043077605698 + - 0.009695470334974494 + - -0.08967388031658242 + - - -0.2273284130931406 + - -0.011685291292145693 + - -0.9737480405977574 + - 0.9721216640421566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996742907933281 + - 0.022855446797142343 + - 0.011355213717028585 + - 0.012889078167144508 + - - 0.02377648545350228 + - -0.9957490811685554 + - -0.08898565104249737 + - -0.09307644573001973 + - - 0.009273136812092918 + - 0.08922665467045549 + - -0.9959681787235893 + - 0.9700581702033438 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961182126999948 + - -0.0052439953914892225 + - 0.08786925992462871 + - 0.05422749528147539 + - - -0.012790753812113633 + - -0.9962522165033385 + - 0.08554482876891731 + - -0.09301199820181175 + - - 0.08709134827458936 + - -0.08633667601036957 + - -0.9924520519557583 + - 0.970184960822322 + - - 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: + - - 0.999918522533594 + - -0.012765052951400613 + - 4.144131040504474e-05 + - 0.023916046810210367 + - - -0.012759487705185438 + - -0.9995684793927831 + - -0.026458467036113334 + - -0.03453762871923614 + - - 0.0003791671603544892 + - 0.026455782497363647 + - -0.9996499126217725 + - 0.9686617896133425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994165580076871 + - -0.010266362253744898 + - -0.03257522657085034 + - 0.09178665120942818 + - - -0.009900767871579983 + - -0.9998864037863011 + - 0.011364608169698124 + - -0.033798832537167256 + - - -0.0326881993327935 + - -0.011035457823423625 + - -0.9994046729403493 + - 0.9680157290800623 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9890950286748663 + - 0.0125880292199655 + - -0.14673978932458134 + - 0.09986321344269092 + - - 0.004824947343974673 + - -0.9985754108464922 + - -0.053140085960482523 + - -0.08969557895234294 + - - -0.1471996743671435 + - 0.05185258309011128 + - -0.9877467112033784 + - 0.971724608146737 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977605872787131 + - 0.011519779197257505 + - 0.0658870636808472 + - 0.012783727635360963 + - - 0.013353204249747603 + - -0.9995338645818854 + - -0.02745442569543136 + - -0.09286859603804179 + - - 0.0655400824648711 + - 0.028272747324019864 + - -0.9974493216947166 + - 0.9695561849250525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998536204833393 + - -0.003966486526235093 + - 0.016643454899625387 + - 0.05427893343568581 + - - -0.004645510581731567 + - -0.9991499883060329 + - 0.040959981683219224 + - -0.09312455596185282 + - - 0.01646684055287136 + - -0.041031303326750784 + - -0.9990221595688029 + - 0.9718197724310372 + - - 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: + - - 0.9999216410843002 + - -0.012516819612291865 + - 0.00020228216286877389 + - 0.02394672376117677 + - - -0.012492416638151378 + - -0.9987532486119343 + - -0.048331024338889236 + - -0.03453495397016313 + - - 0.0008069806806286007 + - 0.04832471017917035 + - -0.9988313527159026 + - 0.968901337537544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999290604178143 + - -0.011865741045994669 + - -0.0010384225424345476 + - 0.09181876734242338 + - - -0.011815521410085628 + - -0.9991509996944218 + - 0.03946736960383489 + - -0.0337837734293712 + - - -0.0015058505088643673 + - -0.03945230030134236 + - -0.9992203202573384 + - 0.9681833817661211 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9823583309699757 + - 0.010965043293032235 + - -0.18668657530595362 + - 0.09988254816323783 + - - 0.0069297368170585585 + - -0.9997283254617302 + - -0.022254303339610076 + - -0.08970528199698193 + - - -0.1868798767163813 + - 0.02056801145145067 + - -0.9821674340882024 + - 0.9720753009044918 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99766951614465 + - 0.011934165675109139 + - 0.06717970114058867 + - 0.012794962577530565 + - - 0.01590409003454226 + - -0.9981387813552044 + - -0.05887302501928833 + - -0.0929662510691166 + - - 0.06635206459389893 + - 0.059804254400398826 + - -0.9960024370852415 + - 0.9702803438186642 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996476500747074 + - -0.001810570618285976 + - -0.026482022848560008 + - 0.05432583981531384 + - - -3.965104823788865e-05 + - -0.9977716908099495 + - 0.06672069728389676 + - -0.09325766485419702 + - - -0.026543815247809202 + - -0.06669613821122791 + - -0.9974201978202565 + - 0.9728524142820965 + - - 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: + - - 0.9998992770563181 + - -0.013697888352363298 + - 0.003715319224313316 + - 0.02391862382113322 + - - -0.01359747264052825 + - -0.9995739865916516 + - -0.025825453859781577 + - -0.03453884617770928 + - - 0.0040674906321278605 + - 0.02577233369254347 + - -0.9996595632193985 + - 0.9685940606360752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998349677847357 + - -0.01036387940285349 + - -0.014920696988397625 + - 0.09183471455410037 + - - -0.010199422100597134 + - -0.9998868584254821 + - 0.011056316603343695 + - -0.03380904568814029 + - - -0.015033595169164277 + - -0.010902309468302205 + - -0.9998275504628519 + - 0.9684006491733116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9799927312996255 + - 0.013687732656628714 + - -0.19856206227429385 + - 0.09988101832624413 + - - 0.009124366650029941 + - -0.9996732182642086 + - -0.023878915773448393 + - -0.08969579778728379 + - - -0.19882402403415866 + - 0.021589410830318668 + - -0.9797973794651952 + - 0.9720487652994728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9973630351514627 + - 0.014632951551887926 + - 0.07108342171239476 + - 0.012711212910926141 + - - 0.020014311185886136 + - -0.9969378946607415 + - -0.07559273468503458 + - -0.09301093716702928 + - - 0.06975961196291566 + - 0.07681608502317477 + - -0.9946018729222738 + - 0.9701381878666046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956719358584606 + - -0.00576127427253475 + - 0.09275884789399984 + - 0.05438389181917759 + - - -6.594348917355426e-05 + - -0.9981202655192167 + - -0.061285652573057084 + - -0.09326990123278849 + - - 0.09293756934266036 + - 0.06101428749568294 + - -0.9938007169076067 + - 0.9728777198408856 + - - 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: + - - 0.9999024435720038 + - -0.013349516180107318 + - 0.00411020151486966 + - 0.023926551114613684 + - - -0.013278586398407224 + - -0.999770256152008 + - -0.01682599349246381 + - -0.03449792533261648 + - - 0.004333876093731637 + - 0.01676977434271114 + - -0.9998499848409754 + - 0.9687520421012308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998915534111412 + - -0.009063475422038683 + - -0.011607533343872073 + - 0.09185498888885742 + - - -0.008927340727968577 + - -0.9998913872814709 + - 0.011726731337505628 + - -0.033779312430119765 + - - -0.011712557559378514 + - -0.01162183520832161 + - -0.9998638652045629 + - 0.9683228609059578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9763210735620472 + - 0.011040220305803004 + - -0.21604461311092887 + - 0.09988342542678419 + - - 0.007949339785407405 + - -0.9998533220352868 + - -0.015170445345366117 + - -0.08968002705032165 + - - -0.21618040918554055 + - 0.013093813447576553 + - -0.976265631236587 + - 0.9720248470075649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988124055240697 + - 0.017150164003293313 + - 0.04560318460241074 + - 0.0129001656883905 + - - 0.023463334240512716 + - -0.9896277056684093 + - -0.1417267657141647 + - -0.09313819531553988 + - - 0.04269953767360243 + - 0.14262845455286927 + - -0.9888548293022188 + - 0.9705512164629473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948573670593694 + - -0.009930337215329278 + - 0.10079785518793961 + - 0.054401831894981566 + - - 0.0037727574352763595 + - -0.9908584055952611 + - -0.1348532030118388 + - -0.09334645224970498 + - - 0.10121553985941865 + - 0.13453998834550082 + - -0.9857253197655823 + - 0.9736519040338282 + - - 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: + - - 0.9998554149535501 + - -0.013077907877615525 + - 0.010868188147461611 + - 0.023917055920326533 + - - -0.012621246015918953 + - -0.99907636053735 + - -0.04107468763665413 + - -0.03454835207000325 + - - 0.011395320841015107 + - 0.04093157877467786 + - -0.9990969685280517 + - 0.9687233404530324 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998048592606931 + - -0.01077701546297644 + - -0.016555945651530905 + - 0.09181229273756485 + - - -0.01067459331335404 + - -0.9999234148132017 + - 0.0062623929851702296 + - -0.03378243251128944 + - - -0.016622167617376973 + - -0.006084442950425188 + - -0.9998433292759837 + - 0.9682266486076476 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9665759286617436 + - 0.01210686514473875 + - -0.2560945097967838 + - 0.09990607532665613 + - - 0.009457498820203268 + - -0.9998882890788295 + - -0.011574328450374495 + - -0.0897423035422397 + - - -0.2562060300768772 + - 0.00876545374629315 + - -0.9665824522371944 + - 0.9725199195375125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971351550600966 + - 0.014127819659590608 + - 0.07430940219745535 + - 0.01289967448316683 + - - 0.02374366579219021 + - -0.9912088168805819 + - -0.13015882479857824 + - -0.09307230218446659 + - - 0.07181727423138443 + - 0.1315503175589641 + - -0.9887046035455236 + - 0.970291760906853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972197334395884 + - -0.006516001218496408 + - 0.07423169785743132 + - 0.05442190015591982 + - - -0.0030701194650201843 + - -0.9989163404965294 + - -0.046440489397631714 + - -0.09338064892777743 + - - 0.07445386225809193 + - 0.046083472277396724 + - -0.9961590917005732 + - 0.9737848673819007 + - - 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: + - - 0.9998934278306137 + - -0.011418675205426573 + - 0.009096528881843171 + - 0.023909950157244498 + - - -0.011047044263469178 + - -0.999142330921576 + - -0.03990695896257569 + - -0.03455107392022655 + - - 0.009544411673130162 + - 0.0398022162341838 + - -0.9991619927662686 + - 0.9689293808301617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999535869937333 + - -0.009125710454775374 + - -0.00308954156174222 + - 0.09186676312014812 + - - -0.009122134377558608 + - -0.999957708457832 + - 0.001169598290253158 + - -0.03380568087808435 + - - -0.00310008431561023 + - -0.0011413607923891182 + - -0.9999945433715022 + - 0.9685078335618557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9656146360136912 + - 0.007244302245163663 + - -0.2598766915310555 + - 0.09995597306023926 + - - 0.013295627206089957 + - -0.9996796815869792 + - 0.02153509970611754 + - -0.08976091785255663 + - - -0.2596374414704924 + - -0.024249831074390188 + - -0.9654016494079135 + - 0.9728375291847267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.989820896946149 + - 0.011433993686906112 + - 0.14185857660743936 + - 0.012947269285776577 + - - 0.01874256531707268 + - -0.9985587061325107 + - -0.0502914172826845 + - -0.09309658241247643 + - - 0.14107908496320856 + - 0.05243828940129173 + - -0.9886085765309798 + - 0.9701108268073393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939393894556424 + - -0.006049339848279733 + - 0.10976290619305186 + - 0.05447483153895976 + - - -0.010016061955112083 + - -0.9993150803274752 + - 0.0356237102644213 + - -0.09338666013547424 + - - 0.10947222748924058 + - -0.03650720089916638 + - -0.9933192113772149 + - 0.9742854624097872 + - - 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: + - - 0.9998930927877218 + - -0.012251810478083488 + - -0.007980985867280563 + - 0.02391449511645575 + - - -0.012534271216530214 + - -0.9992601638507848 + - -0.036359551509507905 + - -0.034547234678515074 + - - -0.007529610911266971 + - 0.03645570025265212 + - -0.9993069032477525 + - 0.96913324657797 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999663685798281 + - -0.007214734937049799 + - -0.024909092636703593 + - 0.0919222807680129 + - - -0.007868391610748062 + - -0.9996245950838742 + - -0.02624418634404775 + - -0.033814914141873244 + - - -0.024710396792760686 + - 0.02643135454700167 + - -0.9993451754960123 + - 0.9691530655600148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9624566589094489 + - 0.017486580388458958 + - -0.27087155485059483 + - 0.10001164669953988 + - - 0.008231996231760262 + - -0.9993441067388732 + - -0.03526457945765314 + - -0.08984705224393043 + - - -0.27131054892668865 + - 0.03171081570383849 + - -0.9619693395366078 + - 0.9734433462493118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957019445736794 + - 0.02224721747996125 + - 0.08990383132321227 + - 0.012755242705912218 + - - 0.027582808456962905 + - -0.9979034683139172 + - -0.05854790008771209 + - -0.0931084676564338 + - - 0.08841281722589657 + - 0.06077605812697569 + - -0.9942280646354367 + - 0.9699065578173129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9806571666733991 + - -0.012869582895477625 + - 0.19530974191831213 + - 0.05438045041107723 + - - -0.009017048141080944 + - -0.9997471012562259 + - -0.020601610922323 + - -0.09325246463816908 + - - 0.19552548246947937 + - 0.01844200005069351 + - -0.9805252053563984 + - 0.9725733669861709 + - - 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: + - - 0.9999103150751366 + - -0.012724613175255643 + - 0.0041768440096558385 + - 0.023933223529811348 + - - -0.012593931825732586 + - -0.9994720790219649 + - -0.02994922597798559 + - -0.03452763389849855 + - - 0.004555731281549344 + - 0.02989393709519972 + - -0.9995426943544928 + - 0.9689247651323039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996981325995589 + - -0.007312767842030132 + - -0.023455641185935645 + - 0.09188369116944212 + - - -0.007808615973029003 + - -0.9997464879111356 + - -0.021118367028145013 + - -0.033809131334599105 + - - -0.023295261182063338 + - 0.021295148176010803 + - -0.9995017996335082 + - 0.9686631273829803 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9602725518245548 + - -0.002862464117756189 + - -0.2790491578764075 + - 0.09993477961397695 + - - 0.020222256478223555 + - -0.9966047452144752 + - 0.0798125438694948 + - -0.08973028603185997 + - - -0.27833017543070426 + - -0.08228479880977801 + - -0.9569542963640154 + - 0.9727736824566022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9900055369222853 + - 0.024728048862554943 + - 0.13884365474399077 + - 0.012788495318350752 + - - 0.02167513766252872 + - -0.9994898365479737 + - 0.023457515738364073 + - -0.09314989153793009 + - - 0.13935288038116703 + - -0.020213615133277473 + - -0.9900364561432656 + - 0.9697674051832719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874873826716237 + - -0.005711646191246159 + - 0.15759456260332155 + - 0.05442188059138356 + - - -0.016840170213838754 + - -0.9974488314128115 + - 0.06937029177094167 + - -0.09331320464021707 + - - 0.15679629374291715 + - -0.07115620711506948 + - -0.9850643209747686 + - 0.9733648039682788 + - - 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: + - - 0.9999099258743499 + - -0.012570695682958728 + - -0.004702950988320357 + - 0.02393108920022697 + - - -0.012795702915120433 + - -0.9985990851636533 + - -0.05134332573200932 + - -0.03455704157072291 + - - -0.004050941231378093 + - 0.05139887859050696 + - -0.9986699881115776 + - 0.9689716227624474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998470151586828 + - -0.008519480413735797 + - -0.015276280036472583 + - 0.0919039481368262 + - - -0.008734249856314704 + - -0.9998631760221532 + - -0.014047850879772342 + - -0.03382955170413932 + - - -0.015154509484645988 + - 0.014179128618248237 + - -0.9997846233834101 + - 0.9687274062295488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9671724963990785 + - 0.008492104024269748 + - -0.2539788305713991 + - 0.09997513357150155 + - - 0.01228020375894433 + - -0.9998356968470228 + - 0.013333263144041482 + - -0.08975044423171957 + - - -0.2538238735911444 + - -0.016014477190043605 + - -0.9671178716762076 + - 0.9727454861018265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9928324195383407 + - 0.015902206804038223 + - 0.1184521275976328 + - 0.012798745275183841 + - - 0.033764082767465994 + - -0.9880554138193423 + - -0.15035453414234187 + - -0.09326197243125482 + - - 0.11464629705540422 + - 0.15327628336129026 + - -0.981510370566931 + - 0.971379391412818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935772609063996 + - -0.003138273398515896 + - 0.11311223563263313 + - 0.0543610458326835 + - - -0.025242750306279177 + - -0.9805724221714701 + - 0.19452642091436145 + - -0.09320218134013075 + - - 0.11030426177945708 + - -0.19613229238667623 + - -0.9743536799932746 + - 0.9724630341384195 + - - 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: + - - 0.9998953872542363 + - -0.011835764226151594 + - -0.00831439912945071 + - 0.023942925066706314 + - - -0.012395138591190616 + - -0.9974132186189598 + - -0.07080417970340522 + - -0.034569104853679616 + - - -0.0074548700193925385 + - 0.07089983081326692 + - -0.9974555824214149 + - 0.9689284282365914 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999409815768825 + - -0.010796225716747071 + - 0.0012144436313855933 + - 0.09184616806700235 + - - -0.010813653794090477 + - -0.9998229506532907 + - 0.015399098628464163 + - -0.033770106886692824 + - - 0.0010479764703066918 + - -0.015411322370927922 + - -0.9998806893265302 + - 0.968553168780296 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9753907874840435 + - 0.013137197903069348 + - -0.2200914031090561 + - 0.09991117210615388 + - - 0.0066648335022694155 + - -0.9995239362434928 + - -0.030124423159644177 + - -0.08974965892371428 + - - -0.2203823760776811 + - 0.027916212271185174 + - -0.9750139965184016 + - 0.9725625082849069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9860495876665147 + - 0.01127714094808268 + - 0.16606937331950575 + - 0.012808685309853646 + - - 0.03292612811803575 + - -0.9912025668574945 + - -0.12819259550484607 + - -0.09328798879549141 + - - 0.16316274314270088 + - 0.13187227740185375 + - -0.9777461949314853 + - 0.9716906408503068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999622271868089 + - -0.00668770162080279 + - 0.005551472473827413 + - 0.05442228184750009 + - - -0.006818289762255425 + - -0.9996923596818788 + - 0.02384736711664105 + - -0.0934391355442999 + - - 0.005390280541351681 + - -0.0238843178824316 + - -0.9997001971766222 + - 0.9745309837950068 + - - 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: + - - 0.9997432995284872 + - -0.012781357492954292 + - -0.01870753721179887 + - 0.023917351155874136 + - - -0.01332310722710672 + - -0.9994869357680656 + - -0.029126620860962776 + - -0.03452032674285788 + - - -0.018325661289802207 + - 0.029368386567882074 + - -0.9994006543967697 + - 0.9690686791788885 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999476168321341 + - -0.01004576944128085 + - -0.001961149680217596 + - 0.09183037811821212 + - - -0.010027781131971761 + - -0.9999094312007147 + - 0.008976246511332829 + - -0.033770201316724556 + - - -0.002051145364146791 + - -0.00895611032734476 + - -0.9999577895543887 + - 0.9683888063414706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9868123364765171 + - 0.008892284807628378 + - -0.16162406952139696 + - 0.09980735795679427 + - - 0.006954849142453128 + - -0.9998970696303473 + - -0.012549112241550654 + - -0.0896376625581659 + - - -0.16171902377631103 + - 0.01125954775047999 + - -0.9867726080173145 + - 0.9712252495391254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9939893594319973 + - 0.00658674691878601 + - 0.1092783972292588 + - 0.012724688348326707 + - - 0.027613606313533802 + - -0.9809981399033093 + - -0.19204202210091498 + - -0.09305502162652618 + - - 0.10593697221616721 + - 0.19390529717177662 + - -0.9752835965227734 + - 0.9705981078755905 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962600020011733 + - -0.0032475760413587552 + - 0.08634501527290402 + - 0.05434400874336554 + - - -0.01420999858365311 + - -0.9918454383863442 + - 0.1266518941526461 + - -0.0932279282068842 + - - 0.08522959786878624 + - -0.12740517886670105 + - -0.9881820864825818 + - 0.9723560760468698 + - - 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: + - - 0.9998968378804513 + - -0.01171537082821224 + - -0.008310456246933322 + - 0.02390991789152813 + - - -0.012040639630989702 + - -0.9991177357942508 + - -0.040233978409380505 + - -0.034545760459063886 + - - -0.00783176825189303 + - 0.04032989099572834 + - -0.9991557252492334 + - 0.9687419060965685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996930437012626 + - -0.0080027301662482 + - -0.023447274579187993 + - 0.09184387702337495 + - - -0.00851449570211347 + - -0.9997259129552117 + - -0.02180830871039978 + - -0.033845305358416504 + - - -0.023266321974998665 + - 0.02200125623130708 + - -0.9994871800008248 + - 0.9685937058625832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9755358081798483 + - 0.013630248148261507 + - -0.21941764581342826 + - 0.0999095368486222 + - - 0.007237775935639569 + - -0.9995263500731365 + - -0.029911370897693256 + - -0.08975816291446476 + - - -0.21972141806932638 + - 0.02759151762572527 + - -0.9751723983976954 + - 0.972313215501821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953078234295915 + - 0.030347321277056943 + - 0.0918769650737125 + - 0.012764306344706757 + - - 0.02660471788537224 + - -0.9987763395801393 + - 0.04168947686332703 + - -0.09311769377011342 + - - 0.0930297028162987 + - -0.03904950174080602 + - -0.9948972865616359 + - 0.9698007940192896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940141921825821 + - -0.008503679849156842 + - 0.108919572018218 + - 0.05434194596243351 + - - -0.011310421993433281 + - -0.9996190212152352 + - 0.025177108234010894 + - -0.09319661895594392 + - - 0.10866397790408372 + - -0.026258329225593968 + - -0.9937316740711964 + - 0.9723217580092101 + - - 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: + - - 0.9999325191946847 + - -0.011552759353777899 + - -0.0012209866031815818 + - 0.02392870193265449 + - - -0.011577231663988701 + - -0.999681724070889 + - -0.022414688613780185 + - -0.03456849535276937 + - - -0.0009616464889911545 + - 0.0224273116973053 + - -0.9997480137144867 + - 0.9688705114939956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999342638772794 + - -0.011465070777961186 + - 0.00014169071921478528 + - 0.09185758783228505 + - - -0.011465159079647715 + - -0.9996444624500155 + - 0.02407278173161472 + - -0.03378105535164152 + - - -0.0001343558035317537 + - -0.02407282378691649 + - -0.9997101985592836 + - 0.9684786732389776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9737669110212983 + - 0.017270404766659295 + - -0.2268914633018056 + - 0.09991183341895218 + - - 0.003985830789274234 + - -0.9982571972758442 + - -0.05887852953237674 + - -0.0897379625282497 + - - -0.22751289227856542 + - 0.056429612847966965 + - -0.9721386643071398 + - 0.9723572984254724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984167343181981 + - 0.017509656496229063 + - 0.053454995676443934 + - 0.012907193575589325 + - - 0.026409394607027174 + - -0.9849816264941563 + - -0.17062748707467112 + - -0.0932261360345428 + - - 0.04966455989812957 + - 0.17176905250454982 + - -0.9838845583155651 + - 0.9715552385318552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9835287605725759 + - -0.018575978181353987 + - 0.17979463329359618 + - 0.054353410739724196 + - - 0.00653152476329766 + - -0.9904029511821827 + - -0.1380555448864343 + - -0.09328710719368842 + - - 0.18063365221032124 + - 0.13695593205199147 + - -0.9739684575821395 + - 0.9728556082961347 + - - 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: + - - 0.9998680174652325 + - -0.013411698523105621 + - 0.009169187143418422 + - 0.023913073061213458 + - - -0.013022816112135089 + - -0.9990647537219166 + - -0.041231348887417675 + - -0.03453999132082789 + - - 0.00971359411624852 + - 0.04110649843141314 + - -0.9991075527069412 + - 0.9686490571738213 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997829126954657 + - -0.010572064510906377 + - -0.017954356968376564 + - 0.09183457455388777 + - - -0.010419300985127703 + - -0.9999089000783189 + - 0.008580775672839259 + - -0.033801178015424746 + - - -0.018043437841829782 + - -0.008391841046129687 + - -0.9998019860725944 + - 0.9684028354822192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9741019790538713 + - 0.0022401041079511547 + - -0.22609802373509766 + - 0.09990356549285681 + - - 0.012114318588005445 + - -0.9990317510528374 + - 0.04229425106856288 + - -0.08972479822399909 + - - -0.22578436103609908 + - -0.043937937160133805 + - -0.9731859431730574 + - 0.9724914005034844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9944652859793406 + - 0.017282183644884035 + - 0.10363455558110315 + - 0.012796123402935415 + - - 0.033764760913082406 + - -0.9866247987273177 + - -0.1594724034332022 + - -0.09327829716025737 + - - 0.09949239117897729 + - 0.1620889652775417 + - -0.9817476414194969 + - 0.9715521044091648 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954338525648885 + - -0.004070434613339832 + - 0.09536706312916576 + - 0.054276302436517265 + - - -0.019587416656601818 + - -0.9865396840452269 + - 0.16234464854951458 + - -0.09309218694282491 + - - 0.09342257905102191 + - -0.16347135334976354 + - -0.982114727696033 + - 0.97119048597747 + - - 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: + - - 0.9999044557058628 + - -0.01199557821975057 + - -0.00686917482206675 + - 0.023936777095051553 + - - -0.012227850562113842 + - -0.9993183007493003 + - -0.034834084718288534 + - -0.03453654909721468 + - - -0.006446637122785976 + - 0.034914751763461475 + - -0.9993695017255141 + - 0.9689445782915291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994355184841733 + - -0.009404938931299003 + - -0.03225200018557262 + - 0.09182134739682334 + - - -0.009326873220924103 + - -0.9999532009517365 + - 0.0025700860486379084 + - -0.03379368808446407 + - - -0.032274662324994964 + - -0.002267824965717312 + - -0.9994764645261703 + - 0.9683697888159908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9719069671953007 + - 0.01923197694775779 + - -0.23457829861245402 + - 0.09994365811922798 + - - 0.005289636876722344 + - -0.9981891201393914 + - -0.05992078251375598 + - -0.0897525535145253 + - - -0.23530590060375697 + - 0.05699659198609456 + - -0.9702486906164968 + - 0.9726186328147385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998986187292725 + - 0.009193943355284149 + - 0.044068911989341 + - 0.012807482837008949 + - - 0.011353778848771347 + - -0.9987335861325812 + - -0.049013423024797095 + - -0.09287864700146134 + - - 0.043562475873137066 + - 0.04946408127454045 + - -0.9978254433313818 + - 0.9692131311161285 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941588223942176 + - -0.007826847317473766 + - 0.10764281823146099 + - 0.05428321789421416 + - - -0.005338957342557812 + - -0.9997123647893226 + - -0.023381257918150912 + - -0.09311763226177308 + - - 0.1077948579025769 + - 0.02266998342323391 + - -0.9939146545158462 + - 0.9713418822753582 + - - 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: + - - 0.9998580041854931 + - -0.013095293433750897 + - -0.010605883088478216 + - 0.023915789879328256 + - - -0.013301182991700581 + - -0.9997197989416339 + - -0.01958065716773996 + - -0.03451861625693438 + - - -0.010346496857574683 + - 0.019718947588125275 + - -0.9997520258087969 + - 0.968868127819783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997351215142617 + - -0.007744826083030397 + - -0.021672666651985216 + - 0.09180933850785587 + - - -0.008231988314130684 + - -0.9997134010524998 + - -0.02247999387100656 + - -0.033790499224843236 + - - -0.02149235164565469 + - 0.022652448542885794 + - -0.9995123537984671 + - 0.9682526932711848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.96258264245874 + - 0.003182745602524493 + - -0.2709696045086588 + - 0.0999704378490158 + - - 0.014637554993332743 + - -0.9990818973787108 + - 0.040262939708519255 + - -0.0897717907298839 + - - -0.2705926799101678 + - -0.04272273938530051 + - -0.961745480425278 + - 0.9728371782041889 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980228390948623 + - 0.015404037502223699 + - 0.06093544349277197 + - 0.012733496466482721 + - - 0.0250859960538992 + - -0.9865582747404527 + - -0.1614727944364772 + - -0.09314201716339157 + - - 0.05762903302168512 + - 0.1626821630350763 + - -0.9849941159129906 + - 0.9712597124467165 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9864921251573816 + - -0.0032514537239018287 + - 0.16377641787252029 + - 0.0543677334998478 + - - -0.02587584737500214 + - -0.9903434458747478 + - 0.1361994850781592 + - -0.09320891720485884 + - - 0.16175205570594353 + - -0.13859757307258824 + - -0.9770501446769707 + - 0.9725142823752261 + - - 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: + - - 0.999874249292224 + - -0.012946858518812374 + - -0.009157753917051025 + - 0.023895566569981885 + - - -0.013256619105797434 + - -0.999312815508039 + - -0.03461443067970207 + - -0.03454187187703427 + - - -0.00870331271385869 + - 0.034731478746087806 + - -0.9993587827861998 + - 0.9689038138454873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9832530418659547 + - 0.012688711195341977 + - -0.18180333404409338 + - 0.0998597774831553 + - - 0.006597849735541655 + - -0.9993977315095185 + - -0.034068205595482653 + - -0.08964137522934996 + - - -0.1821261212462787 + - 0.03229815570322965 + - -0.9827445777504733 + - 0.971855710967061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9936649739416149 + - 0.01071020332799345 + - 0.11187140432783926 + - 0.012895328254152634 + - - 0.027033694724368906 + - -0.9889983439669703 + - -0.1454353979612262 + - -0.09317749914162365 + - - 0.10908299093423998 + - 0.1475383583183155 + - -0.9830225500534447 + - 0.970756753633957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9941508185872675 + - -0.006117996355271678 + - 0.10782726938424604 + - 0.05428713995783154 + - - -0.016001455191168974 + - -0.9957191296107449 + - 0.0910349842587171 + - -0.09315375348510496 + - - 0.10680872311768778 + - -0.09222789734032073 + - -0.9899928846300623 + - 0.9715497542253602 + - - 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: + - - 0.9997616569193011 + - -0.012914733615469413 + - 0.017602244448227663 + - 0.02392746017648559 + - - -0.01235658115546132 + - -0.9994287125887558 + - -0.03145732594057075 + - -0.03453180800190982 + - - 0.01799845149234221 + - 0.031232324742552726 + - -0.9993500876244792 + - 0.9685607473575408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992805328158889 + - -0.009147466985215095 + - -0.036806800770339126 + - 0.09179320231051996 + - - -0.008281703809097546 + - -0.9996870377425993 + - 0.023605930429566234 + - -0.033743583368188196 + - - -0.037011216100142075 + - -0.02328412371513134 + - -0.9990435523367374 + - 0.9678697035184652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9674570865314053 + - 0.01723117582647395 + - -0.25244776152662174 + - 0.09991008572018262 + - - 0.007402955961819533 + - -0.9991790477464066 + - -0.03982997348243303 + - -0.0897496843080642 + - - -0.2529268312441215 + - 0.03666493044069628 + - -0.9667904120917762 + - 0.9726952597484413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975170382678518 + - 0.015747647042798442 + - 0.0686423337157817 + - 0.012718990694451081 + - - 0.02045178605868666 + - -0.997449945082417 + - -0.06837639579630385 + - -0.09302159146311928 + - - 0.06739052464807653 + - 0.06961047814588354 + - -0.995295382547291 + - 0.9700279436319164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934351590927143 + - -0.0041660826407553244 + - 0.11432072617799403 + - 0.05427897276874995 + - - -0.016736054263098897 + - -0.9938771807455001 + - 0.1092156311206382 + - -0.0931418732584332 + - - 0.11316575968965216 + - -0.11041192575445419 + - -0.9874222589576644 + - 0.9714328978645893 + - - 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: + - - 0.9999081660967245 + - -0.012947604786292782 + - 0.004002362225364131 + - 0.02392914518351444 + - - -0.012852587766529647 + - -0.99965472454224 + - -0.022918173751026432 + - -0.034540989941280825 + - - 0.004297715764066526 + - 0.022864628373899996 + - -0.9997293325738398 + - 0.9688452190455724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9631805629440591 + - 0.0018042813205848855 + - -0.26884930302249566 + - 0.09991829180773164 + - - 0.015431126229175422 + - -0.9987000281183014 + - 0.04858121221011201 + - -0.08973294683538204 + - - -0.26841215231442994 + - -0.05094112685660644 + - -0.961956297388044 + - 0.9725289970908007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969546697646534 + - 0.017792644509822736 + - 0.07592633427077802 + - 0.012912523160026904 + - - 0.02788848747451267 + - -0.9905810387341213 + - -0.13405759197752692 + - -0.09315729414939125 + - - 0.07282594799132242 + - 0.13576681296169624 + - -0.9880606022898538 + - 0.9706794633872817 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900367359577812 + - -0.01081512203259014 + - 0.1403933566429791 + - 0.054450158009115526 + - - -0.009731629579256157 + - -0.9999173491278187 + - -0.008401803314127263 + - -0.09333477765706782 + - - 0.14047261953774012 + - 0.006951837787039951 + - -0.9900601573195384 + - 0.9735613358087887 + - - 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: + - - 0.9999117407735877 + - -0.013081887244584204 + - 0.0023183807395950914 + - 0.02389783000397748 + - - -0.01301606833470537 + - -0.999565781735118 + - -0.026435391984393274 + - -0.03452521139655048 + - - 0.002663198873539227 + - 0.026402882615014386 + - -0.9996478355707962 + - 0.9689119023402252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999003430815179 + - -0.008738956805373524 + - -0.011087584922637488 + - 0.09184980485928743 + - - -0.009026565985990907 + - -0.999617001656084 + - -0.02616048750693635 + - -0.03379688923669565 + - - -0.010854723025643463 + - 0.026257963250294884 + - -0.999596265676289 + - 0.9685097039449108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9654776201364992 + - 0.005250764898329796 + - -0.26043309022385047 + - 0.09993769094202631 + - - 0.012796920963767068 + - -0.9995456921153596 + - 0.027288242660055702 + - -0.0897187542348382 + - - -0.26017148927084394 + - -0.029678929253082104 + - -0.9651061896646305 + - 0.9725301229795966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996418267774441 + - 0.022764522621280467 + - 0.014071057774022643 + - 0.012888197923620372 + - - 0.023582794104693806 + - -0.9978580443776339 + - -0.06101782602699659 + - -0.09304325898447312 + - - 0.012651876511818008 + - 0.06132780593393517 + - -0.998037489396095 + - 0.969617778516376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9895775368879892 + - -0.0044942072430903595 + - 0.14393088823444566 + - 0.05433663889508078 + - - -0.016510712959080513 + - -0.9964623216944729 + - 0.08240289922595738 + - -0.09325522961291997 + - - 0.1430513713470905 + - -0.08392045963003654 + - -0.986150932469873 + - 0.9723541387504542 + - - 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: + - - 0.9998232462275797 + - -0.011993274086977012 + - -0.014478870108518086 + - 0.023915747469819705 + - - -0.012850337279335286 + - -0.998077614795899 + - -0.06062956106667248 + - -0.034532373413844825 + - - -0.013723889199203651 + - 0.06080490292735189 + - -0.9980553184294166 + - 0.9688064868405037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9751674052931796 + - -0.0033811859723141867 + - -0.22144321898669242 + - 0.09989475546960935 + - - 0.016164881631390692 + - -0.9961298193538838 + - 0.08639490491830128 + - -0.08968588712931475 + - - -0.22087831096694557 + - -0.08782909868272483 + - -0.9713386748034744 + - 0.9720902339462599 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9899841332961562 + - 0.018118730669860937 + - 0.14001116891438103 + - 0.012824083865823793 + - - 0.028484968435572598 + - -0.9969693274882636 + - -0.07239313932151155 + - -0.09329644658184778 + - - 0.13827516911970394 + - 0.07565627301494827 + - -0.9874999270675441 + - 0.9715322555905367 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971991906307603 + - -0.008111633858798692 + - -0.07435035710403438 + - 0.05444096293299745 + - - 0.002566031643766618 + - -0.9898053024883099 + - 0.14240392778160757 + - -0.09338813719894351 + - - -0.0747475062256918 + - -0.14219586689551458 + - -0.9870122318142132 + - 0.9743963375181092 + - - 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: + - - 0.9996900535020522 + - -0.012048039835841873 + - -0.021786272402083574 + - 0.023924894263934765 + - - -0.01300583901826991 + - -0.9989305110393022 + - -0.044369835093105894 + - -0.034543966560009014 + - - -0.021228402683543316 + - 0.044639431569773944 + - -0.9987775908923031 + - 0.96896380092533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997992240498212 + - -0.009667090549274783 + - -0.017551608179527504 + - 0.09183708729997243 + - - -0.009692185686164647 + - -0.9999521247204051 + - -0.0013452894755178418 + - -0.033774537939193154 + - - -0.01753776285620375 + - 0.001515132819311916 + - -0.9998450536190795 + - 0.9685346229665164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9690964842290509 + - 0.018256167016497404 + - -0.2460055215249419 + - 0.09995633537962756 + - - 0.007872021352817372 + - -0.9990385167370208 + - -0.04312856774476034 + - -0.0897429827771984 + - - -0.24655635366932585 + - 0.03985918265292637 + - -0.9683084271158272 + - 0.9725865875751395 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955367991510926 + - 0.011338231872289183 + - 0.0936905866883499 + - 0.012715083466527811 + - - 0.023682065299081193 + - -0.9910051762654386 + - -0.13171142850290793 + - -0.09309681360380144 + - - 0.09135448165890417 + - 0.13334236053526569 + - -0.9868506338690348 + - 0.9709194104179052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992549809514485 + - -0.0024721252359538558 + - 0.12181446642159291 + - 0.054386001506652855 + - - -0.0182532547649514 + - -0.9915277550782248 + - 0.12860610249914736 + - -0.09326264900561432 + - - 0.12046449403556803 + - -0.12987147302757898 + - -0.9841858087629596 + - 0.9731444440717328 + - - 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: + - - 0.9997185968051416 + - -0.011585538884841491 + - -0.02070030170568288 + - 0.023909754204652214 + - - -0.012897947650330584 + - -0.9978385611126819 + - -0.06443484230586012 + - -0.03454367521031026 + - - -0.019909046897523836 + - 0.06468370154312102 + - -0.9977071958276695 + - 0.9688481895751851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998476689124922 + - -0.006861874799350441 + - -0.01604847794943111 + - 0.09188031877054414 + - - -0.0077425075457559925 + - -0.9984302808719074 + - -0.05547096371028393 + - -0.03383968741270779 + - - -0.015642651538637836 + - 0.0555867692196782 + - -0.9983313170188335 + - 0.968798703555032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9665075423371752 + - 0.007051861704833852 + - -0.25654130632677746 + - 0.09990141508052874 + - - 0.013145229721242666 + - -0.9996705585917837 + - 0.022044891026433002 + - -0.08973655384816805 + - - -0.2563013334747389 + - -0.02467884785170178 + - -0.9662818330734483 + - 0.9728078226077997 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9800151218860339 + - -0.004407158228839815 + - 0.1988741758777344 + - 0.012759616038876306 + - - 0.028508210757325743 + - -0.9863228692699643 + - -0.16234062792314488 + - -0.09320404776899963 + - - 0.196869608609653 + - 0.164765817181268 + - -0.9664856867509581 + - 0.9723400585296316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999083870170079 + - -0.010413204390526983 + - -0.04150886098531171 + - 0.05440105652905673 + - - -0.0029019176253678633 + - -0.9841965530783311 + - 0.17705570813398513 + - -0.09333605201050355 + - - -0.04269659518126009 + - -0.17677304682290357 + - -0.983325119518908 + - 0.9739268928677717 + - - 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: + - - 0.9997449714096739 + - -0.012634608890429964 + - -0.018717873791008963 + - 0.02388923655840157 + - - -0.013121917942997517 + - -0.9995720484310145 + - -0.02614450735667535 + - -0.0345236132459665 + - - -0.018379537822467464 + - 0.02638345416377241 + - -0.9994829192816759 + - 0.9689304452424624 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999374055377216 + - -0.010571038140566515 + - -0.0036658094768741733 + - 0.09184849687127274 + - - -0.010561172253920094 + - -0.9999405831899525 + - 0.002700320418158103 + - -0.033828972952622556 + - - -0.003694136856300915 + - -0.0026614361477182284 + - -0.9999896350015427 + - 0.9684418458708346 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.968689847059816 + - 0.00889998937827394 + - -0.24811443003641895 + - 0.09993934042659428 + - - 0.010276087864658657 + - -0.9999381607088459 + - 0.004251679245721729 + - -0.0898016114947721 + - - -0.24806124691581358 + - -0.006668204201829519 + - -0.9687214010391713 + - 0.9729095616409151 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995252955368853 + - 0.01747174770979604 + - 0.025375610610729515 + - 0.012708509837151808 + - - 0.021071981872185324 + - -0.988558085417255 + - -0.14936158587853124 + - -0.09303218979714115 + - - 0.02247565709563181 + - 0.14982539767388173 + - -0.9884569768330755 + - 0.9706246867745041 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949906199045793 + - -0.005765332080345175 + - 0.09980194010090412 + - 0.05440331194707581 + - - -0.002270758470954433 + - -0.9993814595590781 + - -0.03509333192409432 + - -0.09331954509006582 + - - 0.09994253327721736 + - 0.03469090998476995 + - -0.9943882696444896 + - 0.9733663945038098 + - - 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: + - - 0.9999157602514506 + - -0.012791546645734146 + - 0.0022019843718105968 + - 0.023913587257678517 + - - -0.012645323632888122 + - -0.9982949893792432 + - -0.05698429582364509 + - -0.034555613268639804 + - - 0.002927147243172388 + - 0.05695165067587753 + - -0.9983726465074603 + - 0.9686880408272828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9986506826412322 + - -0.00793373842189827 + - -0.05132124175089323 + - 0.09180076073893421 + - - -0.00848874123006037 + - -0.9999077294231313 + - -0.01060537185614241 + - -0.03379858765026168 + - - -0.05123236606413766 + - 0.011026714584629432 + - -0.9986258840191051 + - 0.9682774158811391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9535650956537408 + - 0.02786754558077436 + - -0.2998949953803424 + - 0.10002161283504371 + - - 0.005363744378407953 + - -0.9971236352114399 + - -0.07560215836182502 + - -0.08986074413361048 + - - -0.30113923456951813 + - 0.07048301927433895 + - -0.9509717689799514 + - 0.9735452449977892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.994726270905881 + - 0.0071710245065401785 + - 0.10231433124057707 + - 0.012826790451197041 + - - 0.009465062239364328 + - -0.9997141844800669 + - -0.021953631730544362 + - -0.0929139117520507 + - - 0.10212765818564962 + - 0.022806265737336413 + - -0.9945098368928453 + - 0.9698429980679284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898596060016395 + - -0.011501349067926762 + - 0.14158276510895182 + - 0.05444685538855798 + - - -0.0023973134598917903 + - -0.9979273994240855 + - -0.06430519704391774 + - -0.09338148787979449 + - - 0.14202891710653134 + - 0.06331369874126583 + - -0.9878355947510935 + - 0.9743443336614982 + - - 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: + - - 0.999914017121106 + - -0.012993652120524566 + - -0.0017673056621750744 + - 0.02393931756141325 + - - -0.013035861736137687 + - -0.9995652493619795 + - -0.026445766706972053 + - -0.03454927268654313 + - - -0.0014229102322599215 + - 0.02646653117607363 + - -0.9996486873166875 + - 0.9689639407229442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998333414374708 + - -0.009976494080408616 + - -0.015289176427966409 + - 0.09183572572255909 + - - -0.009723278533054078 + - -0.9998158013151215 + - 0.016547546500009308 + - -0.03377150597313791 + - - -0.015451446681478133 + - -0.016396127788746107 + - -0.9997461776816076 + - 0.9683349065072311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9903284698810718 + - 0.010768022014285493 + - 0.13832415351237407 + - 0.012816404808291668 + - - 0.037772980509722 + - -0.9802491007676256 + - -0.1941259961665991 + - -0.09337208023766053 + - - 0.1335017740946806 + - 0.19747341630245357 + - -0.9711753323511731 + - 0.971928360878556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993093792283658 + - -0.002330364207924414 + - 0.037085495667127245 + - 0.05434593498070254 + - - -0.006461624317168608 + - -0.993724078325512 + - 0.11167230438786346 + - -0.09328888155126837 + - - 0.036592512859898875 + - -0.11183481371545392 + - -0.9930528497737813 + - 0.9731239055367095 + - - 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: + - - 0.9998538484227552 + - -0.013756549725875498 + - 0.01015081936819262 + - 0.023927971718970042 + - - -0.013442055195442004 + - -0.99944663795174 + - -0.03042579561962998 + - -0.03453565085133349 + - - 0.010563756260386279 + - 0.030284900967385033 + - -0.9994854835499454 + - 0.9687228779364119 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999391053207524 + - -0.01080797744477473 + - -0.0022300838294894844 + - 0.09184491102206851 + - - -0.010774239276468332 + - -0.999835023710704 + - 0.014623307745838109 + - -0.03381048883455057 + - - -0.0023877642988194936 + - -0.014598389807417882 + - -0.9998905868127193 + - 0.9683116186034112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9645559842303303 + - 0.015546980788319913 + - -0.2634199018180414 + - 0.09999024587210098 + - - 0.008871320059809269 + - -0.9996091071909282 + - -0.02651287425670527 + - -0.08981922715257731 + - - -0.26372912801936643 + - 0.023236269264299957 + - -0.9643168684746843 + - 0.9732365488226169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988553837795767 + - 0.008353566517202017 + - 0.04709713601693165 + - 0.012825738647790026 + - - 0.012390056531540575 + - -0.996211486503932 + - -0.08607648143814733 + - -0.09291412586191215 + - - 0.04619966226824508 + - 0.0865614930790197 + - -0.9951747078388956 + - 0.9697733939701818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.984091236988854 + - -0.014036172331367891 + - 0.17710850670713535 + - 0.0544900111973478 + - - 0.0005661506615555981 + - -0.996621476576959 + - -0.08212984779597157 + - -0.09338378008332049 + - - 0.1776629301660188 + - 0.08092353360948334 + - -0.9807585151060266 + - 0.9743278794653444 + - - 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: + - - 0.999809851993811 + - -0.011989279149838982 + - -0.015379110558838732 + - 0.02391997551992868 + - - -0.012615921477185836 + - -0.999066387674389 + - -0.041318174506263496 + - -0.03454885586980115 + - - -0.014869377303546703 + - 0.04150433958896103 + - -0.9990276729970446 + - 0.9690789571566976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999396074909945 + - -0.010651587086655966 + - -0.0027064854130907094 + - 0.09183875639123107 + - - -0.010617582373131469 + - -0.9998681966354405 + - 0.012282357328391705 + - -0.033803084767315535 + - - -0.002836955287919924 + - -0.01225287923420097 + - -0.999920906189668 + - 0.9683617218578817 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9779407180287775 + - 0.014306218539660793 + - -0.2083921402847398 + - 0.09984704679383948 + - - 0.006999103811804649 + - -0.9993359130249332 + - -0.03575955095432 + - -0.08967598176646013 + - - -0.20876533372950307 + - 0.0335121627132373 + - -0.9773914110442605 + - 0.9720462410350507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9897901976309758 + - 0.013170606946446069 + - 0.1419221610119298 + - 0.01286477544612819 + - - 0.019696642115574384 + - -0.9988072963010217 + - -0.044676919603026194 + - -0.09314190887042237 + - - 0.14116446777785438 + - 0.047016167097143416 + - -0.9888690879325179 + - 0.9708036297885466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966871594981883 + - -0.0043090791810694775 + - 0.08121661115833469 + - 0.05437000575810677 + - - -0.00230437491231138 + - -0.9996907431897212 + - -0.024761014459168406 + - -0.0932018610048646 + - - 0.08129819154013433 + - 0.024491831646385912 + - -0.9963888569403562 + - 0.9724234030708774 + - - 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: + - - 0.9998872330001473 + - -0.012699725304618652 + - 0.008014877447374821 + - 0.02395269157268009 + - - -0.012557014560907607 + - -0.9997660473183037 + - -0.017611701077798764 + - -0.034522877717501836 + - - 0.008236666111137637 + - 0.01750907212629534 + - -0.9998127773361626 + - 0.9687744163833446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997981624688769 + - -0.009774376665474913 + - -0.01755266032994741 + - 0.09180580883371328 + - - -0.010060585921239908 + - -0.9998166583039927 + - -0.01629215727762697 + - -0.03382909757310738 + - - -0.01739019651350839 + - 0.01646545895622116 + - -0.9997131937343745 + - 0.9683985073054481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9690201679090077 + - 0.02389627528476913 + - -0.2458228675553053 + - 0.1000100686662044 + - - 0.006176962917728339 + - -0.9973418873757559 + - -0.07260168603330681 + - -0.08980684645553785 + - - -0.24690435256331883 + - 0.06883405925325327 + - -0.9665920095738474 + - 0.9733281516972951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9924316933044368 + - 0.011648025041555885 + - 0.12224425400614788 + - 0.012925232606209123 + - - 0.019053339096619028 + - -0.9980413795965886 + - -0.059585022297611465 + - -0.09301798007171788 + - - 0.12131077608422741 + - 0.061463225798593535 + - -0.9907098301118613 + - 0.9696687051022542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9905351915078562 + - -0.007813117271651477 + - 0.13703645348225382 + - 0.05444958632355757 + - - -0.005545100472368174 + - -0.999841395551148 + - -0.016924408500294554 + - -0.09342463236669307 + - - 0.13714695127944274 + - 0.01600434131206035 + - -0.9904214127400125 + - 0.9744624154798605 + - - 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: + - - 0.9999182596994257 + - -0.012427789330075241 + - -0.003003992682931491 + - 0.023904705165148057 + - - -0.012538472742880861 + - -0.9991142374448273 + - -0.04016873456205291 + - -0.03454756360997178 + - - -0.002502123287904033 + - 0.04020311663799087 + - -0.99918839504452 + - 0.9688141370565932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999457885875817 + - -0.010277086465690062 + - 0.0016737322773352702 + - 0.09183483142752903 + - - -0.010288966205844382 + - -0.9999207773558895 + - 0.007250943828881469 + - -0.03380205502617615 + - - 0.0015990811031514494 + - -0.0072677717198142726 + - -0.9999723108335825 + - 0.9683816798077034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9636506035929314 + - 0.002931303173524272 + - -0.2671496240998366 + - 0.09994531040373064 + - - 0.014784698714883155 + - -0.9989926215676401 + - 0.04236926642419017 + - -0.08974166151962451 + - - -0.26675630616517626 + - -0.044778895867570945 + - -0.9627231811928038 + - 0.9728897687848277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99116651813006 + - 0.002596977588454447 + - 0.13259784706147665 + - 0.012946649939307605 + - - 0.03289445040080962 + - -0.9733807093454809 + - -0.22682140508981338 + - -0.0933305678346405 + - - 0.12847913632478375 + - 0.22917951562365604 + - -0.9648677946474036 + - 0.9728107449520254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.982927313484631 + - -0.015538407492603374 + - 0.18333699653501387 + - 0.05446890494380316 + - - -0.004787818292817254 + - -0.9982502838180188 + - -0.05893596230860217 + - -0.09346898574666825 + - - 0.1839319798237404 + - 0.057051982873865294 + - -0.9812818647301501 + - 0.9747568137067564 + - - 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: + - - 0.9998357898077671 + - -0.011571794040258047 + - -0.013945859678354992 + - 0.023942040052962372 + - - -0.012266832981754471 + - -0.9986320318522413 + - -0.050829024850586386 + - -0.034586398981907795 + - - -0.013338599179683747 + - 0.05099174973810603 + - -0.998609995559112 + - 0.9685239730234962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999395327804872 + - -0.010569536849616739 + - -0.003035732782315837 + - 0.09185203477743363 + - - -0.01057704395929155 + - -0.9999410168093811 + - -0.002467598691926976 + - -0.03380058602401339 + - - -0.0030094723498060813 + - 0.002499558562182419 + - -0.9999923476123055 + - 0.9686058928445206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9988287468992408 + - 0.00463688799785374 + - 0.04816257507014763 + - 0.012860828544035651 + - - 0.011912025950461421 + - -0.9883259271765641 + - -0.1518880025161312 + - -0.09300305217161217 + - - 0.046896034005529504 + - 0.1522838170662927 + - -0.9872235820999576 + - 0.971122230749626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998078469058505 + - -0.0019203204142666068 + - 0.061932882795309514 + - 0.05432233520623146 + - - -0.008575156143454254 + - -0.9941825067242789 + - 0.10736670815734542 + - -0.09330211099055627 + - - 0.06136641018461462 + - -0.10769148384591865 + - -0.9922886213235129 + - 0.9730758747091469 + - - 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: + - - 0.9999025180978199 + - -0.013222956325058115 + - 0.004484164098743421 + - 0.023952196923071965 + - - -0.013095830462346253 + - -0.9995419387360838 + - -0.0272839134328896 + - -0.03455543677335734 + - - 0.004842884072568506 + - 0.02722252989230676 + - -0.9996176670808311 + - 0.9689469645436191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994758481093879 + - -0.008629401313830921 + - -0.031201962742503853 + - 0.09183388197293821 + - - -0.008781316247785748 + - -0.9999502328373151 + - -0.004735011463214551 + - -0.03380679000174218 + - - -0.03115954959520627 + - 0.005006523900397592 + - -0.9995018845342212 + - 0.9685017577053675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9754003365248233 + - -0.00030426674839336906 + - -0.22044067439791443 + - 0.09987927697444929 + - - 0.012854219124753435 + - -0.9982189857800997 + - 0.0582548322359771 + - -0.08967550379991401 + - - -0.22006579143055 + - -0.0596553756998884 + - -0.9736592235439208 + - 0.9721214507666016 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9919213072524041 + - 0.01363093219349594 + - 0.12612025176876976 + - 0.01273814122409533 + - - 0.019749001244673207 + - -0.998681341214341 + - -0.04738729429037866 + - -0.09302786511309627 + - - 0.12530800919541993 + - 0.04949521590882672 + - -0.9908824988027689 + - 0.9703941101311452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99993806922438 + - -0.010744284775508666 + - 0.0029013894053808408 + - 0.054261313534228445 + - - -0.011124191172879506 + - -0.9727027144198692 + - 0.2317880103261752 + - -0.09305350389744874 + - - 0.000331792959710025 + - -0.2318059311253287 + - -0.9727619956641762 + - 0.9710087370168712 + - - 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: + - - 0.9996906671774768 + - -0.011018636869651544 + - -0.022297076036692627 + - 0.023945517664152385 + - - -0.012141083970440125 + - -0.9986326105692603 + - -0.05084784349062157 + - -0.03458803484738636 + - - -0.02170631332755562 + - 0.05110282525613217 + - -0.9984574789206434 + - 0.9690049511568963 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998260847559067 + - -0.009296039063368775 + - -0.016167371443956836 + - 0.09185951297149475 + - - -0.009328199304894109 + - -0.9999546578373172 + - -0.001914932683343544 + - -0.03380658750342061 + - - -0.016148837091342592 + - 0.002065412110423981 + - -0.9998674657840463 + - 0.9684969030917666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9636448942913989 + - -0.00649375729821643 + - -0.2671073732083609 + - 0.09997564555100204 + - - 0.020766464637900477 + - -0.9948601926893228 + - 0.09910575638481986 + - -0.08977736479614215 + - - -0.26637806150762783 + - -0.10104963195537278 + - -0.9585570928375227 + - 0.9733074435208815 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9934507713829263 + - 0.004165767881688898 + - 0.11418498682674828 + - 0.012850827067129582 + - - 0.011225632177006709 + - -0.9980590055620872 + - -0.061255257722453355 + - -0.09287517844138812 + - - 0.11370817921721964 + - 0.06213588169788467 + - -0.9915692523393065 + - 0.9695622434578703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9861110321097324 + - 0.002450415286283498 + - 0.16606934640806886 + - 0.05425317598425285 + - - -0.03504082502098119 + - -0.9743148840939851 + - 0.22244695370980774 + - -0.0930348439321424 + - - 0.1623489234128992 + - -0.22517660202127823 + - -0.9606967913805186 + - 0.9706919851117533 + - - 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: + - - 0.9999111157182289 + - -0.013224978775115998 + - -0.0016913306963710151 + - 0.023900547361097136 + - - -0.013271842519986348 + - -0.9994122772478116 + - -0.03160630130950836 + - -0.03452592503042113 + - - -0.0012723439988611145 + - 0.031625939080768474 + - -0.9994989650409886 + - 0.9686640154557045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999737822324756 + - -0.00831505598785101 + - -0.021334161742924452 + - 0.09186942974117929 + - - -0.008610496416470522 + - -0.9998677844275117 + - -0.013793948509444104 + - -0.03379839625923604 + - - -0.021216643580366488 + - 0.013974029767327317 + - -0.9996772381760254 + - 0.9685086576012328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9686094953219342 + - 0.010495464679863759 + - -0.2483656393169991 + - 0.0999595927486581 + - - 0.009795658474558287 + - -0.9999438062297978 + - -0.0040533267464608735 + - -0.08976305888143063 + - - -0.24839422426304072 + - 0.0014931857946997146 + - -0.9686578754900741 + - 0.9731549150238846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982807537183793 + - 0.01777256525309899 + - 0.05585403011232884 + - 0.012677798574584386 + - - 0.023401860835634065 + - -0.9945289403938621 + - -0.10180638304395037 + - -0.09297273863779491 + - - 0.053739088798510665 + - 0.10293844103825484 + - -0.993235011309871 + - 0.9695966786174024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889907517368738 + - -0.010040317454934427 + - 0.14763632684518216 + - 0.05433325368769773 + - - -0.008429345648818441 + - -0.9998979582627379 + - -0.011533394727500519 + - -0.0931611309894736 + - - 0.1477370607223051 + - 0.010161943092328861 + - -0.9889744667086818 + - 0.9722156383591483 + - - 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: + - - 0.9999211822886748 + - -0.011969087256975066 + - -0.00379079947422967 + - 0.02392142630612924 + - - -0.012146142916426381 + - -0.9986371617189547 + - -0.050757171376702596 + - -0.03456213845179393 + - - -0.0031781162144654328 + - 0.050799214404802846 + - -0.998703829667826 + - 0.9689052927350773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999927655960141 + - -0.009494418546736844 + - -0.007385043162864623 + - 0.09184665785146696 + - - -0.009479384124644587 + - -0.9999529309283584 + - 0.002068140325195864 + - -0.03378906035778959 + - - -0.007404331345599703 + - -0.00199798504665187 + - -0.9999705915341107 + - 0.968488108216822 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9586658268451104 + - 0.006519539398010599 + - -0.28445971251728885 + - 0.09996681538146661 + - - 0.015299403163840892 + - -0.9994722982979064 + - 0.028654025859044713 + - -0.08972003674232905 + - - -0.2841227915923168 + - -0.03182169921827455 + - -0.9582596823182379 + - 0.9728323563496815 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960505773419797 + - 0.01075537121666588 + - 0.08813381511486276 + - 0.012726616853431736 + - - 0.021512407159040993 + - -0.9922932594462497 + - -0.12202992909840639 + - -0.09307685426871415 + - - 0.0861421134807635 + - 0.12344395184669908 + - -0.9886056478887513 + - 0.970843331866522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9785356649216864 + - -0.00054020764368818 + - 0.20607683191464002 + - 0.05437932806465305 + - - -0.02983965589833698 + - -0.9898292325469922 + - 0.1390959572787825 + - -0.09328488335885438 + - - 0.20390573168045553 + - -0.1422596167966642 + - -0.9685993258394948 + - 0.9730565551396504 + - - 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: + - - 0.999883437160678 + - -0.013235372811451235 + - 0.007611635717145499 + - 0.023910089363608344 + - - -0.012752564583116077 + - -0.998097753227452 + - -0.060317883739939925 + - -0.03455256860574181 + - - 0.008395486186164628 + - 0.06021378504008324 + - -0.9981501970659745 + - 0.9688133456546438 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999649337189905 + - -0.007240073804568543 + - -0.00420864154796315 + - 0.09192503340195586 + - - -0.00751754834127831 + - -0.9975078219247127 + - -0.07015434174697749 + - -0.0338923120042294 + - - -0.0036902302518115326 + - 0.07018352036140368 + - -0.9975272706399402 + - 0.9693033596698577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9596262884076054 + - 0.0057502471944669105 + - -0.28121934722605013 + - 0.09993430675599649 + - - 0.014522461044667468 + - -0.9994704396724116 + - 0.02911938093852749 + - -0.08973357713006028 + - - -0.2809029809778625 + - -0.032027720465863434 + - -0.9592016161368327 + - 0.9726798111434249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9914207386278372 + - 0.009728113935776418 + - 0.13034677908520098 + - 0.01291677415265375 + - - 0.021821072109042647 + - -0.9955502214607704 + - -0.09167113701390396 + - -0.09315930757908557 + - - 0.12887497751947657 + - 0.09372897283477795 + - -0.9872214137774216 + - 0.970925575660946 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902539683592436 + - -0.0029919471690228443 + - 0.1392412525112722 + - 0.0544568472307643 + - - -0.0229387971513142 + - -0.9896192843310365 + - 0.14187136309128467 + - -0.09340999265652195 + - - 0.13737135703639589 + - -0.14368270714413078 + - -0.9800430551428413 + - 0.974495749858381 + - - 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: + - - 0.9998933953934875 + - -0.01299131594640813 + - 0.0066651000340128014 + - 0.02392216103254757 + - - -0.012733937575927086 + - -0.9992228038290774 + - -0.0373046262783826 + - -0.034541423742174455 + - - 0.007144556130032698 + - 0.03721577646560667 + - -0.9992817126815475 + - 0.9688630748004239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997086578486294 + - -0.008757494352924973 + - -0.02249234792435943 + - 0.09184755846957876 + - - -0.008904435204391657 + - -0.9999396098033835 + - -0.0064411008335165275 + - -0.03380290425379746 + - - -0.022434581702869775 + - 0.0066395059240295885 + - -0.9997262657872412 + - 0.9686310721218848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9744815965407339 + - 0.02491026673196915 + - -0.22308091943230962 + - 0.09993509673111362 + - - 0.0036077493844004493 + - -0.9954329555165864 + - -0.09539504817281547 + - -0.08974687678016319 + - - -0.22443841504475526 + - 0.09215589879577202 + - -0.9701209657405319 + - 0.9725800035324841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9973293722579704 + - 0.013640713564934783 + - 0.0717499419160898 + - 0.012710471221627674 + - - 0.025609883554595356 + - -0.9853430570474169 + - -0.16865110077545223 + - -0.09309873771788857 + - - 0.06839778575248559 + - 0.1700382041245175 + - -0.9830609096298493 + - 0.9709140510782802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9948362161257198 + - -0.005566880641539309 + - 0.10134057886445509 + - 0.054413797802110975 + - - -0.004134514094810575 + - -0.9998886469385682 + - -0.014338741805303716 + - -0.09332687722005031 + - - 0.10140911634493123 + - 0.013845705589900672 + - -0.9947484544139076 + - 0.9736718793482091 + - - 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: + - - 0.9999121889425696 + - -0.012270549412139122 + - 0.005004799816485483 + - 0.023938245090335448 + - - -0.01208910547013683 + - -0.9993211191369372 + - -0.03480164329212842 + - -0.03453693163982759 + - - 0.00542843743730631 + - 0.03473808377019221 + - -0.9993817076587732 + - 0.9687575395353707 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998463310951495 + - -0.009553936864128155 + - -0.014698179682018548 + - 0.09182782680597118 + - - -0.009508791050962041 + - -0.9999498655681573 + - 0.003138350358667489 + - -0.0338137883252184 + - - -0.014727426398315289 + - -0.002998106172379026 + - -0.9998870507567652 + - 0.9683551046441322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9675370614172835 + - 0.009530621289377456 + - -0.2525494051504504 + - 0.09997054948649128 + - - 0.014138475297838776 + - -0.9997649390381302 + - 0.016436854514659777 + - -0.08977236759891923 + - - -0.25233338720878823 + - -0.01947392944226085 + - -0.967444379678655 + - 0.9728460762373841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978482170293923 + - 0.01618359273799699 + - 0.06353760380556855 + - 0.012892376196846418 + - - 0.023166675884959447 + - -0.9935775823162758 + - -0.11075600682123239 + - -0.09315698291290467 + - - 0.06133710866762459 + - 0.11198963900573254 + - -0.9918145390422854 + - 0.9704676266570356 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928558125694267 + - -0.004296838844675876 + - 0.11924291435153038 + - 0.054388600752854996 + - - -0.015223887743034122 + - -0.9957456543950394 + - 0.09087807763912638 + - -0.09321879047985941 + - - 0.11834512532880694 + - -0.0920441683613822 + - -0.9886972753990835 + - 0.9726317766895818 + - - 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: + - - 0.9998142136173762 + - -0.012247014581515395 + - -0.014884518215505488 + - 0.023910948303577848 + - - -0.012553921822789197 + - -0.9997068339765102 + - -0.02070374718572147 + - -0.034520620309203574 + - - -0.014626595486813141 + - 0.02088675978947242 + - -0.9996748501237603 + - 0.9689327360845441 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997844399821653 + - -0.008619808269572598 + - -0.018888421716600556 + - 0.09181903341667214 + - - -0.008878643610023535 + - -0.999867242092185 + - -0.013662645373956334 + - -0.033792403847810244 + - - -0.01876814474567286 + - 0.013827403818653378 + - -0.9997282428972595 + - 0.9683845405875188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9739867825796975 + - 0.009674488390644711 + - -0.22639821473330626 + - 0.09987714839734699 + - - 0.009154778229001717 + - -0.9999524979909211 + - -0.0033454143682426912 + - -0.08970664034291792 + - - -0.22641982553572196 + - 0.0011857639295952628 + - -0.9740290840464041 + - 0.9720769782853064 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997444143416677 + - 0.02403590800839683 + - 0.06728637224567306 + - 0.012763229412674422 + - - 0.031019750310007106 + - -0.9940144095003506 + - -0.1047527030504486 + - -0.09317582170417509 + - - 0.06436579724105194 + - 0.1065721766310632 + - -0.992219439092806 + - 0.9705147575103547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973735028710043 + - -0.008217013164168391 + - 0.07196232670976298 + - 0.054330285977187635 + - - -0.011744688671507497 + - -0.9987426391683335 + - 0.04873605436513138 + - -0.09322891170890592 + - - 0.07147137929851465 + - -0.04945322438154625 + - -0.9962159507553752 + - 0.9722235619845725 + - - 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: + - - 0.9998598571390345 + - -0.01044934568239498 + - -0.013079650481551922 + - 0.023896642913179847 + - - -0.010905902547745674 + - -0.9993159983097382 + - -0.03533548940982874 + - -0.034589303756512875 + - - -0.012701471234814587 + - 0.03547318278675961 + - -0.9992899108524262 + - 0.9686442168866082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998647325797593 + - -0.010188834807752832 + - -0.012911397618643614 + - 0.09181942150296474 + - - -0.01019604001503095 + - -0.9999478978243674 + - -0.0004923460571052427 + - -0.03378066753493876 + - - -0.012905708474093135 + - 0.000623924585493898 + - -0.9999165232192601 + - 0.9684531836637793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9806622976141937 + - 0.017283442803069704 + - -0.19494291637021222 + - 0.09988681267892459 + - - 0.0059590484573211625 + - -0.9982679592744418 + - -0.058528379676223395 + - -0.08970025037591049 + - - -0.1956168392023903 + - 0.05623490100385951 + - -0.9790667434498793 + - 0.9721089568421979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995661187003405 + - 0.010257825700159793 + - 0.02761071093329689 + - 0.012833941099410953 + - - 0.013996055424354083 + - -0.9902210101766646 + - -0.13880367948028272 + - -0.09297869062508028 + - - 0.02591688212141553 + - 0.13912989619996052 + - -0.9899349408948518 + - 0.9703336652098199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978848925216517 + - -0.0018851060754858573 + - 0.06497836295364623 + - 0.05429427133430176 + - - -0.003338514370212791 + - -0.9997465019573754 + - 0.0222662557649894 + - -0.09317652286580626 + - - 0.06491991681180362 + - -0.022436091439379708 + - -0.9976382241083551 + - 0.9720778009548215 + - - 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: + - - 0.9999164888608211 + - -0.01279098537840894 + - -0.001845534420342266 + - 0.023920205549399384 + - - -0.012832944043542502 + - -0.9996083475413237 + - -0.02486899822833327 + - -0.03448829062956435 + - - -0.0015267126195346774 + - 0.024890605029907666 + - -0.9996890151091107 + - 0.9685138654959277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999287033612934 + - -0.00859016645581527 + - -0.008294409832176847 + - 0.09186079602468408 + - - -0.00863633996501199 + - -0.9999473200175985 + - -0.005547145358758824 + - -0.033763923800666944 + - - -0.008246321980826515 + - 0.005618383209060144 + - -0.9999502147326659 + - 0.9686949449587811 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.978600502888916 + - 0.010208880199447757 + - -0.20551602008270337 + - 0.09988839526191602 + - - 0.008843033999841689 + - -0.9999322958811446 + - -0.007563359276201325 + - -0.08967628070625097 + - - -0.20557931923040912 + - 0.005584122038116671 + - -0.9786245250788604 + - 0.9721288601612712 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9863123389119139 + - 0.008786651455446543 + - 0.1646534690381905 + - 0.012783686595137813 + - - 0.03360070212716948 + - -0.9883363173277577 + - -0.14853389063633915 + - -0.09331943947383428 + - - 0.16142788769810218 + - 0.15203328124857146 + - -0.975103542433378 + - 0.9717247528240893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999871477455703 + - -0.0013882855968026344 + - -0.004876167222376675 + - 0.05430105289715136 + - - -0.00125709379431641 + - -0.9996398781127591 + - 0.02680548081832442 + - -0.09321776489437349 + - - -0.004911624870769496 + - -0.026799006507909534 + - -0.9996287756919161 + - 0.9719365497032831 + - - 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: + - - 0.9998468958941433 + - -0.011607174831704245 + - -0.013094207241076251 + - 0.02390541878344056 + - - -0.012312299177841966 + - -0.9984037618617965 + - -0.055121099310239695 + - -0.034538358179349096 + - - -0.012433505531478815 + - 0.055273879840664765 + - -0.9983938131556902 + - 0.9686093415690855 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999251432067142 + - -0.00846789461962223 + - -0.008831916198824391 + - 0.09186085158237525 + - - -0.00859260311433546 + - -0.9998625497845248 + - -0.014179164647743187 + - -0.033791666123238286 + - - -0.008710634578008443 + - 0.014253992391581753 + - -0.9998604645380018 + - 0.9686596274244496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9711375400980443 + - 0.0021175124067034827 + - -0.2385107845644028 + - 0.09991561894221966 + - - 0.014089718262959766 + - -0.998723704586076 + - 0.04850197663121473 + - -0.08974060435586306 + - - -0.23810367080662562 + - -0.05046264003272063 + - -0.9699279168625564 + - 0.9727359230315306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988720066421544 + - 0.015394702802599929 + - 0.04491901014376182 + - 0.012724900418598592 + - - 0.02072652761545026 + - -0.9924652752798222 + - -0.12076045882967376 + - -0.09293848378748801 + - - 0.04272148639363725 + - 0.12155525693842686 + - -0.991664859774184 + - 0.970028332601244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926947001447063 + - -0.0030122285221072867 + - 0.12061574849057699 + - 0.05433669197834554 + - - -0.019018403895953696 + - -0.9910972863887558 + - 0.13177431170791964 + - -0.09313815525318067 + - - 0.1191450066845518 + - -0.13310557986867494 + - -0.9839143113045785 + - 0.9718967815542472 + - - 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: + - - 0.9998160965028895 + - -0.013546120466643616 + - 0.013574822062477298 + - 0.023934716881555785 + - - -0.013038554019919884 + - -0.9992373699506992 + - -0.03680590445947721 + - -0.0345178659518381 + - - 0.014063046710950388 + - 0.03662213967416038 + - -0.9992302285273865 + - 0.9687487328606761 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999352493331232 + - -0.009894049982352222 + - -0.005621824975178258 + - 0.09186397499552532 + - - -0.009894547903522996 + - -0.9999510459165943 + - -6.076260736376402e-05 + - -0.0338063435458677 + - - -0.005620948575615215 + - 0.00011638408946653928 + - -0.9999841955710372 + - 0.9685726506362857 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9673906955526219 + - 0.02607805145989229 + - -0.2519428057918497 + - 0.09998038505421446 + - - 0.005492748101800166 + - -0.9966117213612861 + - -0.08206647649061197 + - -0.08980005164932463 + - - -0.25322928716186177 + - 0.07800648740553062 + - -0.9642561464912452 + - 0.9732107816710924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9943907923765931 + - 0.018682716757981072 + - 0.1041052742717309 + - 0.012784275912055628 + - - 0.03314553021165453 + - -0.9897403077711663 + - -0.1389802036263651 + - -0.09322355920004469 + - - 0.10044065841898668 + - 0.1416512593222477 + - -0.9848078974443607 + - 0.9707479067796827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985282578226699 + - -0.005926682503077883 + - 0.05390911577953557 + - 0.054490744302974105 + - - -0.009100849355312473 + - -0.9982267389975861 + - 0.058826457408694806 + - -0.09347033189505582 + - - 0.053464875111006935 + - -0.059230498771771174 + - -0.9968115444479019 + - 0.9750580582547858 + - - 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: + - - 0.9997671122786673 + - -0.012605210454947474 + - -0.0175165600321795 + - 0.0239185724691613 + - - -0.013272381472307273 + - -0.9991701155010596 + - -0.0385087545845361 + - -0.03451744777236502 + - - -0.017016612354638038 + - 0.038732272835259214 + - -0.9991047222113337 + - 0.9689725278349892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999166671535867 + - -0.010302079209939271 + - -0.007779840127879194 + - 0.09185658738577894 + - - -0.01022293103301434 + - -0.9998962734212203 + - 0.010145643372924886 + - -0.03379439115645394 + - - -0.007883554373342943 + - -0.010065265138508741 + - -0.9999182666638979 + - 0.9684339027807675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9851491864660092 + - 0.011307071576749535 + - -0.17132784519078742 + - 0.09982566050576744 + - - 0.006187265482916364 + - -0.9995190380151574 + - -0.030387668405094135 + - -0.08965400888583473 + - - -0.17158903855201263 + - 0.02887633594506594 + - -0.9847453270116002 + - 0.9715359953648475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953918045873374 + - 0.014263538383524562 + - 0.09482461090426644 + - 0.012910440379803882 + - - 0.026139492499204765 + - -0.9917863011962214 + - -0.12520646824905945 + - -0.0932105433183077 + - - 0.09225986284537727 + - 0.12710815958191052 + - -0.9875887977672956 + - 0.9710247456854978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987695516859355 + - -0.007139136035801481 + - 0.04907560862320152 + - 0.05438220374644375 + - - -0.001716518988622196 + - -0.9939676030373531 + - -0.10966064779464212 + - -0.09335009884564849 + - - 0.04956244735318293 + - 0.10944147682136406 + - -0.9927568317385289 + - 0.9733792551535627 + - - 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: + - - 0.9998915752181811 + - -0.012659866230584944 + - -0.007521010219924163 + - 0.02392163899830336 + - - -0.012970451207225413 + - -0.9989997941307162 + - -0.0427922740955485 + - -0.034529676625415714 + - - -0.006971743195607079 + - 0.04288518524865272 + - -0.9990556819732341 + - 0.968458811230546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998849878271181 + - -0.010932049263222068 + - -0.010511965414247657 + - 0.09181568310422952 + - - -0.010816461434811818 + - -0.9998810991872851 + - 0.010990525467685969 + - -0.03377127760471632 + - - -0.01063086449885811 + - -0.01087555915496353 + - -0.9998843467787031 + - 0.9683848897701902 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9758728491637263 + - 0.022758771781309306 + - -0.21715022581631663 + - 0.099961806382037 + - - 0.002940687247725728 + - -0.9958324347112929 + - -0.09115434348120784 + - -0.08982458625083657 + - - -0.2183197989729335 + - 0.08831647798675644 + - -0.9718727617813111 + - 0.9731712388852369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969144425577268 + - 0.003192837940443149 + - 0.07843086130920048 + - 0.012836732438470147 + - - 0.018157296466684313 + - -0.9814534505647686 + - -0.19083877215998565 + - -0.09309356152426397 + - - 0.07636692219042159 + - 0.19167402056720165 + - -0.9784830928711884 + - 0.9714675783765314 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9896159457181443 + - -0.013744309114437364 + - 0.14307820919815045 + - 0.05449057761561747 + - - -0.004865010853636513 + - -0.9980502994486233 + - -0.062224845840768366 + - -0.0934989988494247 + - - 0.14365448705062056 + - 0.06088262262320985 + - -0.987753357176144 + - 0.9749066718824844 + - - 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: + - - 0.9999190200431721 + - -0.012334066475569465 + - -0.0031343516201311496 + - 0.02391821047462857 + - - -0.012423620693638402 + - -0.9994615175226494 + - -0.030369864013248614 + - -0.03452955838950242 + - - -0.0027580799051124404 + - 0.03040634465862095 + - -0.9995338149356119 + - 0.968667904353796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997560808525984 + - -0.0085910070576038 + - -0.02034633618097341 + - 0.09185178976630996 + - - -0.008896706731425843 + - -0.9998481788739148 + - -0.014982249892842294 + - -0.033795571358539805 + - - -0.02021453456273451 + - 0.01515961082128339 + - -0.9996807284289118 + - 0.96871000309783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9678982967997302 + - 0.014216566657387244 + - -0.25093978617321244 + - 0.10000892507671894 + - - 0.008157304646077527 + - -0.9996499040783566 + - -0.025169975308761937 + - -0.08979557962419003 + - - -0.2512097638092369 + - 0.022314983948205497 + - -0.9676754084187006 + - 0.9735079362824769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9925984523714239 + - -0.0011118367063018136 + - 0.12143754019656659 + - 0.01275725901384746 + - - 0.02917978458946741 + - -0.9684803520115183 + - -0.24737491372198203 + - -0.09322273311092466 + - - 0.11788491218627804 + - 0.24908747777996446 + - -0.9612796554031764 + - 0.9727770143098406 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.989787958018448 + - -0.00414262516442232 + - 0.14248732160588237 + - 0.054425121297559866 + - - -0.020047477223194547 + - -0.9936884035965536 + - 0.11036962994737157 + - -0.09333882410166708 + - - 0.14113077913288993 + - -0.11209904198734857 + - -0.9836238650860721 + - 0.9738481058064572 + - - 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: + - - 0.9999205751364114 + - -0.012509823524482601 + - -0.001532231788771855 + - 0.023910241843856574 + - - -0.012552693678150666 + - -0.9994023751857326 + - -0.03220748910639809 + - -0.03452990706527403 + - - -0.0011284060841459395 + - 0.032224164667257665 + - -0.9994800297710839 + - 0.9689940515322966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997295162286784 + - -0.006390911600838888 + - -0.022361811869404915 + - 0.0918986039554308 + - - -0.007311384598482511 + - -0.9991189612667659 + - -0.04132608005209242 + - -0.03381993629938977 + - - -0.02207799892258056 + - 0.04147839782500213 + - -0.9988954422147723 + - 0.9689146541616814 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9507974092962717 + - 0.006358274456852139 + - -0.3097480570099343 + - 0.10003462913881112 + - - 0.014787524606179544 + - -0.9995812466464905 + - 0.024872886215110263 + - -0.08983420190563501 + - - -0.30946020033522853 + - -0.028229482789798494 + - -0.9504932828326041 + - 0.973627239908616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9937809844833939 + - 0.010118156384311329 + - 0.11089173905480545 + - 0.012905185763482523 + - - 0.02460465899997219 + - -0.9912008647190298 + - -0.13005943462795586 + - -0.09323201268673184 + - - 0.10860002594249935 + - 0.13197904641128097 + - -0.9852855249488132 + - 0.9715710938675272 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9767283198078631 + - -0.001449578540527803 + - 0.2144753785574548 + - 0.0544762901847031 + - - -0.028429414453285836 + - -0.9920286501181929 + - 0.12276369878151674 + - -0.09339204970544988 + - - 0.21258776465063084 + - -0.12600419067130472 + - -0.9689836873003163 + - 0.9747852200040692 + - - 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: + - - 0.999907398770797 + - -0.01193992268704276 + - 0.006529328422256424 + - 0.023944291120289514 + - - -0.011550934573298666 + - -0.9983257095824232 + - -0.05667762783704639 + - -0.034583982704109555 + - - 0.007195122924705145 + - 0.05659695957362731 + - -0.9983711806603391 + - 0.9691281379096752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998449063298124 + - -0.009995643417419469 + - -0.01450001375863086 + - 0.09185733072671562 + - - -0.00994071776070339 + - -0.9999431584909342 + - 0.0038551157669544237 + - -0.033755351162306595 + - - -0.014537723918506692 + - -0.0037103773186002633 + - -0.999887437506554 + - 0.9684487698750895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9610519140673406 + - 0.01669754054089078 + - -0.27586302870697665 + - 0.09995461342108611 + - - 0.009299755295596134 + - -0.9995617620914933 + - -0.02810335061858297 + - -0.08977207940016482 + - - -0.27621139190653043 + - 0.02444332024161785 + - -0.960786027727622 + - 0.9728658263029237 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9720568717375188 + - 0.00775820373065541 + - 0.23461723803408566 + - 0.01290602769640687 + - - 0.014156148187342572 + - -0.9995720851753693 + - -0.025597851602455073 + - -0.09308641718253863 + - - 0.23431824849201813 + - 0.028203843940799254 + - -0.9717507404733968 + - 0.9705554414435553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999913260151917 + - -0.004611882386297535 + - -0.012337046373415879 + - 0.05446529305065569 + - - -0.003503686634419889 + - -0.9960801401804168 + - 0.08838596335465002 + - -0.0934758153649427 + - - -0.012696312548635638 + - -0.08833507162512921 + - -0.9960098989310554 + - 0.9749506090081153 + - - 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: + - - 0.9998984465940182 + - -0.01274178529628376 + - -0.006383056190640574 + - 0.023937994090042835 + - - -0.013175756353931312 + - -0.997221005735102 + - -0.07332574694589834 + - -0.034556500835607344 + - - -0.005431016789819989 + - 0.07340240205971114 + - -0.9972876172040309 + - 0.9693164106611156 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998926189234821 + - -0.009098821780802058 + - 0.011487474245514682 + - 0.09188846876209572 + - - -0.00916996434380889 + - -0.9999390080213558 + - 0.006155647098431145 + - -0.033773046640700376 + - - 0.011430764465836688 + - -0.006260325827650844 + - -0.999915069365523 + - 0.9686163599771791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9633743989025267 + - -0.007586681095488703 + - -0.2680526250741645 + - 0.09994103570140928 + - - 0.019135274695289375 + - -0.995106639186458 + - 0.09693615377850194 + - -0.08975291032638819 + - - -0.2674763705480001 + - -0.09851506949187476 + - -0.9585150871433799 + - 0.9726427099441952 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9781072079721956 + - 0.010923394606738834 + - 0.2078147472223798 + - 0.01286815059919901 + - - -0.001463012415069364 + - -0.9982357907015532 + - 0.05935626131352237 + - -0.09295170504346699 + - - 0.2080964903776839 + - -0.05836082258425826 + - -0.9763656410790889 + - 0.9702226132173186 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960576496627617 + - -0.0025380084192915178 + - 0.08867196322152189 + - 0.05438841298083619 + - - -0.023591026856721042 + - -0.9711738412509985 + - 0.23720209426062294 + - -0.09325005340921391 + - - 0.08551387022080566 + - -0.23835882317011803 + - -0.9674050079552076 + - 0.9733886424344793 + - - 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: + - - 0.9999202234762757 + - -0.012160790135523326 + - 0.0034149475009962135 + - 0.023912959950929194 + - - -0.011964609842001532 + - -0.9985465516560463 + - -0.05255123487746576 + - -0.034567734001775846 + - - 0.004049048589913658 + - 0.052506184008149485 + - -0.9986123901927203 + - 0.9691496638954253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999340006498827 + - -0.010035299072616454 + - -0.005593488789980494 + - 0.09187770738833298 + - - -0.009968802571190658 + - -0.999880779584608 + - 0.011791929128573657 + - -0.03379713140133166 + - - -0.005711157467371796 + - -0.011735390483483056 + - -0.9999148280181583 + - 0.96853196618474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9946932497375075 + - 0.016904510471132415 + - 0.10148682896005731 + - 0.012698968134966475 + - - 0.019771014423786572 + - -0.9994315848653065 + - -0.02730593639257392 + - -0.09300748671979876 + - - 0.10096754882283207 + - 0.02916752816664868 + - -0.9944620703603311 + - 0.969949688508539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992909400806425 + - -0.001874720256838477 + - 0.03760455420164318 + - 0.05432300189964463 + - - -0.0049361975743315405 + - -0.9966622847308201 + - 0.08148572972397772 + - -0.09324479457279608 + - - 0.03732627795873684 + - -0.08161357496826482 + - -0.9959648454411666 + - 0.9725512784735925 + - - 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: + - - 0.9998996362401442 + - -0.01372031857246352 + - -0.003531331915498945 + - 0.02391726486492961 + - - -0.01387827947465688 + - -0.9986792698824722 + - -0.049468265239803084 + - -0.03454239077380699 + - - -0.0028479476207659365 + - 0.04951230922995114 + - -0.9987694530916869 + - 0.9689136207478255 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997686662069409 + - -0.010490795379332419 + - -0.01877650881030461 + - 0.09186179100461847 + - - -0.010524192922575048 + - -0.9999432065967709 + - -0.001680757060109737 + - -0.03381695852493825 + - - -0.01875780995006854 + - 0.0018779758453358866 + - -0.9998222930964286 + - 0.9686554251191476 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9731683174976491 + - 0.020685284820558508 + - -0.22916270379511433 + - 0.09995335384586607 + - - 0.005216173290550299 + - -0.997678229919935 + - -0.06790391063868775 + - -0.089757174516474 + - - -0.23003525241796718 + - 0.0648865820930361 + - -0.9710167424454043 + - 0.9727415742442236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9939949807226812 + - 0.004452001529193157 + - 0.10933507205147232 + - 0.012730356154448022 + - - 0.02781660330851085 + - -0.9766297396253292 + - -0.2131210647959 + - -0.09316512033993202 + - - 0.10583106764317142 + - 0.2148825990203612 + - -0.9708888987725427 + - 0.9717768008881006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931518868720622 + - -0.011318909251052157 + - 0.11628074602370327 + - 0.054358532063614066 + - - -0.0033726396163514484 + - -0.99765860446694 + - -0.06830764404585614 + - -0.09329121307734435 + - - 0.11678165482849075 + - 0.06744769252126877 + - -0.9908647000822438 + - 0.9730971662891665 + - - 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: + - - 0.9999257518761532 + - -0.011745972309522209 + - 0.003243897256940916 + - 0.0239162573442758 + - - -0.011580265016156265 + - -0.9988236081165065 + - -0.04708818674868506 + - -0.034576929846185704 + - - 0.003793177700192629 + - 0.047047125349243074 + - -0.9988854688097667 + - 0.9686815070968408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996890953292218 + - -0.009135411878320399 + - -0.023200364860394937 + - 0.09185026747457217 + - - -0.00919663986540889 + - -0.9999544998791489 + - -0.0025337692530738426 + - -0.03377593141122183 + - - -0.02317616221525854 + - 0.0027463468927455274 + - -0.9997276244476379 + - 0.9685742223939471 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9765835796837317 + - 0.02581726238159084 + - -0.2135836624258246 + - 0.09993630402702093 + - - 0.0023428726678569115 + - -0.9939908916415148 + - -0.10943773700771295 + - -0.08977561469039008 + - - -0.2151255978254813 + - 0.10637469763448087 + - -0.9707756696906875 + - 0.9726776309161975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999698401422974 + - 0.015990979756082775 + - -0.018638528879471393 + - 0.012796936983783428 + - - 0.015667426948950722 + - -0.9997262310501874 + - -0.017377994216482912 + - -0.09283680333701932 + - - -0.018911317382711096 + - 0.017080735248500626 + - -0.9996752525486577 + - 0.9691592769356445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9884362857412489 + - -0.007897760102053172 + - 0.1514309559350885 + - 0.05433441536102639 + - - -0.01577177982639492 + - -0.9985808897680875 + - 0.050867057621621595 + - -0.09318294051241566 + - - 0.15081432289789995 + - -0.05266718119801046 + - -0.987158147428011 + - 0.9722968598557895 + - - 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: + - - 0.9996747877321505 + - -0.010371741101139614 + - -0.02329690449847154 + - 0.023926170749439906 + - - -0.011886178030390847 + - -0.9977595652009527 + - -0.06583744240048041 + - -0.0345461859450659 + - - -0.0225618603955841 + - 0.06609294241095377 + - -0.9975583619111983 + - 0.9688843638500125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995487106043566 + - -0.008760316996233081 + - -0.028733812404443917 + - 0.09185092137643569 + - - -0.009184381667189543 + - -0.9998503581021714 + - -0.01465975908230919 + - -0.03377856463386485 + - - -0.02860108848557442 + - 0.014917045588368495 + - -0.9994795943331485 + - 0.9686235347617977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9748438096145794 + - 0.013277990124232543 + - -0.22249323997459922 + - 0.09987800349278311 + - - 0.010022300566913509 + - -0.9998256432936011 + - -0.01575552296444945 + - -0.08968176565409375 + - - -0.2226636484644053 + - 0.01312927990400204 + - -0.9748069150666312 + - 0.9719907739262079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988680596983079 + - 0.017474411590497452 + - 0.04424075331754153 + - 0.012916110015225992 + - - 0.022613412861611844 + - -0.9927007712656466 + - -0.11846439248711345 + - -0.09316537180082943 + - - 0.04184773438655863 + - 0.11933073228702011 + - -0.9919722493389398 + - 0.9706820320968089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987864076109255 + - -0.006538926968246634 + - 0.04881551398649851 + - 0.05430364589342119 + - - -0.01347600286399545 + - -0.989607062605781 + - 0.14316514585459927 + - -0.09315695550757422 + - - 0.047372030972628584 + - -0.14364923972949883 + - -0.9884942016049798 + - 0.9718604655018879 + - - 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: + - - 0.9997126293685351 + - -0.013186450681579868 + - 0.02001939558209111 + - 0.023936322338421287 + - - -0.012372911759109276 + - -0.9991137798125798 + - -0.04023140618001119 + - -0.03449875803273555 + - - 0.020532163443029636 + - 0.0399721466404046 + - -0.9989898186454688 + - 0.9685997401181425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993293445081146 + - -0.011552583064093581 + - -0.034747647827290444 + - 0.09178248600989203 + - - -0.011001493789098283 + - -0.9998113159185668 + - 0.016009362747811 + - -0.033804376456087186 + - - -0.034926040992225495 + - -0.015616349949004883 + - -0.9992678826395244 + - 0.9682345146173318 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9736021825255264 + - 0.016554052966414184 + - -0.22765050738339393 + - 0.09993933589907855 + - - 0.005665534892533419 + - -0.9988119387397997 + - -0.048400544885603754 + - -0.08976922724813553 + - - -0.22818126981834647 + - 0.04583311424316496 + - -0.9725392710543155 + - 0.9726697543518198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988904104961804 + - 0.02094497431225512 + - 0.042181226509326625 + - 0.012851071081802551 + - - 0.022198504461420878 + - -0.9993190850880083 + - -0.02947189472265603 + - -0.09299757774513878 + - - 0.04153521660529079 + - 0.030375553162469586 + - -0.998675198225943 + - 0.9692809445598396 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918955118671354 + - -0.012694790704044416 + - 0.12642047234057457 + - 0.05439300530902959 + - - 0.00161393069655651 + - -0.993656848655854 + - -0.11244315162349755 + - -0.09331955918955089 + - - 0.12704601042748326 + - 0.11173589131652664 + - -0.9855832800053794 + - 0.9732823932169188 + - - 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: + - - 0.9999308883420217 + - -0.011654226790351444 + - -0.0015483983513227347 + - 0.023904752453048364 + - - -0.011702661790889766 + - -0.9992756762189507 + - -0.036210090087791504 + - -0.03456490550222334 + - - -0.0011252762075921558 + - 0.0362257079306531 + - -0.9993430000947516 + - 0.9688031436352875 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999498586259229 + - -0.008897576833803579 + - -0.004594927690753114 + - 0.09187030917902483 + - - -0.008961827380051614 + - -0.9998596232341534 + - -0.014156958574052724 + - -0.033812301173947276 + - - -0.004468320043018978 + - 0.014197427673485417 + - -0.9998892274464456 + - 0.9685030593079128 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9589473306502531 + - -0.005413346899829434 + - -0.2835325602362037 + - 0.09998072464225935 + - - 0.01989366518536003 + - -0.9960704970099252 + - 0.08630067828176975 + - -0.08977603677116469 + - - -0.28288559370220173 + - -0.08839830689409632 + - -0.9550714529363812 + - 0.9732817112064189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9947683117045852 + - 0.02148903942402909 + - 0.09987105292847206 + - 0.01282115916121671 + - - 0.03243460540579994 + - -0.9934793913982307 + - -0.10930093887598329 + - -0.09325717135350203 + - - 0.0968710606970895 + - 0.11196838862658472 + - -0.9889788054087848 + - 0.9704749859324321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9856057677419661 + - -0.006722553712747425 + - 0.16892624978181744 + - 0.054443510629323455 + - - -0.020393926521800637 + - -0.9966400159800454 + - 0.07932695826966503 + - -0.09336904938136145 + - - 0.1678253805441631 + - -0.08163017713366182 + - -0.9824312473788345 + - 0.9741270576437873 + - - 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: + - - 0.9998611690930204 + - -0.014022538675249304 + - 0.009000608259427842 + - 0.023910773484838364 + - - -0.01365614176589714 + - -0.9991241094893611 + - -0.03955405957877741 + - -0.03452261866646231 + - - 0.009547373042269951 + - 0.03942565467044131 + - -0.9991768939591225 + - 0.968574849979431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998828557311839 + - -0.008864348862730048 + - -0.012477905837612362 + - 0.09182199741074812 + - - -0.009193280528722574 + - -0.999605069719776 + - -0.026555379561249683 + - -0.033799407991010305 + - - -0.012237581786150177 + - 0.026666981639504005 + - -0.9995694641605783 + - 0.9683563548269402 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9687187438316766 + - 0.014402659167292041 + - -0.24774292877515097 + - 0.09999267266212936 + - - 0.00880474893429692 + - -0.9996806074694771 + - -0.023688804226074764 + - -0.089763395687853 + - - -0.24800498330755916 + - 0.020766474384645045 + - -0.9685361540986733 + - 0.9729931284845698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959520879583068 + - 0.019089569014301352 + - 0.0878352255438403 + - 0.012761864854928789 + - - 0.030873729370358427 + - -0.9903878692633894 + - -0.1348283399389339 + - -0.09320771891344615 + - - 0.08441712697228529 + - 0.1369943676607585 + - -0.9869682324689957 + - 0.9706466451133136 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962358044808924 + - -0.005549526421682561 + - 0.0865067894838555 + - 0.05438540156301851 + - - -0.01566407054849696 + - -0.9930452612132918 + - 0.11668652910973352 + - -0.09326931222588211 + - - 0.08525760238336964 + - -0.11760234665311754 + - -0.9893941728641417 + - 0.9729463305590826 + - - 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: + - - 0.9999130733100724 + - -0.012605764679925198 + - -0.0038652969407481424 + - 0.02390847855170354 + - - -0.012723826639417526 + - -0.9993999761794666 + - -0.03221477685987109 + - -0.03453502017332757 + - - -0.003456885774198425 + - 0.03226115790413586 + - -0.9994734952120683 + - 0.9691258936835574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998884252652359 + - -0.010365608023483039 + - -0.010755983958251244 + - 0.09185754348417877 + - - -0.010365617465106088 + - -0.9999462740386028 + - 5.487151543234547e-05 + - -0.033812389223083675 + - - -0.010755974859292939 + - 5.662702201448499e-05 + - -0.9999421512258633 + - 0.9687149858593086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9676215433748097 + - 0.00938282901794719 + - -0.2522310673104548 + - 0.0998708069359188 + - - 0.012673618829709713 + - -0.9998544108974652 + - 0.011425252497978423 + - -0.08967976017712614 + - - -0.2520871440250582 + - -0.014252000859644339 + - -0.9675995826212342 + - 0.9720799770487851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.98813748193994 + - 0.001280561214983697 + - 0.15356652287646985 + - 0.012746821256668695 + - - 0.026351438209952206 + - -0.9865479850409902 + - -0.16133404760257486 + - -0.09315649057945102 + - - 0.15129414558951623 + - 0.16346691828788323 + - -0.9748787863810564 + - 0.9717292994295574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953124514348703 + - -0.0019268682625190065 + - 0.09669235335541138 + - 0.054298727517998774 + - - -0.01878886270828211 + - -0.9846045365478705 + - 0.17378401896458492 + - -0.09315536919749716 + - - 0.09486887085255186 + - -0.17478613728798056 + - -0.9800253586285969 + - 0.9718954128055195 + - - 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: + - - 0.9999105821443232 + - -0.011563559594865207 + - -0.006716532237461386 + - 0.02392327159793815 + - - -0.011598031847779897 + - -0.9999196509501301 + - -0.005116375770770901 + - -0.03453919437547532 + - - -0.006656829054342653 + - 0.005193816830217359 + - -0.999964354811548 + - 0.9688263415564221 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997160215789974 + - -0.0123718059486923 + - -0.020366998203700318 + - 0.09179411020317789 + - - -0.011681183922685278 + - -0.9993642149120342 + - 0.033685544309361964 + - -0.03374805235804471 + - - -0.02077080018742728 + - -0.03343806768970796 + - -0.9992249343810193 + - 0.9681781733901093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9667370362165457 + - -0.0024126114127201916 + - -0.2557609863005308 + - 0.09992994568013248 + - - 0.017932930628353154 + - -0.9968553351490367 + - 0.0771871154013518 + - -0.08971403106608725 + - - -0.2551429262321959 + - -0.07920618720197393 + - -0.9636537070455337 + - 0.972693549156406 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9849535368311767 + - 0.0016351700861720782 + - 0.17281162143370188 + - 0.01283731736866258 + - - 0.009811812307710877 + - -0.9988714165923575 + - -0.04647172746967331 + - -0.09297431851722372 + - - 0.17254059992649284 + - 0.04746808752800794 + - -0.983857978594187 + - 0.9701963521672679 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9937991929308134 + - 0.0023196655918437635 + - 0.11116556697829522 + - 0.054271960585268016 + - - -0.026820558202081103 + - -0.965259608500365 + - 0.25991257348472246 + - -0.09297902742451757 + - - 0.1079065419137904 + - -0.2612824283208966 + - -0.9592120051703602 + - 0.9704269718791652 + - - 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: + - - 0.9999189031319293 + - -0.012369777030862488 + - 0.0030291542790235855 + - 0.023938947368098786 + - - -0.012217941629041388 + - -0.9988735338132152 + - -0.045851775863632704 + - -0.03453770181750125 + - - 0.00359291828305593 + - 0.04581104739804821 + - -0.9989436615117516 + - 0.9688868358320055 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996378131354265 + - -0.008255289117275104 + - -0.02561430755285739 + - 0.09185433058798108 + - - -0.008606319898565461 + - -0.9998701417987986 + - -0.013624639336659151 + - -0.033787366342289654 + - - -0.025498505988110837 + - 0.013840149596036995 + - -0.9995790496261583 + - 0.9687268457514254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.970424227928905 + - 0.017296977193365645 + - -0.24078544895520732 + - 0.09993246854278563 + - - 0.010179303601735353 + - -0.9994745697887085 + - -0.030772814688626252 + - -0.08975328651833464 + - - -0.24119120967973162 + - 0.027411656747614196 + - -0.9700904089040255 + - 0.9726469064407771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985393154765877 + - 0.02534451883141503 + - 0.04771677705746306 + - 0.012803877050422642 + - - 0.03545189855351475 + - -0.9737933569536318 + - -0.22465453666002097 + - -0.09336873047600326 + - - 0.040772519378852255 + - 0.22601803759474917 + - -0.973269463378627 + - 0.9720294930173045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912734716562365 + - -0.004720569369355576 + - 0.1317369371718563 + - 0.05432364654566464 + - - -0.016613904035993103 + - -0.9958636330405531 + - 0.08932862128094236 + - -0.09316631362899222 + - - 0.13077034290417427 + - -0.09073775736759378 + - -0.9872516279067991 + - 0.9720457841350378 + - - 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: + - - 0.9998921541408906 + - -0.012502217490684486 + - -0.00770549448803368 + - 0.023898826968685984 + - - -0.0127433078935702 + - -0.9994041759656476 + - -0.03207648930844414 + - -0.03452494824337634 + - - -0.007299876123549355 + - 0.03217122348063068 + - -0.9994557139705292 + - 0.9687904029277449 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996319515123401 + - -0.00758938888285955 + - -0.026045396752890186 + - 0.09186861205056052 + - - -0.008785234137885128 + - -0.99889769294437 + - -0.04611093895767279 + - -0.03383672095500748 + - - -0.02566673288077921 + - 0.04632278280501309 + - -0.9985967247174542 + - 0.968765128230056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9574664404034532 + - 0.008127972659341096 + - -0.28843015022980784 + - 0.09997082817936276 + - - 0.014166835184340424 + - -0.9997218426621238 + - 0.018855717570773367 + - -0.08978003509214469 + - - -0.288196662510169 + - -0.02213985918424146 + - -0.9573152617363326 + - 0.9730235472634462 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9788693283766021 + - 0.01592750311723004 + - 0.20386552579578193 + - 0.012724365655946935 + - - 0.008509058052025691 + - -0.9992710939990378 + - 0.03721393057756812 + - -0.09297754014359783 + - - 0.20430965198591883 + - -0.03469287163691454 + - -0.9782913526976388 + - 0.9701043559666294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998413193785604 + - -0.006394884325927075 + - 0.05594818968731714 + - 0.05434659377389288 + - - -0.021355174155819154 + - -0.9623150724712006 + - 0.27109713726176243 + - -0.09315479980986255 + - - 0.05210615137970412 + - -0.27186174197412594 + - -0.9609246288024829 + - 0.9724300484718852 + - - 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: + - - 0.9998875980716988 + - -0.012902627011684216 + - -0.007636323631588727 + - 0.023933024272029837 + - - -0.013046451280842978 + - -0.9997325677822788 + - -0.01909405730662297 + - -0.03454908428796959 + - - -0.007387917933057612 + - 0.019191538021986882 + - -0.9997885294085773 + - 0.9687006374091951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997151489412036 + - -0.010902542686941291 + - -0.021231004225578436 + - 0.09183743134918948 + - - -0.010620669110430697 + - -0.9998545547739093 + - 0.01334431285282482 + - -0.03376788231574741 + - - -0.021373403217874537 + - -0.013115024240417756 + - -0.9996855374436798 + - 0.9686123222908467 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.97450459209064 + - 0.019141707986005126 + - -0.2235495359190749 + - 0.09997321868364689 + - - 0.005013861787629499 + - -0.9979631784246921 + - -0.06359524902429098 + - -0.08978854433238881 + - - -0.22431152708728502 + - 0.0608530157335324 + - -0.9726156739904542 + - 0.9728249587684366 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950750171074703 + - 0.0070861785934156 + - 0.09887111004489693 + - 0.01272073203507773 + - - 0.02984773960770911 + - -0.9725685129112216 + - -0.23069373665959117 + - -0.093129834283422 + - - 0.09452419144789492 + - 0.23250865310047417 + - -0.9679901360367906 + - 0.9711510993949094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980695520197239 + - -0.00493795810740731 + - 0.061909497662936734 + - 0.05436244242499978 + - - -0.002292661121131258 + - -0.9990841587900158 + - -0.04272689270038216 + - -0.0932958245809214 + - - 0.06206378199990178 + - 0.042502473158344656 + - -0.9971667998581244 + - 0.9730540189710324 + - - 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: + - - 0.9997836122593412 + - -0.01348569656360059 + - 0.015838707202859525 + - 0.023923785774693673 + - - -0.013078304449139754 + - -0.9995880134992963 + - -0.025549192184219756 + - -0.03451893247927748 + - - 0.01617673052254485 + - 0.025336520217367577 + - -0.999548084952833 + - 0.9689428522581764 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998615309648798 + - -0.007911583579729592 + - -0.014639868231223693 + - 0.09185240305387687 + - - -0.008464921312684023 + - -0.9992369742286376 + - -0.0381289187044042 + - -0.033832705739521234 + - - -0.01432703750733931 + - 0.03824756436242639 + - -0.9991655817814208 + - 0.9688138030219527 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9936792428121402 + - 0.017300461106213097 + - 0.11091553745893386 + - 0.012876696425528869 + - - 0.022142371508809863 + - -0.9988480113500741 + - -0.04257188750771106 + - -0.09314679896523133 + - - 0.11005125073463544 + - 0.04475873398026097 + - -0.9929176088398411 + - 0.9704471473619729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926649755362739 + - -0.0023435541077841023 + - 0.12087495231731253 + - 0.054407719814713235 + - - -0.016994363768208454 + - -0.9925898412407616 + - 0.12031873779987096 + - -0.09335539539168042 + - - 0.11969727625841155 + - -0.12149038982480953 + - -0.9853489976838328 + - 0.9739222625806028 + - - 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: + - - 0.9999209003518426 + - -0.011829028550649812 + - -0.004274005511042536 + - 0.023931079386893296 + - - -0.012138617625021254 + - -0.9965864685836338 + - -0.08165821819115628 + - -0.03459290402133106 + - - -0.003293478664578493 + - 0.08170363957345396 + - -0.9966512269990621 + - 0.9690969798898444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998454194742894 + - -0.010615964510052953 + - -0.014015650316832915 + - 0.09180156890168707 + - - -0.010396870288916917 + - -0.9998240462617702 + - 0.015613507131221997 + - -0.03379332558416502 + - - -0.014178936648348461 + - -0.015465374688722538 + - -0.9997798657410837 + - 0.9681996007924274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9746284380242838 + - 0.0042047598129161265 + - -0.22378947202507166 + - 0.09990341262775633 + - - 0.013225585129171852 + - -0.9991584656654887 + - 0.038825821137213064 + - -0.08965375003781767 + - - -0.223437892248239 + - -0.0408004961232522 + - -0.9738638651391488 + - 0.9722083251357335 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986185075656356 + - 0.020918057371771447 + - 0.04820281343628999 + - 0.012855072013525471 + - - 0.022067139998172922 + - -0.9994818830332447 + - -0.023430894575782645 + - -0.09298002087368933 + - - 0.047687709943795134 + - 0.02446222320460023 + - -0.9985627080740627 + - 0.969066545251408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988777921953171 + - -0.005167065741604778 + - 0.047079270285665886 + - 0.05435792908387483 + - - -0.010331346375276192 + - -0.9938645564999847 + - 0.11012041870226599 + - -0.09317445291907119 + - - 0.046221418639878595 + - -0.11048323295735982 + - -0.9928026166838032 + - 0.972234960228359 + - - 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: + - - 0.9995818211482923 + - -0.0107121127374177 + - -0.026859513595074956 + - 0.02392391858121379 + - - -0.01197851878002662 + - -0.9988022421099781 + - -0.047440449448944114 + - -0.034570454656420536 + - - -0.026319154957933445 + - 0.04774234804429005 + - -0.9985128793788886 + - 0.969337073430822 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999305109791368 + - -0.00905463554263107 + - -0.007548959411249521 + - 0.09185734733261494 + - - -0.009003678907041741 + - -0.999936636138934 + - 0.006757031396433904 + - -0.03376169816116257 + - - -0.0076096635366790155 + - -0.006688593450317041 + - -0.9999486765522095 + - 0.9685053076208409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9589897911385892 + - 0.016787810857351836 + - -0.2829430152850267 + - 0.09997746331650277 + - - 0.010274872279722014 + - -0.9996473475583995 + - -0.02448688463427221 + - -0.08981018619710386 + - - -0.2832543159275785 + - 0.020575469036562356 + - -0.9588240936596896 + - 0.9732308151182998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953777878924199 + - 0.010556059558229008 + - 0.09545485308246876 + - 0.012896611375771088 + - - 0.030305268558661645 + - -0.9776812553444028 + - -0.20789649743509372 + - -0.09327365208240071 + - - 0.09112985278151153 + - 0.20982834068541759 + - -0.9734821094284292 + - 0.9718038331300357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986947307712182 + - -0.003893597958844701 + - 0.05092813195807346 + - 0.054468711651041765 + - - -0.0055770328603724 + - -0.9994412799994263 + - 0.03295488639918374 + - -0.09342587840364466 + - - 0.050771364313738805 + - -0.03319589926547644 + - -0.9981584547744302 + - 0.9746256833158347 + - - 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: + - - 0.9998699712461157 + - -0.012492616954693942 + - -0.010196819205761166 + - 0.02391605796787441 + - - -0.012809167693321582 + - -0.9994187393926416 + - -0.03159285637336373 + - -0.03452049159641015 + - - -0.009796214743259405 + - 0.03171936116076293 + - -0.9994488062448509 + - 0.9688292489538043 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995572775183709 + - -0.007875483898334234 + - -0.028691910243648634 + - 0.09184511361834954 + - - -0.008277407655263013 + - -0.9998688988522587 + - -0.013916523649263286 + - -0.033816197698967744 + - - -0.028578549343364238 + - 0.01414785712887253 + - -0.9994914230027641 + - 0.9684857999425958 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9845718049976628 + - 0.011237519304246896 + - -0.1746198126317027 + - 0.09986436586989067 + - - 0.007629627074902626 + - -0.9997436113242929 + - -0.021319015149844803 + - -0.08963455839818958 + - - -0.17481461493348374 + - 0.019657817176585952 + - -0.9844051100179793 + - 0.9717006581513559 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970645584776363 + - 0.01739181475072908 + - 0.07456400611201397 + - 0.012918214061071062 + - - 0.020733330560428608 + - -0.9988041337086551 + - -0.04427676016121821 + - -0.09302810749860435 + - - 0.07370478432007063 + - 0.045692748507595436 + - -0.9962327928261308 + - 0.969742690700219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988246352940204 + - -0.004496454701172578 + - 0.0482610590941318 + - 0.05434884465543557 + - - -0.004980542048023696 + - -0.9999384412257047 + - 0.009915037065763145 + - -0.0932642775837785 + - - 0.048213505687461126 + - -0.010143749515238049 + - -0.9987855436554421 + - 0.9726678770895598 + - - 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: + - - 0.9999059559184945 + - -0.012481361001485261 + - -0.00568286426657931 + - 0.023929302234557324 + - - -0.012735259147754476 + - -0.9988098904001845 + - -0.04708095170247806 + - -0.03454266898149803 + - - -0.005088466680769085 + - 0.0471488967667552 + - -0.9988749116083139 + - 0.9686545532573936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998511734138874 + - -0.010258451368653573 + - -0.01387065962344655 + - 0.09184255688709157 + - - -0.010101684180827826 + - -0.9998848402738933 + - 0.011325288833483844 + - -0.03379041607102738 + - - -0.013985242206817643 + - -0.011183486306514199 + - -0.9998396584625201 + - 0.9683827386223918 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9713272688360518 + - 0.013643671907149123 + - -0.2373545597463558 + - 0.09992521419298102 + - - 0.007406697609133359 + - -0.9996039576460276 + - -0.027149008986060177 + - -0.08972024076210684 + - - -0.23763096945899784 + - 0.024612559299845026 + - -0.9710436366501188 + - 0.9724630601608487 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974576844974246 + - 0.02105110193792513 + - 0.06808097196893842 + - 0.012793115128919327 + - - 0.03124026249966913 + - -0.9878476360112352 + - -0.15225338756811616 + - -0.09323029851363664 + - - 0.06404852563477212 + - 0.15399317885612437 + - -0.9859938576024694 + - 0.9711173314593533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9802617646832962 + - -0.009988702741160765 + - 0.1974515092814911 + - 0.05432414813865876 + - - -0.014355854876389745 + - -0.999682689126256 + - 0.020698562560361355 + - -0.0931182352458772 + - - 0.1971821039819742 + - -0.023124594674196638 + - -0.9800941133332023 + - 0.9713843416842343 + - - 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: + - - 0.9998162696284757 + - -0.01392593281613778 + - 0.013171764551483433 + - 0.023924248221145198 + - - -0.013305587740437289 + - -0.9988497765213451 + - -0.046066096840742914 + - -0.034504238893626964 + - - 0.013798127448346882 + - 0.04588237503071955 + - -0.9988515502017604 + - 0.9683418021069361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9695630513314195 + - 0.02533703679669573 + - -0.2435272552698569 + - 0.09996397918427943 + - - 0.0030325656905230963 + - -0.9957976083168837 + - -0.09153101559420797 + - -0.08979428779001518 + - - -0.24482298306784805 + - 0.08800657837194538 + - -0.9655654038567366 + - 0.9730745504782907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969992783017935 + - 0.025246243918138584 + - 0.07317831805752932 + - 0.012758244200577869 + - - 0.03601784953887563 + - -0.9880538186595498 + - -0.14984113569669713 + - -0.09316492524236863 + - - 0.06852119073905523 + - 0.15202722979883224 + - -0.9859982595417675 + - 0.9702987485327935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930377511393373 + - -0.005942760688908987 + - 0.11764654014258985 + - 0.05434354744553508 + - - -0.010391169599160359 + - -0.999252530048597 + - 0.037234456969858616 + - -0.09319895010844223 + - - 0.11733732742179334 + - -0.038197706565618904 + - -0.9923572374939575 + - 0.972010460425031 + - - 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: + - - 0.9998359968324896 + - -0.013916098376445486 + - 0.011589721478920947 + - 0.02392438694187924 + - - -0.013500543509683835 + - -0.9992893347058451 + - -0.035193193490973954 + - -0.03454180278902333 + - - 0.012071237008898629 + - 0.03503095415667534 + - -0.9993133229813101 + - 0.9688525682811884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997162645657164 + - -0.011023011669463633 + - -0.021115955495914513 + - 0.09180232449795787 + - - -0.010910581934991913 + - -0.9999257222906696 + - 0.005432228209649274 + - -0.03382279850073511 + - - -0.02117426656605612 + - -0.005200299531445263 + - -0.9997622754035942 + - 0.9682379677185372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9979837829605157 + - 0.014272690724400343 + - 0.061843829500637576 + - 0.01270358678638524 + - - 0.016787115527410437 + - -0.9990453588743039 + - -0.04033067894274035 + - -0.0929313553970918 + - - 0.061209163530370925 + - 0.04128754305112671 + - -0.9972706639066014 + - 0.969853985988351 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995200199291399 + - -0.005244480419213375 + - 0.09771928548394145 + - 0.05438092453171352 + - - -0.010990707611339377 + - -0.9982352004809263 + - 0.05835828019233561 + - -0.09320282455073338 + - - 0.09724077167814747 + - -0.05915217617245871 + - -0.9935015110091685 + - 0.9725541431987041 + - - 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: + - - 0.9998792708296782 + - -0.012914719269726822 + - -0.008640242548399863 + - 0.023934151618108846 + - - -0.013248734799978085 + - -0.9991203107631642 + - -0.03978788316458216 + - -0.03454087635265649 + - - -0.008118792478619116 + - 0.03989755188859008 + - -0.9991707914876148 + - 0.9688298311497272 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995136409984622 + - -0.007781690442245603 + - -0.030198124972562353 + - 0.09184636559393348 + - - -0.008359021639264169 + - -0.9997837944281286 + - -0.01903920051178154 + - -0.03378446719872773 + - - -0.03004343880503269 + - 0.0192823674053414 + - -0.9993625878989135 + - 0.9683956194708425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9615541572928142 + - 0.01189602320678657 + - -0.2743575900622568 + - 0.09997688582464323 + - - 0.009775538901309647 + - -0.9999108569148694 + - -0.009094892135767009 + - -0.08980465247035015 + - - -0.27444132602815985 + - 0.006063238048753335 + - -0.9615847314263418 + - 0.9729691860794185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9848849747271358 + - -0.011233918407801293 + - 0.1728449757266207 + - 0.012883565669573528 + - - 0.02167876612653634 + - -0.9820529942194204 + - -0.18735513775688903 + - -0.09318359396229538 + - - 0.17184765827895407 + - 0.18827032591961693 + - -0.9669657009026545 + - 0.9724020833360687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921917163222461 + - -0.0024383158417083054 + - 0.12469824648876018 + - 0.05442985051106522 + - - -0.02254863955193858 + - -0.9868404195713146 + - 0.16011728562109734 + - -0.09336248814133984 + - - 0.12266685337071409 + - -0.1616788202460897 + - -0.9791898703356565 + - 0.9738774545073372 + - - 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: + - - 0.9998637201130219 + - -0.012458921925178081 + - -0.010831272603477639 + - 0.023911624032542135 + - - -0.012980799586083992 + - -0.998688383837696 + - -0.0495278793181827 + - -0.03454221870066862 + - - -0.010200002149727716 + - 0.04966172824331494 + - -0.9987140094661897 + - 0.9689281637683133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995662395517738 + - -0.009850714302725327 + - -0.027754210059955525 + - 0.09181489494128182 + - - -0.010068435610157904 + - -0.9999195431021641 + - -0.007715823139661775 + - -0.0337917844314547 + - - -0.027675970672953066 + - 0.00799191779765774 + - -0.999584998835629 + - 0.9684027475151835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9725589759740705 + - 0.013831548927327025 + - -0.23224497089611706 + - 0.09997198745297896 + - - 0.010451677286368801 + - -0.9998209035442468 + - -0.015777302616956406 + - -0.08970300137712002 + - - -0.23242160117805083 + - 0.012917007789591813 + - -0.9725293569942216 + - 0.9727448385562563 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9881910566824235 + - 0.009086527688752682 + - 0.15295708714354123 + - 0.012810782575390913 + - - 0.03867166304750146 + - -0.9807146115478599 + - -0.1915811921188284 + - -0.09332735695732042 + - - 0.14826644249463816 + - 0.19523392561512576 + - -0.9694847994264234 + - 0.9717696386053597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992581703217619 + - -0.004848848250412228 + - 0.03820468185771425 + - 0.05440175153202657 + - - -0.005049211421226884 + - -0.9999739925577675 + - 0.005149725439520553 + - -0.09334831835881206 + - - 0.038178718014470286 + - -0.005338808736335049 + - -0.9992566650325877 + - 0.9738645720476907 + - - 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: + - - 0.9997777424376366 + - -0.012821608852715813 + - -0.01673535397685606 + - 0.023933852414092398 + - - -0.013664437115175038 + - -0.9985918829723501 + - -0.051259481269931004 + - -0.03456352138602262 + - - -0.016054559621121327 + - 0.051476767654592887 + - -0.9985451384425281 + - 0.9687171788527514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993031069694359 + - -0.010378433573837768 + - -0.03585510448716664 + - 0.09178900255404714 + - - -0.010175536552287402 + - -0.9999311935405059 + - 0.005836663475949552 + - -0.03380069854230135 + - - -0.03591321284855009 + - -0.0054677510195561664 + - -0.9993399545908699 + - 0.9682643441757001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.974370619149654 + - 0.00348283200567868 + - -0.2249216895257993 + - 0.09987483554637337 + - - 0.010823313914558414 + - -0.9994479508553505 + - 0.03141097589932508 + - -0.08971277275119793 + - - -0.22468812254729167 + - -0.03304033008705082 + - -0.97387041446689 + - 0.9721940243079585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989822653010478 + - 0.009185586159581847 + - 0.044159468077546116 + - 0.012846630812905192 + - - 0.01548881287213211 + - -0.9893701314062703 + - -0.14459197680698768 + - -0.09295452262926052 + - - 0.042361896673767926 + - 0.14512879827258715 + - -0.9885054889185779 + - 0.9702802024726376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899515418833372 + - -0.014291859632845074 + - 0.1406829324084418 + - 0.05436810204677106 + - - 0.006686585849558344 + - -0.9890354045859234 + - -0.14752714341854553 + - -0.09323691065177178 + - - 0.14124883819868975 + - 0.14698541160195003 + - -0.9790015600006603 + - 0.9725644382963566 + - - 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: + - - 0.999923908132244 + - -0.012328517556317812 + - -0.00043081365269262905 + - 0.023917094476695253 + - - -0.012329809581402937 + - -0.9976990120055003 + - -0.06666826260624331 + - -0.034562761056533005 + - - 0.00039209849034036023 + - 0.06666850154392431 + - -0.9977751034981088 + - 0.9687137057182149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998543714050983 + - -0.009903886996013307 + - -0.013897805743578372 + - 0.09183968515025202 + - - -0.009901075547620635 + - -0.9999509464044409 + - 0.00027108645170534893 + - -0.033785020732723436 + - - -0.013899808815820099 + - -0.00013344374915296475 + - -0.9999033840865079 + - 0.9683967201431405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.971539329548802 + - -0.003846279969435557 + - -0.23684707570553015 + - 0.10000550795981968 + - - 0.013942669010646381 + - -0.9972061066313461 + - 0.0733865306307152 + - -0.08979562393950806 + - - -0.2364676153741226 + - -0.07460018114957938 + - -0.968771324850053 + - 0.9733491266198708 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948861350171234 + - 0.02201899753304483 + - 0.09857353650108093 + - 0.01276524812105561 + - - 0.030628137452685687 + - -0.995764018337571 + - -0.08669450374961604 + - -0.09322444558446885 + - - 0.09624705474387028 + - 0.08927028358783545 + - -0.9913462164759984 + - 0.9708335739606984 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913973714165374 + - -0.00220035208069988 + - 0.13086791203003606 + - 0.05438630305886575 + - - -0.02606124467581271 + - -0.9831564892210979 + - 0.18089811836609151 + - -0.09327155237336146 + - - 0.12826559739200422 + - -0.18275249971796828 + - -0.9747561030188557 + - 0.972760190093976 + - - 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: + - - 0.9998717102133834 + - -0.012635312342206748 + - -0.009844389111507952 + - 0.023913331638204544 + - - -0.013135716715958767 + - -0.9985322043790447 + - -0.052544169650718904 + - -0.03454557782088427 + - - -0.00916602756498037 + - 0.0526667418770169 + - -0.99857007677916 + - 0.9687594428185826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9605711815542015 + - 0.023392935349684327 + - -0.2770483274508091 + - 0.10000698102608327 + - - 0.006265549226238407 + - -0.9980224367668398 + - -0.06254565215003484 + - -0.08984839834398184 + - - -0.27796357326178345 + - 0.05834369105314698 + - -0.9588181608907063 + - 0.9736722202535262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998808323086675 + - 0.015358631725239493 + - -0.0015600042482596286 + - 0.01283818293914299 + - - 0.015271652502774296 + - -0.9988451869011803 + - -0.04555292783324465 + - -0.09289509518638966 + - - -0.00225783337751674 + - 0.04552367555321905 + - -0.9989607085128848 + - 0.9694109860356118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9821206578782768 + - -0.014798797262933601 + - 0.1876699468969693 + - 0.05443340415000957 + - - -0.004442130633800639 + - -0.9984495572003504 + - -0.055486477648662075 + - -0.09336704287669664 + - - 0.18820010851264923 + - 0.05366076151149754 + - -0.9806636741665475 + - 0.9737964916238719 + - - 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: + - - 0.9999028200078094 + - -0.011691617521340259 + - -0.00759319564906878 + - 0.02389499927538289 + - - -0.012134563739026062 + - -0.9980531714654832 + - -0.061176950647726 + - -0.034528715405366575 + - - -0.0068631554910158835 + - 0.06126314558872633 + - -0.9980980533440994 + - 0.9688884177728296 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999756446074961 + - -0.009654439949459812 + - -0.019845410573378217 + - 0.09179741469217043 + - - -0.009569168160080901 + - -0.9999445898466361 + - 0.004387283574884302 + - -0.033774543363183966 + - - -0.019886667701949755 + - -0.004196310963766875 + - -0.9997934343763252 + - 0.9682563023763168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9941819480415305 + - 0.012253161813120953 + - 0.10701455141208169 + - 0.012933629632467527 + - - 0.023281649675790182 + - -0.994468387884343 + - -0.10242358267064337 + - -0.09317693773900815 + - - 0.10516757569099602 + - 0.10431915224108089 + - -0.9889677929533304 + - 0.9712562490940999 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996406545391572 + - -0.003323171377990663 + - 0.02659921661474201 + - 0.0543415320226521 + - - -0.006234703739915179 + - -0.9938967939182726 + - 0.11013760260807848 + - -0.0931864705150702 + - - 0.026070869985502045 + - -0.1102638633958199 + - -0.9935603606058505 + - 0.9725120978155958 + - - 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: + - - 0.9998984786398714 + - -0.013292462789181536 + - 0.005132528292068488 + - 0.023914924608251897 + - - -0.013066811682356126 + - -0.9990428679191643 + - -0.041744538472823035 + - -0.034536114988127475 + - - 0.005682503508885909 + - 0.04167323472985251 + - -0.9991151338364473 + - 0.9689349596356533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999622376202477 + - -0.00770648798237954 + - -0.026376410640782517 + - 0.09180696300801583 + - - -0.008073814924545546 + - -0.999871510884437 + - -0.013848293549611335 + - -0.033775128973341645 + - - -0.026266299851291027 + - 0.014056022362299409 + - -0.9995561563651497 + - 0.9682557677819936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9778734968703108 + - 0.0011666060824185665 + - -0.2091938410873482 + - 0.09982699772550753 + - - 0.011445612738416211 + - -0.998785001126981 + - 0.04793244697298927 + - -0.0896100478697365 + - - -0.20888375252200073 + - -0.04926622122737533 + - -0.9766987341950958 + - 0.9716047973143934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978282289015082 + - 0.014363815315750088 + - 0.0642845737082713 + - 0.012908631399425809 + - - 0.0279137663444168 + - -0.9761797651255042 + - -0.2151601445621045 + - -0.0932092541228273 + - - 0.059662779483933254 + - 0.21648729054864033 + - -0.9744606743092105 + - 0.9712649883149709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952747776678431 + - -0.00689645345643007 + - 0.09685326978449739 + - 0.05435475767406259 + - - 0.0004012846029083448 + - -0.9971738495078419 + - -0.07512757701656694 + - -0.093278519347857 + - - 0.09709766170661789 + - 0.07481144823779329 + - -0.992459213924518 + - 0.9728520200394254 + - - 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: + - - 0.9999231161856984 + - -0.012339059629645927 + - -0.001228545863386004 + - 0.023932442946191842 + - - -0.012384980701118544 + - -0.998678753215734 + - -0.04987344111348767 + - -0.03455798416123832 + - - -0.0006115312872797224 + - 0.04988482216991098 + - -0.9987547899993078 + - 0.9691123212666576 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996229483462462 + - -0.007796237143059334 + - -0.0263283084524484 + - 0.09182246082100046 + - - -0.008687581066004204 + - -0.9993870616092652 + - -0.03391204834893358 + - -0.0337924808819621 + - - -0.026047784450499607 + - 0.034127991069032845 + - -0.9990779715071353 + - 0.9684888192368917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9653584663698859 + - 0.006772600959930189 + - -0.26083934381956164 + - 0.09997922103801438 + - - 0.010873877621508777 + - -0.9998388582393066 + - 0.014283428866788534 + - -0.08980591030015588 + - - -0.2607005757443861 + - -0.016624964088914902 + - -0.9652765512409325 + - 0.973279063228222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9864081934429608 + - 0.00462684967826173 + - 0.16424819076826774 + - 0.012883213044057583 + - - 0.012061466142040185 + - -0.9989456314971752 + - -0.04429612113057899 + - -0.09295183492823014 + - - 0.16387006115547442 + - 0.0456751308127878 + - -0.9854239623036049 + - 0.9701588881025813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9814833830881513 + - -0.0006365677707386493 + - 0.1915462437723863 + - 0.0542995002140128 + - - -0.031198717453669006 + - -0.9871721414788839 + - 0.15658161806943094 + - -0.09312381807831993 + - - 0.18898944084546973 + - -0.15965825337096817 + - -0.9689129132070895 + - 0.9714910158400403 + - - 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: + - - 0.9997373802124024 + - -0.012065787007144549 + - -0.01948300259047634 + - 0.023914154136732882 + - - -0.012470888569684384 + - -0.9997057357913051 + - -0.020806699984560122 + - -0.03454045259478953 + - - -0.0192262202298008 + - 0.021044206087738274 + - -0.9995936643685831 + - 0.9688987470800262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998687916182945 + - -0.01036446640901404 + - -0.012448991277535893 + - 0.09186087173566085 + - - -0.010554886776715244 + - -0.9998267929516059 + - -0.015329007183689125 + - -0.03383210846643782 + - - -0.012287958044462345 + - 0.015458393582882108 + - -0.9998050030655651 + - 0.9687511220462565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9624320788168869 + - 0.017281324487586437 + - -0.27097204558433774 + - 0.10001227537016032 + - - 0.009253977558469144 + - -0.9994804416189352 + - -0.030874110846562886 + - -0.08984138219103216 + - - -0.2713648053148252 + - 0.027206665454870577 + - -0.9620919601531208 + - 0.9734732752056314 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9946296037633996 + - 0.015897718519317695 + - 0.10227029805052579 + - 0.012817775271274756 + - - 0.037955971416709394 + - -0.9753153877353302 + - -0.21752985698633873 + - -0.09336339082281332 + - - 0.09628756696104007 + - 0.22024340397061518 + - -0.970680970997248 + - 0.972479886286583 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947699323537916 + - -0.008229583262329134 + - 0.10180891731160584 + - 0.05458230518392082 + - - 0.0004992683181244441 + - -0.9963452060639322 + - -0.08541651529164551 + - -0.09360296274934457 + - - 0.1021397690225483 + - 0.08502061110548303 + - -0.9911301444670481 + - 0.9764373403154523 + - - 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: + - - 0.9999003231730735 + - -0.01336452483060044 + - 0.004553371765554687 + - 0.023930154603463646 + - - -0.013315722376949645 + - -0.9998553172889678 + - -0.010584707202255593 + - -0.034531537345753906 + - - 0.00469417255361249 + - 0.010523020717918559 + - -0.9999336131858991 + - 0.9687152642383431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995053341225845 + - -0.007396402477995888 + - -0.030567634695612706 + - 0.09183986161104704 + - - -0.007533865913336736 + - -0.9999620086662305 + - -0.004384300240376995 + - -0.03379366117598569 + - - -0.03053404534123823 + - 0.004612423937736341 + - -0.9995230850863417 + - 0.9685137541462007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9703160046967625 + - 0.009186757032883349 + - -0.24166599786592075 + - 0.09999832288716948 + - - 0.005553040573188713 + - -0.9998611243916918 + - -0.015712914133759567 + - -0.08982211716174687 + - - -0.24177678707788502 + - 0.013904510973103279 + - -0.9702322659058987 + - 0.9735639427499095 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9938591596694396 + - -0.0017147290395170198 + - 0.11063919036885826 + - 0.012894453850367521 + - - 0.016493596587375512 + - -0.9864140816891075 + - -0.1634479143857387 + - -0.09305513654312234 + - - 0.10941632425176938 + - 0.16426904501383055 + - -0.9803283882646039 + - 0.9710215196019962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9846994797965745 + - -0.009343659961310277 + - 0.17401043217831214 + - 0.05442991547392424 + - - -0.013060714894920054 + - -0.9997100755964108 + - 0.02022825937771105 + - -0.09334052354668826 + - - 0.17377097633031002 + - -0.022191457129845008 + - -0.9845360262660097 + - 0.9735646226797317 + - - 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: + - - 0.9998850487028199 + - -0.011881823408600507 + - -0.00941868637584244 + - 0.023925059641414417 + - - -0.011938278623478273 + - -0.9999109705998664 + - -0.005960568558525233 + - -0.03453823745211467 + - - -0.009347025412817102 + - 0.006072326285659465 + - -0.9999378780551381 + - 0.9686798696987813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998975546732168 + - -0.009474657357134392 + - -0.010728980682535447 + - 0.09185115543579518 + - - -0.009607360843828284 + - -0.9998771420287488 + - -0.012385453808321775 + - -0.0338281378855097 + - - -0.010610314610688731 + - 0.012487262165362605 + - -0.9998657357402922 + - 0.9685558913840242 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9782654633881923 + - 0.0062214951128286775 + - -0.20726306024095636 + - 0.09982388486402746 + - - 0.010934627245651026 + - -0.9997068507645147 + - 0.021602001330801753 + - -0.08964302323536961 + - - -0.20706790448759538 + - -0.023398836147516897 + - -0.9780467153454679 + - 0.9717850503490127 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997905651151323 + - 0.017927368764019326 + - 0.062152400190602176 + - 0.012712705914094152 + - - 0.02186409050469875 + - -0.9977582061810606 + - -0.06324969205264866 + - -0.09301248543575591 + - - 0.06087916677038412 + - 0.06447613083577061 + - -0.996060518043855 + - 0.9700195972267339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995371275097367 + - -0.004250847068360548 + - 0.030124093825139142 + - 0.05436052003676932 + - - -0.003658102626367907 + - -0.9997991528924973 + - -0.0197046228235909 + - -0.09328075995125736 + - - 0.03020180482619103 + - 0.019585305069016148 + - -0.99935192340366 + - 0.9727255503253988 + - - 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: + - - 0.9999074101464062 + - -0.013197689024744302 + - -0.0033154394448804444 + - 0.023918048531938157 + - - -0.01330452381365944 + - -0.9993131657447265 + - -0.034585927996001437 + - -0.03452742865860216 + - - -0.0028567079651749907 + - 0.03462683603303904 + - -0.9993962284529309 + - 0.968628502540084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996561472809198 + - -0.009823644877910306 + - -0.024312202795730507 + - 0.09182035067362208 + - - -0.00974149073370308 + - -0.9999464417984251 + - 0.003495267222197387 + - -0.03375805621401001 + - - -0.024345236941816707 + - -0.003257228266808604 + - -0.9996983044410274 + - 0.9684228518248268 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9712406548046597 + - 0.00911029602697434 + - -0.23792560383640232 + - 0.09985757573846551 + - - 0.012011703955468474 + - -0.9998700949863292 + - 0.01074765649409805 + - -0.08969570672655096 + - - -0.23779678177532587 + - -0.013296452847652284 + - -0.9712239159529424 + - 0.9718272839224065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9968670821896192 + - 0.02537570721257656 + - 0.07491391012500064 + - 0.012796018258643885 + - - 0.03276996842513526 + - -0.9945291535042377 + - -0.09918614822423572 + - -0.0931683817930637 + - - 0.071987148965428 + - 0.10133033264332061 + - -0.9922449365304029 + - 0.970437928554621 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9720490642781043 + - -0.009801472197082156 + - 0.23457311819309504 + - 0.054420649097712756 + - - -0.017253326048763642 + - -0.9994088546698917 + - 0.0297365759237556 + - -0.09327568573109386 + - - 0.23414298916755324 + - -0.032952577291982074 + - -0.9716435500086943 + - 0.9731829156430694 + - - 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: + - - 0.9998673970902536 + - -0.013284999748358808 + - -0.009417909409586742 + - 0.023921304950835335 + - - -0.013582945196503736 + - -0.999385544547933 + - -0.032311560600197575 + - -0.03452020007612394 + - - -0.008982863449360244 + - 0.032435198940619595 + - -0.999433472540285 + - 0.9689278767345573 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997958601177789 + - -0.008390205230479595 + - -0.018380493669676964 + - 0.0918260668739053 + - - -0.008613748093190963 + - -0.9998894878648424 + - -0.012116740534123644 + - -0.03379708613234617 + - - -0.018276800462270502 + - 0.012272591966437192 + - -0.9997576416568612 + - 0.9684817798009846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9845226203901144 + - 0.013322582332266325 + - -0.17475044703857753 + - 0.0998852322834249 + - - 0.006055918275812054 + - -0.9990971278792724 + - -0.042050623267987086 + - -0.08968204891818513 + - - -0.17515289262247255 + - 0.04034151538290891 + - -0.9837144028337655 + - 0.9719216951294662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9924237051674426 + - 0.010364959096182466 + - 0.12242449528039483 + - 0.01288024709706157 + - - 0.028175805552591977 + - -0.9890794157950273 + - -0.1446652454186218 + - -0.09324600374756617 + - - 0.11958809891953077 + - 0.14701862764120066 + - -0.9818778996002052 + - 0.9716124784902594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998994507447055 + - -0.005555527517441351 + - 0.044487191466971346 + - 0.05448201926033616 + - - -0.0021721580854996755 + - -0.9971250272183566 + - -0.07574273446373501 + - -0.09346267229142319 + - - 0.04478008284793156 + - 0.07556994249564587 + - -0.9961344929131496 + - 0.9749656215738639 + - - 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: + - - 0.999905098649496 + - -0.012655124406072143 + - -0.00544440272285532 + - 0.023924724764310235 + - - -0.012838459693222408 + - -0.9993023208508877 + - -0.03507200442997173 + - -0.03451807485943118 + - - -0.004996763697364605 + - 0.035138573794297495 + - -0.9993699580156771 + - 0.968832835580519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998291441878548 + - -0.006763377076483167 + - -0.01720288240682342 + - 0.09180337915318094 + - - -0.007548580850647951 + - -0.9989130990432863 + - -0.04599608121219251 + - -0.033813090755771574 + - - -0.01687309573619861 + - 0.0461180798630936 + - -0.998793482833172 + - 0.9683823094483373 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9994408969401977 + - 0.029856143736723365 + - 0.015050056629306197 + - 0.012771851382073441 + - - 0.03135739203326621 + - -0.9932062423344769 + - -0.11206281342488979 + - -0.09315565783821958 + - - 0.011602046726559161 + - 0.11247208928886189 + - -0.9935871484891268 + - 0.9701140286778939 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9891396831852737 + - -0.0063434223528010805 + - 0.14684157497449507 + - 0.054297154752032964 + - - -0.01725125193814248 + - -0.9971732620770756 + - 0.07312919871796157 + - -0.09311104686931604 + - - 0.14596260293206276 + - -0.07486819345635608 + - -0.9864530765089027 + - 0.9715904573586387 + - - 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: + - - 0.9999074001235123 + - -0.013003142926277633 + - 0.0040136582162509215 + - 0.023894478490619483 + - - -0.01285442278402047 + - -0.9993015758862588 + - -0.0350873801548283 + - -0.03452634285642685 + - - 0.004467101199630246 + - 0.03503253780813744 + - -0.9993761885804533 + - 0.968529220266207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996993834534108 + - -0.009746045754077925 + - -0.02249794023971353 + - 0.09185380164803482 + - - -0.009533079698301862 + - -0.9999089170831609 + - 0.009553948348523798 + - -0.03380183105716213 + - - -0.022589004279430436 + - -0.009336601616212152 + - -0.9997012377485206 + - 0.9684148783941734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9748892498581991 + - 0.011759690978608281 + - -0.22237954082829986 + - 0.09990696764740828 + - - 0.008915068951753077 + - -0.9998651518665391 + - -0.013791288137378718 + - -0.0896924334074568 + - - -0.22251173464899177 + - 0.011462449606883935 + - -0.9748626263184503 + - 0.972324198493738 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953266411263334 + - 0.019419981648481056 + - 0.09459250380946642 + - 0.012771351988105048 + - - 0.028854050768862542 + - -0.9946280062151035 + - -0.09941113120167758 + - -0.09314739116697189 + - - 0.09215379112331278 + - 0.10167592421680716 + - -0.9905400977326764 + - 0.9701840286603469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961324617956088 + - -0.0052417065360187585 + - 0.08770771385465626 + - 0.05437102314504248 + - - -0.006738302210346321 + - -0.9998365658403873 + - 0.016776080943544686 + - -0.09331080457151757 + - - 0.08760544412502025 + - -0.017302199891706817 + - -0.99600497992659 + - 0.9733477221815464 + - - 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: + - - 0.9998703746495571 + - -0.013077684456847649 + - -0.009391915001826715 + - 0.023933927528460023 + - - -0.013411713191766959 + - -0.9992462037725869 + - -0.03643007267816122 + - -0.03453565124797377 + - - -0.00890841441650513 + - 0.0365513120875496 + - -0.9992920702863918 + - 0.968518821975342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9716240229696752 + - 0.013280293953264176 + - -0.2361575571112196 + - 0.09993312516794317 + - - 0.008466426132333877 + - -0.9997354323750922 + - -0.021386558449969256 + - -0.08975244335842697 + - - -0.23637909725009482 + - 0.018780283445760673 + - -0.9714793993373857 + - 0.9724345138216757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9936674309595319 + - 0.021052900956859487 + - 0.11037124630801524 + - 0.01279597520846833 + - - 0.030744485213191994 + - -0.995746327720423 + - -0.08685636108120141 + - -0.09313668767846635 + - - 0.10807318482981669 + - 0.08969964432812923 + - -0.9900879559555038 + - 0.9701503332991452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966302104004073 + - -0.0016686148997982105 + - 0.08200877661296975 + - 0.05437503049231684 + - - -0.012354315820717684 + - -0.9914414844427332 + - 0.1299659717256423 + - -0.09317347581463614 + - - 0.08109004006560712 + - -0.13054117607216761 + - -0.9881211498353086 + - 0.972575552648072 + - - 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: + - - 0.9998522717231209 + - -0.010904366234384517 + - -0.013286441477721553 + - 0.023938858716741427 + - - -0.011519648990925162 + - -0.9988214772139039 + - -0.04714821675694792 + - -0.03459372873600591 + - - -0.012756661680878023 + - 0.047294306774290314 + - -0.9987995375096539 + - 0.9692075677008032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995643080005494 + - -0.007678514520882298 + - -0.02849972958003928 + - 0.09185267067983668 + - - -0.008353907652826878 + - -0.9996852696367217 + - -0.02365531437718865 + - -0.03383009688951978 + - - -0.028309122174853932 + - 0.023883092055012208 + - -0.9993138603639907 + - 0.9686052366480684 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9639539509635605 + - 0.00507597238044729 + - -0.266020703942634 + - 0.09998035380268275 + - - 0.01798261835345549 + - -0.9987747650231422 + - 0.04610416673276255 + - -0.08969680504701702 + - - -0.2654607425946359 + - -0.04922604247104717 + - -0.96286416014085 + - 0.972901179458695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9931032132151701 + - 0.013062066006683613 + - 0.11651347704596765 + - 0.012795029832797568 + - - 0.03369164601008377 + - -0.9836527584338316 + - -0.17689579931317015 + - -0.09325460720519496 + - - 0.11229817848404933 + - 0.17960131752621192 + - -0.9773087975926613 + - 0.9713836256422452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9923818170976659 + - 0.00010816972297752678 + - 0.12320031409556433 + - 0.05437670894026824 + - - -0.026995776540331612 + - -0.9755064123856069 + - 0.21830819371600707 + - -0.09319922481319816 + - - 0.12020631074498193 + - -0.21997097011622285 + - -0.9680719059879838 + - 0.9725866044086529 + - - 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: + - - 0.999833306853048 + - -0.01221505690997242 + - 0.013570220778778598 + - 0.023948750452549742 + - - -0.011601800729053058 + - -0.9989470834606075 + - -0.044386063864561814 + - -0.0345461308872802 + - - 0.014098110764992712 + - 0.04422122601457078 + - -0.9989222824837906 + - 0.9685346632353798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998280621981921 + - -0.008498983693497546 + - -0.016480695288295787 + - 0.09183460946630866 + - - -0.008880364816875194 + - -0.9996912239180961 + - -0.023207669892935878 + - -0.03381430109955191 + - - -0.016278364835793466 + - 0.02335003420378523 + - -0.9995948132823399 + - 0.9686706349675437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9620690902333828 + - -0.009359707316871375 + - -0.27264530345570515 + - 0.09993168914959513 + - - 0.022857479681394285 + - -0.9931314630047451 + - 0.11474943491220099 + - -0.08974173268539892 + - - -0.2718466502278917 + - -0.11662886893474234 + - -0.9552471437753044 + - 0.9728987394052893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9894640293239626 + - 0.015943557034152702 + - 0.14389835879219454 + - 0.01278727213883697 + - - 0.024900629836841454 + - -0.997847777985293 + - -0.060661112778640426 + - -0.09319298161999609 + - - 0.14262150366518028 + - 0.06360514883964231 + - -0.987731487669281 + - 0.9706682849869186 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996191529879938 + - -0.008251460015132314 + - 0.026333674016069782 + - 0.05433792435543293 + - - -0.0138898940188691 + - -0.975005547278457 + - 0.22174592131622567 + - -0.09319556970470791 + - - 0.023845750642631083 + - -0.22202724198587848 + - -0.9747488312341976 + - 0.9725382674430895 + - - 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: + - - 0.9997212887246305 + - -0.013974312862793483 + - 0.019027964966770207 + - 0.02392698968534456 + - - -0.013183648515534817 + - -0.9990695958195178 + - -0.041062563495783126 + - -0.03454612702968808 + - - 0.019584082377857442 + - 0.040800260894253475 + - -0.9989753762873134 + - 0.9689274263918519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999204938438371 + - -0.009190285192634014 + - -0.03879471173303626 + - 0.09182306133623466 + - - -0.009596774346937719 + - -0.9999008519712747 + - -0.01030476342538895 + - -0.03379529086674962 + - - -0.038696161599121 + - 0.010668874598444187 + - -0.9991940663316099 + - 0.9684553269816367 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9929084155914318 + - 0.016144401994538798 + - 0.11778045904118034 + - 0.012869188388098108 + - - 0.026841060633263258 + - -0.995597531870731 + - -0.08980596860449504 + - -0.09322639747686487 + - - 0.11581207066534091 + - 0.09233045444028094 + - -0.9889705008093307 + - 0.971263657053229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963530336573898 + - -0.004430391237266624 + - 0.08521152477922789 + - 0.05439843342977352 + - - -0.015112634564972152 + - -0.9920253349076844 + - 0.12512930583121354 + - -0.09329660974306947 + - - 0.08397761962702815 + - -0.12596073409908545 + - -0.9884744067840081 + - 0.9733615104270987 + - - 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: + - - 0.999913822775688 + - -0.01309644664797881 + - -0.0009111022482420482 + - 0.023910886292568333 + - - -0.013116896382415779 + - -0.9995182193495519 + - -0.02812963237575495 + - -0.03452408538562268 + - - -0.0005422650671719328 + - 0.028139159075899867 + - -0.9996038683774184 + - 0.9688505822001316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999554914541982 + - -0.009187444984870577 + - -0.00214615126286319 + - 0.09186483170715795 + - - -0.009174426655859547 + - -0.9999399193648052 + - 0.0059989629306746554 + - -0.03380129770538741 + - - -0.002201137462623944 + - -0.005979006218204772 + - -0.9999797030332734 + - 0.9685464914710604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9620869416194607 + - 0.012842551922822723 + - -0.2724404258281467 + - 0.09995188388556955 + - - 0.012556572999536325 + - -0.9999172618944648 + - -0.0027931773992344493 + - -0.08977547781069581 + - - -0.2724537561492218 + - -0.0007336385935058144 + - -0.9621685988092703 + - 0.973134017847852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953590185424729 + - 0.017891662305130736 + - 0.09455322641837362 + - 0.012687075800896192 + - - 0.02000374115909244 + - -0.9995700610164072 + - -0.021436964787418092 + - -0.09290639275399057 + - - 0.09412903136548838 + - 0.023228894498364232 + - -0.9952889750793885 + - 0.9694861427834803 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.983085460130355 + - -0.009099657720798526 + - 0.18292122432799407 + - 0.05437378325166394 + - - -0.010635911679969919 + - -0.9999159133614807 + - 0.007419136689171234 + - -0.09322375072300663 + - - 0.18283833149267115 + - -0.00923917939218841 + - -0.9830995789344719 + - 0.9729055833560007 + - - 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: + - - 0.9997036786674428 + - -0.012047078674719987 + - -0.02115236994257023 + - 0.023893898614466273 + - - -0.012553162760940637 + - -0.9996341454905617 + - -0.023958156733176143 + - -0.034533075590618155 + - - -0.020856005453575594 + - 0.02421658656291607 + - -0.9994891615078979 + - 0.9690010261858538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998506490999695 + - -0.009039588649020233 + - -0.014729743087583529 + - 0.09183454639221307 + - - -0.008826155080790333 + - -0.9998560428769714 + - 0.014491118276168554 + - -0.033757922613754425 + - - -0.014858616384426553 + - -0.014358947017820346 + - -0.9997864982883495 + - 0.9684570742765327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9949277983087246 + - 0.007900771264083404 + - 0.1002808753750502 + - 0.012716487012055204 + - - 0.027858067947056607 + - -0.9795596838799248 + - -0.19921534521045006 + - -0.09315413932568167 + - - 0.09665714770678313 + - 0.2009985162395341 + - -0.9748112598173528 + - 0.9715063666803345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9811380201926749 + - -0.01724203777263513 + - 0.19253804160696406 + - 0.05445523434142981 + - - -0.003940607443791652 + - -0.997591205927659 + - -0.0692550176432914 + - -0.09338746474428676 + - - 0.19326835474379125 + - 0.06719001405897823 + - -0.9788426048478795 + - 0.9739232087007403 + - - 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: + - - 0.9998676116426206 + - -0.011728510914087364 + - 0.011278351821947249 + - 0.023936219872496355 + - - -0.011495230096506609 + - -0.9997231313459212 + - -0.02053096044842271 + - -0.034549540982985134 + - - 0.0115160267935541 + - 0.020398595138990887 + - -0.999725601574375 + - 0.9686343227313611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999867363688452 + - -0.009474758837623547 + - -0.013247036486464348 + - 0.09187614236054428 + - - -0.009536595865400989 + - -0.9999438868795092 + - -0.004612638247343169 + - -0.033766290826387886 + - - -0.013202589518911054 + - 0.004738358077405169 + - -0.999901614956555 + - 0.9686586717869333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9972502322041226 + - 0.013068179045619854 + - 0.0729465356631499 + - 0.012713995062059023 + - - 0.024828477056118 + - -0.9863588751639351 + - -0.16272589256910205 + - -0.09309960197766765 + - - 0.06982493176435908 + - 0.16408958553719596 + - -0.9839710802774307 + - 0.9708734500062175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.981278454654182 + - -0.0035119542117825996 + - 0.19256235511936118 + - 0.054373735076562645 + - - -0.029575806955002785 + - -0.9907220422134968 + - 0.13264654807148132 + - -0.09327773798898194 + - - 0.19030992111411596 + - -0.13585838674860576 + - -0.9722780634548978 + - 0.9726122147579956 + - - 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: + - - 0.9999179092702521 + - -0.012801448532973615 + - -0.0005455603225171885 + - 0.023932189657754222 + - - -0.012812922361979505 + - -0.999202982658244 + - -0.03780513810865836 + - -0.03452760071154142 + - - -6.116497169921884e-05 + - 0.03780902487933899 + - -0.9992849813224052 + - 0.9688371303772476 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998285684694709 + - -0.00826928708383236 + - -0.016566609895020085 + - 0.09186007955343264 + - - -0.008611394041459096 + - -0.9997489226017436 + - -0.02068660555323865 + - -0.03377261362290008 + - - -0.016391386913599985 + - 0.020825720822524357 + - -0.999648744203318 + - 0.9685893853441051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9691598993619465 + - 0.010681984522434664 + - -0.24620110616202404 + - 0.09995069037755525 + - - 0.009453995177454246 + - -0.9999362792682123 + - -0.006169228349504251 + - -0.08974844813447391 + - - -0.24625131764911726 + - 0.0036513846560067304 + - -0.9691991312141005 + - 0.9730009382044107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967137896513594 + - 0.01182935487629713 + - 0.0801354346218728 + - 0.012909956624305337 + - - 0.025595251872071692 + - -0.9845877199437012 + - -0.17300839522309355 + - -0.09318328472051461 + - - 0.07685378715737458 + - 0.17449093987733447 + - -0.9816549329068206 + - 0.9710330486624312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935046304450621 + - -0.00688862023124249 + - 0.11358299254523281 + - 0.054390538885527605 + - - -0.014423845234697067 + - -0.9977382296643383 + - 0.06565346719646392 + - -0.09327976509664399 + - - 0.11287383209967757 + - -0.06686532717022609 + - -0.991356911535675 + - 0.9731224990733788 + - - 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: + - - 0.9998149087336952 + - -0.013204378626077378 + - -0.013992593002443208 + - 0.02394069236931298 + - - -0.01381709456936609 + - -0.9989077362923172 + - -0.04463655758478237 + - -0.03452213655770952 + - - -0.013387911394016091 + - 0.044821632728600916 + - -0.9989052933426913 + - 0.968975364951282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9755424283302192 + - 0.0015019310966249942 + - -0.2198060843802099 + - 0.099868218677258 + - - 0.014061637019789295 + - -0.9983548492893294 + - 0.055586556511487625 + - -0.08961743443874395 + - - -0.21936098306650312 + - -0.05731787769502729 + - -0.973958633620872 + - 0.9718096126007204 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987307440416715 + - 0.02116327681235932 + - 0.04570576134944706 + - 0.012721693113317414 + - - 0.018729837297125976 + - -0.9984173218270932 + - 0.05302871552696363 + - -0.09300844814930379 + - - 0.046755685224284145 + - -0.052105347040202116 + - -0.9975464594238354 + - 0.9702939043642249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9903625343635599 + - -0.0045094168903905725 + - 0.13842584906113192 + - 0.054319861590200934 + - - -0.016693065745861834 + - -0.9960700555023283 + - 0.08698152727788169 + - -0.09306881126594511 + - - 0.13748960718901976 + - -0.08845399759704026 + - -0.9865457405635644 + - 0.9710896351787185 + - - 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: + - - 0.9998625745076659 + - -0.013215731268455464 + - 0.010008823404485447 + - 0.023922179653269204 + - - -0.012916194568653824 + - -0.9994836033809297 + - -0.029422754638848927 + - -0.0345142642045892 + - - 0.010392498100403222 + - 0.02928943529181123 + - -0.9995169458110856 + - 0.9685712318883829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998933237790927 + - -0.011254995600323298 + - 0.009309464862987905 + - 0.09185147527953147 + - - -0.011393187888838686 + - -0.99982367594738 + - 0.014926898030011085 + - -0.03380871346428699 + - - 0.00913982120876129 + - -0.015031370167267938 + - -0.9998452488156188 + - 0.9684786217134279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.973010122261646 + - 0.01770915168585478 + - -0.23008191567992503 + - 0.09991710516179125 + - - 0.004656062688528694 + - -0.998354637355853 + - -0.057151895421807215 + - -0.08978092523102657 + - - -0.23071545907593022 + - 0.05453809692895494 + - -0.9714916226745097 + - 0.972691976280466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9943321917442355 + - 0.016907295396725426 + - 0.10496492663491294 + - 0.012796925321187149 + - - 0.034382066829849955 + - -0.98536000782503 + - -0.16698361733884307 + - -0.09327954372519755 + - - 0.1006049995855699 + - 0.16964609733626443 + - -0.9803564839980213 + - 0.9711515141967061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998746228827385 + - -0.00436272706228097 + - 0.04986919906773139 + - 0.05436151138772395 + - - -0.004178533604051629 + - -0.9999840604740008 + - -0.0037971903889468567 + - -0.09327228870512784 + - - 0.04988497028160678 + - 0.0035840494569886077 + - -0.9987485390875389 + - 0.9726817599222516 + - - 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: + - - 0.9998742367823747 + - -0.013523388930261936 + - 0.008284236277674656 + - 0.023941839246899622 + - - -0.01331669229521666 + - -0.9996107088395454 + - -0.024517269008111495 + - -0.03454525625649239 + - - 0.00861256786202519 + - 0.02440386701206299 + - -0.999665081389602 + - 0.9686207858183762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999809461853162 + - -0.0089532033465634 + - -0.01734589688443966 + - 0.09182783059846965 + - - -0.00897160626571842 + - -0.999959270762629 + - -0.0009834108424008612 + - -0.033779596900459424 + - - -0.017336385722042803 + - 0.0011388440222943141 + - -0.9998490649915067 + - 0.9684603004041694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9746393434454597 + - 0.02121649471676112 + - -0.22277345120129766 + - 0.09992210042463207 + - - 0.006104588493039092 + - -0.997645737825846 + - -0.06830604510037033 + - -0.08976458211903074 + - - -0.22369819893672355 + - 0.06521381870322285 + - -0.9724743048752543 + - 0.9724637789149841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9938634532024115 + - 0.002889752926973528 + - 0.11057615347170907 + - 0.012868783496385141 + - - 0.019455507830335464 + - -0.9886412263698783 + - -0.1490302275946948 + - -0.09307966825747971 + - - 0.10888948343913504 + - 0.15026701184852193 + - -0.9826306048289328 + - 0.9713086421151513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955776581976763 + - -0.005177908172489622 + - 0.0937993377619919 + - 0.05441335456137827 + - - -0.002668785670996732 + - -0.9996357604613265 + - -0.02685561375107994 + - -0.09335766671238013 + - - 0.09390422823639655 + - 0.026486518719193296 + - -0.9952288481778772 + - 0.9739167317793085 + - - 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: + - - 0.9996989280724496 + - -0.012281218414609728 + - -0.02124205463338555 + - 0.023916553679730647 + - - -0.013510394540444504 + - -0.998182808900023 + - -0.058724349769248466 + - -0.034545775264700374 + - - -0.020482247194988465 + - 0.05899365805501601 + - -0.9980482081839186 + - 0.9690980361446404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999400803079317 + - -0.006296610293036963 + - -0.008954802766368376 + - 0.09188863141925441 + - - -0.006571384345941193 + - -0.9994979817362335 + - -0.03099357051023439 + - -0.033779935614954036 + - - -0.00875515285673853 + - 0.031050558835753226 + - -0.9994794695712572 + - 0.9687138055960104 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.972897524407646 + - -0.0010533442832268616 + - -0.2312342912876351 + - 0.09994521408430079 + - - 0.011626948280965122 + - -0.9985018805097164 + - 0.053467828572249514 + - -0.08978069974357397 + - - -0.23094419472059832 + - -0.05470726719898091 + - -0.9714277604847792 + - 0.9731142877712453 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993222437764487 + - 0.018117964250900242 + - 0.03204360255974538 + - 0.01272179414422 + - - 0.022094136541267437 + - -0.9914709486756741 + - -0.12844145383268965 + - -0.09307073138123184 + - - 0.029443203360022683 + - 0.12906237756822173 + - -0.9911992738457481 + - 0.9705860031648208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946445040684894 + - -0.006101797333551961 + - 0.10317499016549081 + - 0.054277048729007564 + - - -0.02136014081367643 + - -0.9888404387175245 + - 0.14743924559408741 + - -0.09315065291210267 + - - 0.10112395814429329 + - -0.14885346763254784 + - -0.9836750430213207 + - 0.9717420886421488 + - - 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: + - - 0.9999010157326552 + - -0.012607564740685162 + - -0.006245642329956294 + - 0.023925325257684132 + - - -0.01275031060655118 + - -0.999645606611289 + - -0.023368584941859772 + - -0.034524966468132925 + - - -0.005948807968053605 + - 0.023445905699244787 + - -0.9997074077897501 + - 0.9689653402832832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997211686442782 + - -0.008307431995422478 + - -0.02210365440736429 + - 0.09179768611486035 + - - -0.008741718541503268 + - -0.9997692100957222 + - -0.01962419174175219 + - -0.03375909657712797 + - - -0.021935526468719685 + - 0.019811943827331726 + - -0.9995630643237688 + - 0.9682492157557406 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9708167695399655 + - 0.011406709208969659 + - -0.2395510111959609 + - 0.10000294407890764 + - - 0.009792590740359194 + - -0.9999206283973061 + - -0.007927299169872185 + - -0.08975636909685153 + - - -0.2396224220447185 + - 0.005350129957190917 + - -0.9708514154920228 + - 0.9729228727643586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978585503360925 + - 0.014578825653115473 + - 0.06376340144415119 + - 0.012715169639202065 + - - 0.022028958339048537 + - -0.9927992822996334 + - -0.11774680488161604 + - -0.09305263126987796 + - - 0.06158764905115621 + - 0.11889929733984536 + - -0.99099440895317 + - 0.9704729648136076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934848134105919 + - -0.008074029937484208 + - 0.11367821059064115 + - 0.05440095692907454 + - - -0.013560470464007712 + - -0.9987757277901435 + - 0.04757267301786305 + - -0.09329729318986975 + - - 0.11315493433039642 + - -0.048804258193710405 + - -0.9923780052071115 + - 0.973317011914016 + - - 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: + - - 0.9999236672852179 + - -0.012321234814017576 + - -0.0009202040745346558 + - 0.023943889589140274 + - - -0.012355200715154772 + - -0.9976780523025801 + - -0.06697651057660843 + - -0.03455583781508881 + - - -9.283409496470941e-05 + - 0.06698276738376925 + - -0.997754128157555 + - 0.9687755860993335 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996660772247498 + - -0.008714775440092831 + - -0.024326667159918443 + - 0.09185253017740734 + - - -0.008765342298472818 + - -0.9999596376018043 + - -0.0019728004611021077 + - -0.033798401238543115 + - - -0.024308492764285136 + - 0.002185373262734824 + - -0.9997021162942649 + - 0.96850572236586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9958218831243378 + - 0.02300346478611067 + - 0.08837204138488494 + - 0.012777750572713584 + - - 0.03296226776462147 + - -0.9930547653627034 + - -0.11294123203790539 + - -0.09312842756178955 + - - 0.08516023716800611 + - 0.11538229326140452 + - -0.9896639128548785 + - 0.9697899178144059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9858015523741055 + - -0.0072542231718274175 + - 0.16775778844207792 + - 0.05434491893071129 + - - -0.023862485298364405 + - -0.994978869755285 + - 0.09719892250370493 + - -0.0931908969074529 + - - 0.16621035206084186 + - -0.09982196645362792 + - -0.9810248181779817 + - 0.971718729582019 + - - 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: + - - 0.9998082984139365 + - -0.012969215147984083 + - -0.014668533705662052 + - 0.023915797914820094 + - - -0.013636643750464757 + - -0.9988319348892727 + - -0.04635523479150068 + - -0.034496837791264404 + - - -0.014050208889968647 + - 0.04654637798795461 + - -0.9988173137898397 + - 0.9687215544675785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998776640812771 + - -0.009473260958572005 + - -0.012446453236946297 + - 0.09186062341717757 + - - -0.009546795516660213 + - -0.9999372458473722 + - -0.0058620015809253195 + - -0.03377772636350054 + - - -0.012390139899604526 + - 0.005980108191537162 + - -0.9999053568909837 + - 0.9685261583539192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9764018335216494 + - 0.011010421083723354 + - -0.21568085247216576 + - 0.09990782516217077 + - - 0.00911706875564883 + - -0.9999106949015757 + - -0.009771452233564865 + - -0.08969553060825304 + - - -0.2157691788760985 + - 0.007574486715756265 + - -0.9764150186258541 + - 0.9723928082798565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957172488429076 + - 0.010066203646202289 + - 0.0919012072873063 + - 0.012752760534108065 + - - 0.02309953800162772 + - -0.9896142976681656 + - -0.14188006623502464 + - -0.09313465486624246 + - - 0.08951855506442569 + - 0.1433953046473168 + - -0.9856085505434097 + - 0.9715726460886783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99671924762268 + - -0.004385677858049754 + - 0.08081774092489825 + - 0.05430603614692689 + - - -0.01405205288296021 + - -0.9927431212592576 + - 0.11943046094779772 + - -0.0931351279411718 + - - 0.07970747285075001 + - -0.12017429434847687 + - -0.9895478046813072 + - 0.9718005613662952 + - - 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: + - - 0.9999027607091442 + - -0.013084755821974242 + - 0.0048226850727744325 + - 0.023934739840935304 + - - -0.01287693198930731 + - -0.9990818402673658 + - -0.04086148639631525 + - -0.03452818246974095 + - - 0.005352919649556143 + - 0.040795411666666795 + - -0.9991531817685275 + - 0.9688297256900876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999020158510091 + - -0.009435454078691674 + - -0.010340739984017355 + - 0.09184868143882204 + - - -0.009617113892577543 + - -0.9997977836098282 + - -0.017660776009361896 + - -0.03381517400410999 + - - -0.010172011475875684 + - 0.017758493607413925 + - -0.9997905611113412 + - 0.9684492047895433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9682871067177271 + - 0.008274085982470519 + - -0.2497030605847026 + - 0.0999597049096611 + - - 0.013187176080722656 + - -0.9997508528243749 + - 0.01800918276745602 + - -0.08974880127475549 + - - -0.24949183824572096 + - -0.020730937704076573 + - -0.968154972548652 + - 0.9730001144009759 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956221791203548 + - 0.010360961759665756 + - 0.0928930940116159 + - 0.012926507848570669 + - - 0.03230301650832356 + - -0.9707403913724919 + - -0.23794875011742592 + - -0.0933764605007396 + - - 0.08770970053591075 + - 0.23990778026024287 + - -0.966825354137191 + - 0.9729063582359673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9938611095417554 + - -0.0038515086760547747 + - 0.11056790140610034 + - 0.05435205865508087 + - - -0.016956850633000398 + - -0.9928885444656896 + - 0.1178337960239495 + - -0.09324881771538067 + - - 0.10932776480401019 + - -0.11898531064682691 + - -0.9868586199113004 + - 0.972895232924821 + - - 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: + - - 0.9999242520489514 + - -0.011811065750649299 + - -0.0034624976792569486 + - 0.02392756592879499 + - - -0.011980526651861632 + - -0.9984755543870326 + - -0.053879813220281236 + - -0.03452578869737681 + - - -0.0028208412732824498 + - 0.05391721448055527 + - -0.9985414246976283 + - 0.9687506512207754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993924821035733 + - -0.008435251877298891 + - -0.03381587261369308 + - 0.09183541412773193 + - - -0.009413489776662183 + - -0.9995387238043659 + - -0.02887431082751162 + - -0.03381712684342233 + - - -0.03355671207200832 + - 0.02917509453807483 + - -0.9990108912987937 + - 0.9686041921732029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9965759935310348 + - 0.012203749266047226 + - 0.08177626563668917 + - 0.012710161962214622 + - - 0.02206864344892076 + - -0.9924267930398248 + - -0.1208388821241494 + - -0.09311788643720838 + - - 0.07968226963355966 + - 0.12222982025897411 + - -0.9892980374717745 + - 0.97120871791994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9849828635323011 + - -0.008262256141931872 + - 0.17245432343421638 + - 0.054398266359649367 + - - -0.019480314374155094 + - -0.997794316805217 + - 0.06345879531707224 + - -0.09330292621525174 + - - 0.1715496310097818 + - -0.06586529036340075 + - -0.9829712547301434 + - 0.9730292381224426 + - - 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: + - - 0.9998678526985685 + - -0.013667144143247503 + - -0.008802630909080124 + - 0.023923143290469854 + - - -0.014134258882160227 + - -0.9983646211803802 + - -0.05539229099078799 + - -0.03451839022412977 + - - -0.008031180847538675 + - 0.055509389713126495 + - -0.998425864943347 + - 0.969217583160416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996336247404242 + - -0.012290194377246844 + - -0.024115708790961497 + - 0.09177816173717857 + - - -0.011329841438556669 + - -0.9991528391594006 + - 0.039563097612375094 + - -0.033775708255047 + - - -0.024581517066652576 + - -0.03927537551543773 + - -0.9989260202321408 + - 0.9678037750045432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.978866476119364 + - -0.0035117935815814727 + - -0.20447026491766268 + - 0.09983343541896696 + - - 0.009997779434151111 + - -0.997835142355949 + - 0.06500056219656279 + - -0.08961145016416232 + - - -0.2042558844587956 + - -0.06567111987261619 + - -0.9767122594083847 + - 0.9718041643686564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933520475426323 + - 0.005503203785901073 + - 0.11498445282276633 + - 0.012841456487720617 + - - 0.010165306827474225 + - -0.9991480277280557 + - -0.03999856527726479 + - -0.09296546606918772 + - - 0.1146663690013922 + - 0.04090150896027126 + - -0.9925616808968646 + - 0.9703891701050655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996211613991753 + - -0.005677905249441418 + - 0.026931302882374105 + - 0.05432301818810397 + - - -0.00965898676966361 + - -0.9886258044628066 + - 0.15008571792429648 + - -0.09314101686508265 + - - 0.02577280849165006 + - -0.15028898875914493 + - -0.9883061176579886 + - 0.971995011065897 + - - 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: + - - 0.9998283809366609 + - -0.013209943133705309 + - -0.012988690310398494 + - 0.023920267628416706 + - - -0.01361588699395215 + - -0.9994053633204909 + - -0.03167850040019256 + - -0.03452015553079598 + - - -0.012562495569873546 + - 0.03184991630509172 + - -0.999413711401047 + - 0.9689478106083688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998938041734189 + - -0.01041301232931934 + - 0.010195565204454114 + - 0.09187070751318976 + - - -0.010487085829939959 + - -0.9999188059469021 + - 0.007238960182042017 + - -0.03378249052223668 + - - 0.010119358003564484 + - -0.007345113202065756 + - -0.9999218208968362 + - 0.968653596105639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9709238098675472 + - 0.01173890818609306 + - -0.23910071824836795 + - 0.0999382658109893 + - - 0.009399367173089559 + - -0.9998961681209061 + - -0.010922677047103918 + - -0.08976476261090426 + - - -0.2392041122745017 + - 0.008357691770361103 + - -0.970933335332164 + - 0.9727413992017003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978371386302576 + - 0.02191733726019578 + - 0.06197318047028758 + - 0.012799847868756436 + - - 0.033292319633202186 + - -0.9814211274527337 + - -0.1889555292730149 + - -0.0933036923978474 + - - 0.056680386586725924 + - 0.19061007559105403 + - -0.9800281286062923 + - 0.9716613740251185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9779296776471752 + - -0.01044957953879251 + - 0.2086728345145925 + - 0.05428677042288528 + - - -0.012406164511550825 + - -0.9998904777382892 + - 0.008069672261501163 + - -0.09317069411186212 + - - 0.20856565551165035 + - -0.010480401507487839 + - -0.97795221177992 + - 0.9717130418103656 + - - 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: + - - 0.9999118139142896 + - -0.013213463764709069 + - -0.001329951117035329 + - 0.023916054088618716 + - - -0.013227353025407541 + - -0.9998515532342119 + - -0.011041223984469616 + - -0.03451032091315271 + - - -0.0011838608770565228 + - 0.011057842035076537 + - -0.999938159389345 + - 0.9687802870150065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999626881936093 + - -0.009722492637935742 + - -0.02552587016400804 + - 0.09185942900784712 + - - -0.009995237002851268 + - -0.9998940816653658 + - -0.010579257432963396 + - -0.03381606845838177 + - - -0.025420309753843347 + - 0.010830447242905706 + - -0.9996181817396773 + - 0.9687715979201256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9547316692014002 + - 0.010197785825685918 + - -0.29729353337763936 + - 0.10006602202221038 + - - 0.012156442931790615 + - -0.9999148721952681 + - 0.004740174887909504 + - -0.0898588435683038 + - - -0.29721988614349854 + - -0.00813962695553606 + - -0.9547743637917137 + - 0.9739469117826133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9958126910072648 + - 0.020342832335069422 + - 0.08912493254671892 + - 0.012788836830570624 + - - 0.030821547510309376 + - -0.9925560206876035 + - -0.1178243523464458 + - -0.09321278168825925 + - - 0.08606460734785053 + - 0.12007795371914413 + - -0.9890268795096944 + - 0.9705534085733939 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929791535679033 + - -0.0045469331872238115 + - 0.11820205572730587 + - 0.05442047748118694 + - - -0.016043099358678377 + - -0.9952046370894246 + - 0.09649015120039534 + - -0.09331663925132497 + - - 0.11719649970258401 + - -0.09770903599104078 + - -0.9882904050648093 + - 0.9734385016729249 + - - 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: + - - 0.999893873502017 + - -0.013024919052544598 + - -0.006526347891981527 + - 0.023920274815832206 + - - -0.013241855405490817 + - -0.999321116625383 + - -0.03437963251720196 + - -0.0345263428203747 + - - -0.006074125332307908 + - 0.03446240488231251 + - -0.999387536269677 + - 0.9687061927391374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999944487905794 + - -0.006855248677431732 + - -0.008001666850720167 + - 0.09184885234197544 + - - -0.007134638362086736 + - -0.99934681527937 + - -0.035426539859608475 + - -0.033804089701846465 + - - -0.007753582543675136 + - 0.035481662257464186 + - -0.9993402491650114 + - 0.9686011694768325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9678437645580558 + - 0.025494728039597105 + - -0.2502568006034558 + - 0.10010588534101497 + - - 0.005053575640943797 + - -0.9966206858674151 + - -0.08198579068597438 + - -0.08990176096867615 + - - -0.2515013096970513 + - 0.07808474462627206 + - -0.964701955982944 + - 0.9741300760552267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995543020970671 + - 0.013556827676493194 + - 0.0933290191737813 + - 0.012711338970130012 + - - 0.018699037412784045 + - -0.9983416384590644 + - -0.05444555921934217 + - -0.093005248183879 + - - 0.09243613685364328 + - 0.05594805932489045 + - -0.9941455503402679 + - 0.9702774679366679 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.974235196019317 + - -0.009627323563787952 + - 0.22532886516867096 + - 0.05444110040750374 + - - -0.01813485286067222 + - -0.9991973982719249 + - 0.03571675234868455 + - -0.09334447815543279 + - - 0.22480415910059298 + - -0.03888282304069019 + - -0.9736278632637116 + - 0.9735987183480552 + - - 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: + - - 0.9998968238127957 + - -0.013035360431252568 + - -0.006034990265970481 + - 0.023918378013305184 + - - -0.013209716504968678 + - -0.9994681808875989 + - -0.029813734806169473 + - -0.034504508585533465 + - - -0.005643147963803683 + - 0.029890379249209564 + - -0.9995372529872999 + - 0.9686698614437866 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995605220643426 + - -0.006810035674895327 + - -0.028851103004309618 + - 0.09182438981367627 + - - -0.00771863192898217 + - -0.9994739735568948 + - -0.0314991889345906 + - -0.03380677039914526 + - - -0.028621415960841758 + - 0.03170803678089816 + - -0.9990872909570506 + - 0.9683830439519957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.977596915519953 + - 0.011821278358249504 + - -0.21015358227698752 + - 0.09990605811827047 + - - 0.00944448547022203 + - -0.9998796276059847 + - -0.012309833171920217 + - -0.08965815567562897 + - - -0.2102738035516468 + - 0.010049262485104286 + - -0.9775908857305439 + - 0.9720811350933758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997570323942821 + - 0.01910524759831379 + - 0.0669958080988821 + - 0.0128479869325054 + - - 0.02499136923808597 + - -0.995793544727529 + - -0.08815127760043583 + - -0.09300856053635023 + - - 0.06502984124400706 + - 0.08961141552944342 + - -0.9938515552911257 + - 0.969522876220799 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989636230469211 + - -0.008257613901356852 + - 0.044760380266760075 + - 0.054321941414790846 + - - -0.014054702754805 + - -0.99131026250978 + - 0.13079154702527343 + - -0.09320634469334085 + - - 0.043291398215383664 + - -0.13128509152012027 + - -0.9903989497092119 + - 0.9724255028675906 + - - 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: + - - 0.9999224785680844 + - -0.012397639644626772 + - -0.0011555888113113301 + - 0.023916306360093394 + - - -0.012416867286458173 + - -0.9997524666585377 + - -0.018461495523416478 + - -0.03451265482687023 + - - -0.0009264237957513013 + - 0.018474413154755967 + - -0.9998289042618937 + - 0.9689302222140463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997336006214511 + - -0.0074062916360513615 + - -0.021860343836974026 + - 0.09186107816682998 + - - -0.007858557926250564 + - -0.999755342825341 + - -0.020676014110686734 + - -0.033791470777220105 + - - -0.021701862956638934 + - 0.020842296811707395 + - -0.9995472113951519 + - 0.9685950504176164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.960247469438384 + - 0.007686940961509369 + - -0.2790442767301166 + - 0.0999776410803592 + - - 0.013379328279273513 + - -0.9997393238989384 + - 0.01850075200875887 + - -0.08977288935769119 + - - -0.2788293223676001 + - -0.02149872528194248 + - -0.960100001978584 + - 0.9731142128002547 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9931150557124411 + - 0.019600814511980737 + - 0.11549153296992005 + - 0.012777415508023263 + - - 0.02910281161607961 + - -0.996275159344065 + - -0.08117162823300779 + - -0.09313838265504684 + - - 0.11347031538386675 + - 0.08397389442216892 + - -0.989986299189166 + - 0.970429987769137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953602688740075 + - -0.009705684299972239 + - 0.09572739858229046 + - 0.05451072132227344 + - - -0.008440453966122955 + - -0.9998717128928271 + - -0.013613100073446655 + - -0.09349181318211595 + - - 0.09584724244290596 + - 0.012741956248284107 + - -0.9953144973660625 + - 0.9751586377466308 + - - 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: + - - 0.9998108173047375 + - -0.01417519751223928 + - 0.013318910463010973 + - 0.02390790124746941 + - - -0.013518969189051211 + - -0.9987495131894197 + - -0.04813156319883169 + - -0.034496592414762134 + - - 0.013984529756061941 + - 0.04794239959979736 + - -0.9987522011230392 + - 0.9685309635085184 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999876374293835 + - -0.010340916865829814 + - -0.011844896259095898 + - 0.09184850150416383 + - - -0.010057496287149791 + - -0.9996675183088773 + - 0.023742358909855914 + - -0.03374669884523269 + - - -0.012086475807642015 + - -0.023620293743822133 + - -0.9996479374389801 + - 0.9683938203017088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9629541227360024 + - 0.00584659403428976 + - -0.26960188212238834 + - 0.09989819170278322 + - - 0.014150764021008145 + - -0.9994830531414024 + - 0.02886836262697415 + - -0.08967112044706987 + - - -0.2692937306796386 + - -0.03161398142181626 + - -0.9625390603997863 + - 0.972536993437869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9912638893324505 + - -0.000251259507495721 + - 0.1318932847955624 + - 0.012813438632131429 + - - 0.015198254414623807 + - -0.9931192918018735 + - -0.11611668835138449 + - -0.09305667374221845 + - - 0.131014941011519 + - 0.11710682780950081 + - -0.984439473056695 + - 0.9712911461108865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977877888244739 + - -0.00556631022089433 + - 0.06624609168314557 + - 0.05441401494188121 + - - -0.0012329151757345387 + - -0.9978665185039415 + - -0.06527550205852532 + - -0.0933386995629067 + - - 0.06646810056663577 + - 0.06504942305161414 + - -0.9956658898283679 + - 0.973738235975049 + - - 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: + - - 0.9999204739528127 + - -0.012259285034060957 + - -0.002959003284205972 + - 0.023930310914583548 + - - -0.012440488682864119 + - -0.9973293209430606 + - -0.07196846412551398 + - -0.034548908806707676 + - - -0.0020688188209271614 + - 0.07199955220490968 + - -0.9974025187811483 + - 0.9690226439122255 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997031158048176 + - -0.009188002200221517 + - -0.022566808939419196 + - 0.09185505807169417 + - - -0.009434169036638636 + - -0.9998968893323967 + - -0.01082622547264546 + - -0.03381124939393906 + - - -0.022465010677221023 + - 0.01103591042756116 + - -0.9996867169150078 + - 0.9684325285912784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9683157583256737 + - 0.004534410639588956 + - -0.249687867743563 + - 0.09988735174080239 + - - 0.01293145028238797 + - -0.9994042105153903 + - 0.03200002496411344 + - -0.08971491582018887 + - - -0.24939400508386234 + - -0.03421495468740734 + - -0.9677974824848272 + - 0.9725941679668075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9846823738268804 + - 0.012587169174307536 + - 0.1739028057474552 + - 0.012714642653594298 + - - 0.014196923285920919 + - -0.9998670886121227 + - -0.008015764438326141 + - -0.0929801382993917 + - - 0.17377879630114101 + - 0.010361866747571103 + - -0.9847301974011112 + - 0.9699214267250509 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960108327207258 + - -0.003608664333762511 + - 0.08915940020375095 + - 0.05437785912771327 + - - -0.013151215852357904 + - -0.9942070677943327 + - 0.10667404496596043 + - -0.09327873228470974 + - - 0.08825795502146581 + - -0.10742105887358068 + - -0.9902884678142563 + - 0.9731303301097619 + - - 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: + - - 0.9998975538510814 + - -0.013107457961368639 + - 0.005751204083915808 + - 0.023949704488947707 + - - -0.012922837580709367 + - -0.9994345191162726 + - -0.031042587966994765 + - -0.03451648801738808 + - - 0.006154841304737407 + - 0.03096508589713512 + - -0.9995015164490234 + - 0.9687685869112462 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999269205153776 + - -0.011681682737712428 + - -0.0031131843905145722 + - 0.0918643441047953 + - - -0.011624608549456825 + - -0.99977469111656 + - 0.01776050333911124 + - -0.03378077204861281 + - - -0.0033199555276851827 + - -0.01772301586079857 + - -0.9998374230864194 + - 0.9687838220152601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.970866940609677 + - 0.01149256445764041 + - -0.23934348663248162 + - 0.09993836666085129 + - - 0.010380627568285736 + - -0.9999286789649972 + - -0.005905891516441962 + - -0.08973127541001462 + - - -0.23939429024622638 + - 0.003249299232513887 + - -0.970916997406062 + - 0.9724125080935762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9786638926243945 + - 0.0067627987184368955 + - 0.20535639709237594 + - 0.01285554983288517 + - - 0.0006717629127816261 + - -0.9995581550067436 + - 0.02971604775376993 + - -0.09296479110993335 + - - 0.20546662504615362 + - -0.02894407215664776 + - -0.9782360178807232 + - 0.970373338559279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998872834396503 + - -0.007286875941564775 + - 0.01312714190860691 + - 0.05438769213963837 + - - -0.009715801381444284 + - -0.9806139749567984 + - 0.1957085468827133 + - -0.09322160178017526 + - - 0.011446554904982753 + - -0.1958140279919677 + - -0.9805742413618498 + - 0.9729948746855746 + - - 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: + - - 0.999914279946575 + - -0.012322131464070199 + - -0.0044269442174694595 + - 0.02392556663931793 + - - -0.012613382660952611 + - -0.9972342353088622 + - -0.07324467561397859 + - -0.03456695985161758 + - - -0.0035121698095045254 + - 0.07329423581790549 + - -0.9973041760962892 + - 0.9693108467321101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998755133847734 + - -0.006566900543482631 + - -0.014346900389554183 + - 0.09189225945248895 + - - -0.007287644149627235 + - -0.9986834641718766 + - -0.050776260520151516 + - -0.03382655624219056 + - - -0.013994569528363004 + - 0.05087449466003472 + - -0.9986069986820659 + - 0.9688748689428416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9717774318006579 + - -0.0008139124260017243 + - -0.23589819963170644 + - 0.09993169784283654 + - - 0.015278129711313471 + - -0.9976774284083676 + - 0.06638017472853942 + - -0.08972942812380624 + - - -0.23540433682377626 + - -0.06811083901281752 + - -0.9695079740845501 + - 0.9727746968923228 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9900685109485045 + - 0.010891585172463367 + - 0.14016317990343333 + - 0.01292424540778966 + - - 0.020173842220084705 + - -0.9976829322540945 + - -0.0649752474327802 + - -0.09316184387379023 + - - 0.13913072887859954 + - 0.06715757635072055 + - -0.9879941802563449 + - 0.9705237885959899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890726577764057 + - -0.0041941172491243555 + - 0.14736922005499514 + - 0.054380354262320775 + - - -0.02152221581993599 + - -0.9929942153440459 + - 0.11618641280056065 + - -0.09321047813208651 + - - 0.14584948359633326 + - -0.11808851626539636 + - -0.9822336944235417 + - 0.9727651879962109 + - - 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: + - - 0.9998939432086624 + - -0.011882078412151923 + - -0.008421315054055696 + - 0.023948051676339736 + - - -0.012372277358822197 + - -0.9980751530181918 + - -0.06076936465580151 + - -0.03454943036872335 + - - -0.0076830389552941525 + - 0.06086711049754929 + - -0.9981163087396633 + - 0.9689308982228083 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997827302346969 + - -0.009549770178217412 + - -0.018528200506217854 + - 0.0918629314414823 + - - -0.009680425025671967 + - -0.9999288179096397 + - -0.0069748466043193895 + - -0.033788773502173096 + - - -0.01846027344807563 + - 0.007152692036895702 + - -0.9998040094442753 + - 0.968622626203948 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9650985288567322 + - 0.005282047919445544 + - -0.26183378232830845 + - 0.09993533394127246 + - - 0.01630570074010712 + - -0.9990687463233152 + - 0.039947017952940964 + - -0.08971756308813503 + - - -0.2613789465927686 + - -0.04282219155689254 + - -0.9642859047960406 + - 0.9726547619587325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9830615883619882 + - 0.00525957312108884 + - 0.1832000283236571 + - 0.012815911663139973 + - - 0.010524491193012533 + - -0.9995587053827715 + - -0.02777822130099488 + - -0.0929773217849307 + - - 0.18297308155117528 + - 0.02923578943867882 + - -0.9826831229056319 + - 0.9705553987525567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960338019644129 + - -0.005154703744702723 + - 0.08882620319264445 + - 0.054404397864184696 + - - -0.011890849201027794 + - -0.9970768837123216 + - 0.07547380785281545 + - -0.09329177834681737 + - - 0.08817750875135352 + - -0.07623068277163493 + - -0.9931835731397168 + - 0.9733858489587849 + - - 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: + - - 0.9998891101114518 + - -0.012468816972169698 + - -0.008142240713930963 + - 0.02389887694503301 + - - -0.01284403637970488 + - -0.9987751147124942 + - -0.047783898548795056 + - -0.03453067305098351 + - - -0.007536458717851484 + - 0.04788317903355263 + - -0.9988245105901415 + - 0.9690554172610254 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999948534772161 + - -0.009823329879661166 + - 0.002535743891605477 + - 0.09188500378602127 + - - -0.009795442458120186 + - -0.9998938571965884 + - -0.010785344110319728 + - -0.03377317378677885 + - - 0.00264142273370142 + - 0.010759950306749016 + - -0.9999386212939962 + - 0.9687175825471311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9776944526585246 + - 0.008923522011036644 + - -0.20984262673648188 + - 0.09986321405036416 + - - 0.00908343692866485 + - -0.9999587243910638 + - -0.000201712071855277 + - -0.08966013575528167 + - - -0.2098357653363956 + - -0.0017088794912190316 + - -0.9777351539740065 + - 0.971784885398853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991165106655827 + - 0.010139582383822104 + - 0.04078464152732269 + - 0.012823834782944413 + - - 0.013543933764884244 + - -0.996366851870732 + - -0.08408126040550892 + - -0.09287437531526538 + - - 0.03978391601643758 + - 0.08455935999218689 + - -0.9956239022161474 + - 0.9696705140609877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907724324292954 + - -0.013982923077590928 + - 0.13481270340863097 + - 0.05434236426899135 + - - 0.0025044660049858107 + - -0.9926053889950553 + - -0.12136008152603292 + - -0.09329713009245241 + - - 0.1355127845930678 + - 0.12057785700609239 + - -0.9834110359415598 + - 0.9731888126922008 + - - 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: + - - 0.9999067491029651 + - -0.01333481141973928 + - 0.002945488540122575 + - 0.0239093670460972 + - - -0.013286969885068181 + - -0.9997883834221748 + - -0.0157049293327895 + - -0.0345094021639289 + - - 0.003154287496930771 + - 0.015664328216511928 + - -0.9998723314963328 + - 0.9688058853320541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999394361421893 + - -0.008417435052323763 + - -0.007090192859184522 + - 0.09186239701558348 + - - -0.008581447874449819 + - -0.9996886802158195 + - -0.023428644876117826 + - -0.03379504848482183 + - - -0.006890776445265122 + - 0.023488070067441743 + - -0.9997003689928741 + - 0.968772677105826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9709282468203067 + - -0.015863759357812153 + - -0.23884446961460734 + - 0.09986318736189563 + - - 0.01799941280409368 + - -0.9901381508407434 + - 0.13893330554039707 + - -0.08964111227579295 + - - -0.23869302600862366 + - -0.13919333097785586 + - -0.9610675605523973 + - 0.9719895488296009 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969083849631318 + - 0.016690107781106262 + - 0.07677963462048587 + - 0.012706343214387099 + - - 0.017195431005447754 + - -0.9998345918588281 + - -0.005925037976962142 + - -0.0929834564966632 + - - 0.07666804512140077 + - 0.007226978950198603 + - -0.9970304817970798 + - 0.9703147513473787 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975569099499715 + - -0.0035373840343419466 + - 0.06976889224617322 + - 0.054283121262580385 + - - -0.011300473176450715 + - -0.993734851532323 + - 0.1111905758417515 + - -0.09309300174268445 + - - 0.06893845601007367 + - -0.11170734874763415 + - -0.9913470419175727 + - 0.9714376643193067 + - - 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: + - - 0.999627020721432 + - -0.010931989830192876 + - -0.0250262071026813 + - 0.023904959885363772 + - - -0.01238599719739053 + - -0.9981987306738553 + - -0.05870162821021657 + - -0.03455362880556494 + - - -0.024339402560867644 + - 0.05898970825031108 + - -0.9979618268268198 + - 0.9690320851370817 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997352276295134 + - -0.008285784109700111 + - -0.021466728168315942 + - 0.0918500167721319 + - - -0.008984175163411226 + - -0.9994266579985067 + - -0.03264414003415441 + - -0.03380489986734853 + - - -0.021183938094652584 + - 0.03282835761386455 + - -0.9992364783689488 + - 0.9685873741127964 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9635881099212197 + - -0.0018421832028418933 + - -0.26738466818330975 + - 0.09993861745182833 + - - 0.017903374172337342 + - -0.997287770749234 + - 0.07139027599937876 + - -0.08974679072077561 + - - -0.26679097363234905 + - -0.07357790887942765 + - -0.9609416567686265 + - 0.9727111083996175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9863031602433544 + - 0.008674804493970774 + - 0.16471437053567423 + - 0.012902537502431638 + - - 0.0233366517026626 + - -0.9959096826443966 + - -0.08728862871213781 + - -0.09317732812179008 + - - 0.1632834246985303 + - 0.08993693224770467 + - -0.982471308200189 + - 0.9709936191610524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939315604069202 + - -0.00416847802326574 + - 0.10992123097033803 + - 0.05437348871333586 + - - -0.023671785183617247 + - -0.983974542209264 + - 0.17673071852479527 + - -0.09321549663050138 + - - 0.10742299480691055 + - -0.17826027060183458 + - -0.978102027455048 + - 0.9723898706656682 + - - 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: + - - 0.9995452522134752 + - -0.010890374351366217 + - -0.02811918426959147 + - 0.02394825815382491 + - - -0.013520114050437205 + - -0.9953765593741458 + - -0.09509317307015552 + - -0.03456197109694891 + - - -0.026953576637680315 + - 0.09543010423851839 + - -0.9950711531902943 + - 0.9693990549720096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999018500331635 + - -0.01072048676569067 + - 0.009020058966751237 + - 0.09183643532474345 + - - -0.010688016836644597 + - -0.9999362552798188 + - -0.0036402847515837615 + - -0.03381593373841625 + - - 0.009058509610119085 + - 0.0035435209156519537 + - -0.9999526923125731 + - 0.968682063222536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9716556600458882 + - 0.013735705991596436 + - -0.2360012895763535 + - 0.09988357176282284 + - - 0.007199574552347961 + - -0.9995668718927284 + - -0.028534798770107103 + - -0.08967383420092348 + - - -0.23629101639092123 + - 0.026026889854489796 + - -0.9713336999082484 + - 0.9721706150137207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.993370635752475 + - 0.011746027577377489 + - 0.11435388432788388 + - 0.012717385157174738 + - - 0.0189704744665833 + - -0.9978775070483135 + - -0.062294478291060086 + - -0.09298536322336813 + - - 0.11337945635447486 + - 0.06405085294665586 + - -0.9914850412959184 + - 0.9704156766492382 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998591639511588 + - -0.004286376476770959 + - 0.05288066257393134 + - 0.05440484247420691 + - - -0.006316351497069942 + - -0.999247063913564 + - 0.03828066044215804 + - -0.09335812085955503 + - - 0.052676761492370244 + - -0.03856076032473589 + - -0.9978668380910626 + - 0.9738965896166603 + - - 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: + - - 0.9998909872921887 + - -0.012095327986770599 + - -0.008468563794674375 + - 0.02390666098699216 + - - -0.012321301982137767 + - -0.9995551440012044 + - -0.027160626248255 + - -0.03454599779137712 + - - -0.008136279820470391 + - 0.027262009126711013 + - -0.9995952099770482 + - 0.9688637174134502 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991439816944336 + - -0.010522763442840097 + - -0.040007190520196564 + - 0.09182183119975681 + - - -0.009508217635403273 + - -0.9996304868534032 + - 0.025465340182812057 + - -0.03373760694254832 + - - -0.04026037308807612 + - -0.02506314431101102 + - -0.9988748375827947 + - 0.9682720283447762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9825190902578621 + - -0.007781907905721669 + - 0.1859991376007155 + - 0.012730692723380177 + - - 0.036964175216156844 + - -0.9710771418453921 + - -0.23588733398801587 + - -0.09325553658289443 + - - 0.18245516443623153 + - 0.23863911350558475 + - -0.9538141781687964 + - 0.9730571628362665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999978346119482 + - -0.001833302951857514 + - 0.0009847698722648666 + - 0.054489794345486856 + - - -0.0018582369032762642 + - -0.9996616341717679 + - 0.025945406542247116 + - -0.09350498287373164 + - - 0.0009368708693903745 + - -0.02594718029609167 + - -0.9996628762276094 + - 0.975312066757203 + - - 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: + - - 0.9996395550705094 + - -0.01389110660129541 + - 0.02297383502651261 + - 0.023940367631682682 + - - -0.01241011324356598 + - -0.9979112794873705 + - -0.0633961147166083 + - -0.03452425943754976 + - - 0.02380649129367532 + - 0.06308815601419127 + - -0.9977239776325983 + - 0.9690102796095115 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997773284663917 + - -0.01014292767023593 + - -0.018504445489699275 + - 0.0918607730968298 + - - -0.010037868651885563 + - -0.9999330204655036 + - 0.005761577532426401 + - -0.03381654771517012 + - - -0.01856164533473212 + - -0.005574549399819675 + - -0.9998121772220303 + - 0.9683436249891241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9891740281838849 + - 0.002534449455759962 + - 0.14672531660358834 + - 0.012921274544967849 + - - 0.03132512562755799 + - -0.9804521734599212 + - -0.19424796540024353 + - -0.09328938458126552 + - - 0.14336484391539212 + - 0.19674123137683341 + - -0.9699172178105936 + - 0.9722448329262561 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997628936707459 + - -0.005862484187716366 + - 0.06857212205476372 + - 0.0544489874448191 + - - -0.009497864346183963 + - -0.9985594004487979 + - 0.052810172771910135 + - -0.09338162871530345 + - - 0.06816373828368076 + - -0.053336245222984024 + - -0.9962474339885187 + - 0.9742218426700244 + - - 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: + - - 0.9999066956060909 + - -0.013566639689713693 + - 0.0015957348268583367 + - 0.023918947710218772 + - - -0.013522923388958505 + - -0.9996010905735446 + - -0.02479496455324077 + - -0.03449952127641369 + - - 0.0019314826234068205 + - 0.024771072074288435 + - -0.9996912840288075 + - 0.9686103713572234 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992608329467967 + - -0.009068600578886976 + - -0.03735703711504381 + - 0.09181287026276055 + - - -0.009576137340006938 + - -0.9998639617440827 + - -0.013429653721269297 + - -0.03375527198804563 + - - -0.03723016696335748 + - 0.013777463081732 + - -0.9992117374105011 + - 0.9683001754245235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9782934344922156 + - 0.010992846783241214 + - -0.20693262997658227 + - 0.09989287624717912 + - - 0.008381162869157166 + - -0.9998738342712836 + - -0.013493392775831076 + - -0.0896649035620015 + - - -0.2070548529698968 + - 0.011466161486843467 + - -0.9782621402274405 + - 0.9720877083415853 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9909129611392442 + - 0.0073563729100549445 + - 0.13430334033024996 + - 0.012935453146339829 + - - 0.029976327822754955 + - -0.985468528563183 + - -0.16719210203169727 + - -0.09327684539226319 + - - 0.13112178772621072 + - 0.1696987418607544 + - -0.9767340547940158 + - 0.9720322143324978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984856610198909 + - -0.004276287009295629 + - 0.05484613119524121 + - 0.05440428746750232 + - - -0.003031128442013941 + - -0.9997362285637447 + - -0.022765885827461994 + - -0.09327877149932645 + - - 0.054929017814261856 + - 0.022565164890936434 + - -0.9982352509981834 + - 0.9732587593161253 + - - 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: + - - 0.9999083531338026 + - -0.012469193818303491 + - -0.00527300092626099 + - 0.02391039998605321 + - - -0.01278429251962701 + - -0.9978241582521251 + - -0.06468006704705825 + - -0.03453748846935762 + - - -0.00445501941851841 + - 0.06474155090790554 + - -0.9978921206162623 + - 0.9694176338868574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998167967610733 + - -0.007450074812106271 + - -0.017631486032686664 + - 0.0918757757217747 + - - -0.008012853958489696 + - -0.999453614456199 + - -0.03206659822743267 + - -0.033817106330131505 + - - -0.01738295388783855 + - 0.032202002045427114 + - -0.9993302076783227 + - 0.9688910196793509 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9593558809342602 + - -0.001090800720710815 + - -0.28219692392128803 + - 0.10001360761208698 + - - 0.024303061633592693 + - -0.9959579477349021 + - 0.08647038532882123 + - -0.0896862063818194 + - - -0.28115059116438534 + - -0.08981412192672555 + - -0.9554516045255494 + - 0.9734609516586832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9753345482103485 + - -0.010048822960664719 + - 0.22050292565954918 + - 0.012783958776993296 + - - 0.03212087847746459 + - -0.9818681534336469 + - -0.1868239236249921 + - -0.09331658138196705 + - - 0.21838216097738253 + - 0.1892985748227021 + - -0.9573271548101739 + - 0.9730812595700907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970156182386398 + - -0.006468621121459631 + - 0.0769286287997502 + - 0.05450323002302995 + - - -0.020375064606479393 + - -0.9831995980311434 + - 0.18139296340729422 + - -0.09346597247977306 + - - 0.07446283455862086 + - -0.18241904333754522 + - -0.9803971536562672 + - 0.9754042081699213 + - - 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: + - - 0.999894240659142 + - -0.013243889365063688 + - 0.006008900994670943 + - 0.023917292527152575 + - - -0.013009084987692926 + - -0.9992095821461647 + - -0.037562942577359 + - -0.03449541761330557 + - - 0.0065016309077636095 + - 0.037480799641589034 + - -0.9992761972816956 + - 0.9686875199206826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995896290279273 + - -0.009435731499403646 + - -0.027047005580692004 + - 0.09180927891903312 + - - -0.009246707517729724 + - -0.9999320042747947 + - 0.007105295706282918 + - -0.03380794158041487 + - - -0.027112210162441263 + - -0.006852284149342003 + - -0.9996089106555845 + - 0.9682682964084743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9746522692797484 + - 0.002666423987824444 + - -0.22370928494578401 + - 0.09988551303403424 + - - 0.009977661906011993 + - -0.9994521235848236 + - 0.03155786628839735 + - -0.08969112672572183 + - - -0.22350257325303025 + - -0.032990041602038084 + - -0.9741448849654605 + - 0.9722826345940403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991967076393509 + - 0.01470297257636492 + - 0.03727951233721092 + - 0.012800709577539858 + - - 0.01921115960691323 + - -0.9921444495545366 + - -0.12361360185951198 + - -0.09293560158481223 + - - 0.035169173849257614 + - 0.12423048665904396 + - -0.9916299286504096 + - 0.9703796304013006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9741844891295762 + - -0.01136744104432085 + - 0.22546698743596683 + - 0.05434873156114886 + - - -0.017693938266355243 + - -0.9995038132208266 + - 0.02605862440064108 + - -0.09318571667742437 + - - 0.22505889382109062 + - -0.02937530665595113 + - -0.973902246465679 + - 0.972118671739079 + - - 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: + - - 0.9998149214883298 + - -0.013523184061130138 + - 0.01368379560406018 + - 0.02395481525971969 + - - -0.013034582817994663 + - -0.9992957440691281 + - -0.03518686596001803 + - -0.03453365852169982 + - - 0.014149997174760823 + - 0.03500199106017018 + - -0.9992870649627053 + - 0.9685921333744096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999303867142298 + - -0.009553592374855166 + - -0.006924637049398756 + - 0.09185261624061435 + - - -0.009457897978617241 + - -0.9998611059353106 + - 0.013722864265299596 + - -0.03377583408485689 + - - -0.007054777909818605 + - -0.013656416460875745 + - -0.9998818592204234 + - 0.9683803976566545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.99934044500281 + - 0.018735310151110962 + - 0.031107284277595914 + - 0.012670122272656138 + - - 0.02152413531484399 + - -0.9955371198805455 + - -0.09188337465992473 + - -0.0929839377269444 + - - 0.0292469926750388 + - 0.09249232991707738 + - -0.9952837697490983 + - 0.9699518943420307 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960036750496816 + - -0.006829392752839172 + - 0.08905076463543528 + - 0.05426929764142355 + - - -0.008353716904894887 + - -0.9998247101059979 + - 0.0167560280296434 + - -0.09310474737859686 + - - 0.08892072143994952 + - -0.017432970374689157 + - -0.995886136484746 + - 0.9712948696862987 + - - 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: + - - 0.9999110017688889 + - -0.012631996855002619 + - 0.0042919921938647096 + - 0.023910493891877882 + - - -0.012472788954014111 + - -0.9992992621217378 + - -0.03529042729494216 + - -0.03451829332680723 + - - 0.0047347731989626695 + - 0.03523375339651141 + - -0.9993678824858986 + - 0.9682978476634703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998690956841112 + - -0.010422409776871361 + - -0.012375979568530236 + - 0.09183376688298017 + - - -0.010237415545755755 + - -0.9998363067887972 + - 0.014918275700674458 + - -0.03378679880124515 + - - -0.012529438087209657 + - -0.014789624788370793 + - -0.9998121224409302 + - 0.968503119840576 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.156906396150589 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9734896983430744 + - 0.0025425865429671707 + - -0.2287167297632193 + - 0.09991551538099303 + - - 0.013200056996377576 + - -0.998896208404399 + - 0.04507907863530095 + - -0.08969736619621105 + - - -0.22834965670042587 + - -0.046903092531162434 + - -0.9724487308829246 + - 0.972472344944771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959816765113962 + - 0.015590883044598708 + - 0.088189706992586 + - 0.012857057211371075 + - - 0.02381096415480046 + - -0.9953869883318672 + - -0.09293966562041646 + - -0.09309522945003601 + - - 0.08633387538832794 + - 0.09466608593105379 + - -0.9917584353737193 + - 0.970158500094148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975794112764755 + - -0.003109164110959157 + - 0.06946690791889025 + - 0.05435817363582465 + - - -0.012556944619744125 + - -0.9906312027653584 + - 0.1359858200308998 + - -0.09322950815556028 + - - 0.06839328431284121 + - -0.1365289464040161 + - -0.9882723336483282 + - 0.9728661172467026 + - - 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: + - - 0.9998420611783375 + - -0.011857887240007116 + - -0.013237945794452881 + - 0.02391571457135307 + - - -0.011965814534410677 + - -0.999895569572332 + - -0.008103655480779912 + - -0.03455857372133517 + - - -0.013140471117189157 + - 0.008260778403175123 + - -0.999879536523772 + - 0.9687416903546695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999565682637958 + - -0.00869048047965229 + - -0.003367066249061319 + - 0.09187594045484308 + - - -0.008835120722765571 + - -0.9989192032555175 + - -0.04563294872322424 + - -0.03381024455826214 + - - -0.0029668548847127225 + - 0.04566071524182508 + - -0.9989525999043689 + - 0.9688201116247722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9711242664618602 + - 0.0038466056579097418 + - -0.2385432093223915 + - 0.09992792800559616 + - - 0.011317451387106237 + - -0.9994871177160135 + - 0.0299569159600311 + - -0.08974623177241457 + - - -0.2383056322939394 + - -0.03179158921237527 + - -0.9706697278025814 + - 0.9728120229528989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9929402895738643 + - 0.01583963272358719 + - 0.11755291309088228 + - 0.012835492827424699 + - - 0.035670085392365415 + - -0.9850446050175923 + - -0.16856681504328502 + - -0.09333075374307252 + - - 0.113124826404605 + - 0.1715699045896965 + - -0.9786554764011749 + - 0.9716690627760035 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986864046396363 + - -0.0040639832588485756 + - 0.05107787415337911 + - 0.05438550671458208 + - - -0.011507417546794699 + - -0.9891744363050783 + - 0.1462925627020502 + - -0.09332956234837768 + - - 0.049930396847615355 + - -0.14668816789571465 + - -0.9879218273072202 + - 0.9738503257744855 + - - 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: + - - 0.9999128588347388 + - -0.012932782549212764 + - 0.002649126738129832 + - 0.023911351693235876 + - - -0.012840123617964943 + - -0.9993915553355065 + - -0.032429158939944094 + - -0.034509519594400406 + - - 0.0030669141519246066 + - 0.03239231791044839 + - -0.9994705257174784 + - 0.9687922237023434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999845179052408 + - -0.010348980400327302 + - -0.014230830275560876 + - 0.09180196138969184 + - - -0.010314538925067432 + - -0.9999436998390968 + - 0.0024914732311431993 + - -0.033793483184354337 + - - -0.014255813285163618 + - -0.002344303046083353 + - -0.9998956325691231 + - 0.9681531632252133 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9735687428868114 + - 0.00694815898067768 + - -0.2282884709322241 + - 0.09994587990317884 + - - 0.014699086880309173 + - -0.9993711064814769 + - 0.03226961999892088 + - -0.08971259729042144 + - - -0.2279206873425026 + - -0.03477232544379021 + - -0.9730586034070884 + - 0.9726469221927629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945818373210312 + - 0.022270149167638777 + - 0.10154314022706214 + - 0.012797947281334873 + - - 0.031046669740846206 + - -0.9958382091750709 + - -0.08568760380002605 + - -0.0932431276968948 + - - 0.09921226319928657 + - 0.08837591076214452 + - -0.9911340097221146 + - 0.9709599820240555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963897609218173 + - -0.0050425998458613844 + - 0.08474677879989462 + - 0.05439045661312622 + - - -0.007924137168821467 + - -0.9994005851591065 + - 0.03369982839371557 + - -0.09328267736561127 + - - 0.0845260455735003 + - -0.03424970905614667 + - -0.9958324683646725 + - 0.973320228992272 + - - 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: + - - 0.9998243536587318 + - -0.011521711745493777 + - -0.01478215103944317 + - 0.023917868457681023 + - - -0.012350167968420254 + - -0.9982843510124983 + - -0.057234848429142414 + - -0.03453379362133335 + - - -0.014097346631581647 + - 0.057407357385694475 + - -0.9982513010940383 + - 0.9687692563504927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9810150857572796 + - -0.0009356382194637873 + - -0.19392917804641865 + - 0.09989940187626115 + - - 0.010558570728358845 + - -0.9982474703756357 + - 0.058228038545178995 + - -0.08963075143540045 + - - -0.19364379179517097 + - -0.05917019916957256 + - -0.9792859487552253 + - 0.9719974774519969 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9911544205391941 + - 0.004899685893563316 + - 0.13262317943617108 + - 0.012920932252203898 + - - 0.030552630021435302 + - -0.9809006016855688 + - -0.19209514937046704 + - -0.09334367722183119 + - - 0.12914895061280096 + - 0.19444794339625496 + - -0.9723736657605341 + - 0.9726467812222126 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992393763827115 + - -0.004164584210197663 + - 0.038772734294164474 + - 0.054412221594633714 + - - -0.003681297004910264 + - -0.9999147490596167 + - -0.012527675977818975 + - -0.093350568971513 + - - 0.03882160144367236 + - 0.01237541318097122 + - -0.9991695213575867 + - 0.9738793897689229 + - - 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: + - - 0.9999157891613815 + - -0.012783032897164518 + - 0.0022380026187816837 + - 0.023891173755421245 + - - -0.01274339121151957 + - -0.9997757742707383 + - -0.016911746266308286 + - -0.03453525715065934 + - - 0.002453684209883116 + - 0.016881802371069156 + - -0.9998544815034347 + - 0.968869222929053 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998833868769013 + - -0.008707047946986584 + - -0.012545914220408742 + - 0.09185120393090535 + - - -0.009022663740641137 + - -0.9996385824494785 + - -0.02532382312016265 + - -0.033798350384169125 + - - -0.012320884164713879 + - 0.025434067595389482 + - -0.9996005722382084 + - 0.968709936741975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9711837467199229 + - 0.00830279795987177 + - -0.23818730791771864 + - 0.09996886145642317 + - - 0.01321138398555178 + - -0.9997318304855821 + - 0.019019107422105462 + - -0.08970829349893988 + - - -0.23796552153671102 + - -0.021617831990854916 + - -0.9710329962981569 + - 0.9728675725204392 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9894877089664265 + - 0.008726525004722296 + - 0.14435346052559456 + - 0.012742649456173939 + - - 0.023016560100568767 + - -0.994957371114308 + - -0.09762206526416793 + - -0.09307613730483892 + - - 0.14277363820225825 + - 0.09991835380272492 + - -0.9846989442503955 + - 0.9707722272130741 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969410951428825 + - -0.008261610388365068 + - 0.07771871466449357 + - 0.054438594725038716 + - - -0.005379856965491146 + - -0.999292769214527 + - -0.03721583714756702 + - -0.09335040976332329 + - - 0.07797121234366544 + - 0.03668388187411784 + - -0.9962804739912883 + - 0.9737659396579619 + - - 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: + - - 0.9999190203358919 + - -0.012160685494650198 + - -0.0037510663564240903 + - 0.023941337271797238 + - - -0.012367394937910116 + - -0.9980515641965926 + - -0.06115654296299948 + - -0.03455625525850793 + - - -0.003000052159521176 + - 0.06119798144576054 + - -0.9981211383163895 + - 0.9689462974353997 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999152966796825 + - -0.009777191933571752 + - -0.00859104090763262 + - 0.09185160854165705 + - - -0.009774393021422668 + - -0.9999521618666246 + - 0.0003677218062742893 + - -0.03378552540449591 + - - -0.00859422521494995 + - -0.0002837184487220238 + - -0.9999630287149605 + - 0.968693755783445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.964677777367426 + - 0.012253031919123037 + - -0.2631475803845284 + - 0.09994692340807759 + - - 0.0101113234411011 + - -0.9999038309635611 + - -0.009491573244928102 + - -0.08973726983160016 + - - -0.2632385742852144 + - 0.006495539483626249 + - -0.964708899603971 + - 0.9727441836808141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.992211695056208 + - 0.009533846953051739 + - 0.12419765680544227 + - 0.012926814752108122 + - - 0.02607237121131116 + - -0.9908763298430188 + - -0.13222832682995642 + - -0.09323912197928194 + - - 0.12180387371962449 + - 0.13443661971020385 + - -0.9834076528214476 + - 0.9719258557615269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956269833368122 + - -0.009683884215005836 + - 0.09291465136429938 + - 0.05448451488197812 + - - 0.006243167575693348 + - -0.9854914913868452 + - -0.1696099739483345 + - -0.0934880482045598 + - - 0.09320908169411793 + - 0.16944834844472 + - -0.9811214625616429 + - 0.9749312219034644 + - - 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: + - - 0.9998684874871716 + - -0.013073124865153274 + - -0.009596933696542465 + - 0.02392440893611365 + - - -0.013242616087659281 + - -0.999753596219075 + - -0.017815161132641092 + - -0.034537874480892745 + - - -0.009361669149814504 + - 0.017939906724596128 + - -0.9997952384850823 + - 0.968899024316857 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996462892255336 + - -0.008230290614786726 + - -0.02528949888821528 + - 0.09187448453957205 + - - -0.008672608599202224 + - -0.999810462612582 + - -0.017430568278182276 + - -0.033786382173426055 + - - -0.02514124694015657 + - 0.017643728823904664 + - -0.9995281969686914 + - 0.9685872042662279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9617569358832136 + - 0.009241469766188318 + - -0.27374840915901744 + - 0.09992819681334858 + - - 0.012906840170163235 + - -0.999849513584617 + - 0.011591534041087245 + - -0.0897723479216225 + - - -0.27360009093082194 + - -0.01468146522539392 + - -0.9617314827026724 + - 0.9727211335428667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990042531845811 + - 0.029334338289433378 + - 0.03361545353313861 + - 0.012742279117346248 + - - 0.029364752601893866 + - -0.9995686780373823 + - -0.0004113286147111733 + - -0.0930716953289432 + - - 0.033588888397014356 + - 0.0013980285121540583 + - -0.9994347562960435 + - 0.969593500100648 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9773812211132615 + - -0.00672744395748092 + - 0.21137807386989999 + - 0.05435188583705984 + - - -0.017370048473847242 + - -0.9986705661266198 + - 0.04853227553240378 + - -0.09321266595475247 + - - 0.21077056253463416 + - -0.051106182112694694 + - -0.9761987134383543 + - 0.9722658251333678 + - - 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: + - - 0.9998990375606136 + - -0.012994035996347663 + - 0.005750627260072999 + - 0.023930932838830153 + - - -0.01281126498268908 + - -0.999444895434542 + - -0.030753414109353217 + - -0.03452696735043045 + - - 0.006147046030574206 + - 0.030676636359999804 + - -0.9995104590782103 + - 0.9685490592220198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999468836179425 + - -0.010304377608588893 + - -0.00022303556793901443 + - 0.09182902255473935 + - - -0.01030546786920833 + - -0.9999311265128321 + - -0.005616009506435392 + - -0.033783969742176456 + - - -0.00016515072409395266 + - 0.005618009690207896 + - -0.9999842052214426 + - 0.9683925250747555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9589148021191387 + - 0.012878522206591919 + - -0.2834017394840537 + - 0.09995759403541407 + - - 0.011850880660165845 + - -0.9999155153621985 + - -0.005340296389438982 + - -0.08978261025261605 + - - -0.28344657151638236 + - 0.0017623290620275003 + - -0.9589864103791487 + - 0.9729454581236873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9822208236082366 + - 0.0020971581805597824 + - 0.18771748879079717 + - 0.012920199263738491 + - - 0.028734830530291335 + - -0.98983392953469 + - -0.13929501590620283 + - -0.09330592539731511 + - - 0.18551701589006 + - 0.1422124954758884 + - -0.9722957589878539 + - 0.9723416867345004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942281128598388 + - -0.0044117413751287434 + - 0.1071960640005153 + - 0.05449912794679368 + - - -0.003969052010154653 + - -0.9999826935773923 + - -0.00434271480123766 + - -0.09343339644563843 + - - 0.10721336775469877 + - 0.0038921823882210964 + - -0.9942284167589225 + - 0.9748351300622371 + - - 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: + - - 0.999939645593363 + - -0.010875080535464822 + - -0.0015613436414425768 + - 0.0239123278932786 + - - -0.010929735424699332 + - -0.9991076306990418 + - -0.040798077926456705 + - -0.034550019097139804 + - - -0.0011162679631663208 + - 0.040812680655579525 + - -0.9991661919037994 + - 0.9685945251017825 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999234478715524 + - -0.009388385634645866 + - -0.008059566479783816 + - 0.09185322582789773 + - - -0.00953873235747369 + - -0.9997773245007259 + - -0.018823230306775417 + - -0.03377452381774643 + - - -0.007881052066784239 + - 0.0188986673959991 + - -0.9997903427163993 + - 0.9685000625420404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9626586284442136 + - 0.023047293569871057 + - -0.26973540246139316 + - 0.0999785649167815 + - - 0.007455307036336166 + - -0.9982485824025484 + - -0.05868718879189401 + - -0.08978147011432293 + - - -0.27061556399974396 + - 0.05448476842573191 + - -0.9611444358319376 + - 0.973144821104996 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9916733005971388 + - -0.002567371756512147 + - 0.1287535377573787 + - 0.012943502965072195 + - - 0.03405692522533969 + - -0.958976556852974 + - -0.28143221075529296 + - -0.0934090843652757 + - - 0.12419416543047623 + - 0.283473758941952 + - -0.9509040105417312 + - 0.9731577287984545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9938822026325083 + - -0.007249324436718646 + - 0.11020714398606404 + - 0.05441628848322598 + - - -0.007788691405403712 + - -0.9999597018693522 + - 0.004464406292883852 + - -0.0933238444962565 + - - 0.11017033891454292 + - -0.005295463394996181 + - -0.9938986137885932 + - 0.9738053501327663 + - - 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: + - - 0.9998320516556024 + - -0.013209297874043046 + - 0.01270365820634652 + - 0.023917997356061118 + - - -0.012483641119785208 + - -0.9983752204643468 + - -0.05559746277627467 + - -0.03454546444752454 + - - 0.013417421009317747 + - 0.05542953736449224 + - -0.9983724451330861 + - 0.9688830333991959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999457066609935 + - -0.010165084296571057 + - -0.002292333197852443 + - 0.09184636978007334 + - - -0.010100260951724276 + - -0.9995922164239573 + - 0.026709279161869073 + - -0.03373681042789745 + - - -0.00256290049620459 + - -0.026684675862434306 + - -0.9996406152288744 + - 0.9683367163382122 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9773780950390285 + - 0.005613884754259587 + - -0.2114250307694092 + - 0.09991742376806573 + - - 0.009315213445481994 + - -0.9998202304365571 + - 0.016514648293404616 + - -0.0897220854584845 + - - -0.2112943116516506 + - -0.01811052477858199 + - -0.9772546867403089 + - 0.972794986722248 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971164308057407 + - 0.014721291428929523 + - 0.0744453289057475 + - 0.012711595046457545 + - - 0.017197339231111303 + - -0.9993162974818265 + - -0.03272902550618378 + - -0.0929171757990797 + - - 0.07391261692424696 + - 0.03391491067183982 + - -0.9966878668337101 + - 0.969864584999973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959357951776089 + - -0.003479928899822222 + - 0.08999878876293872 + - 0.054289702909050094 + - - -0.01564098625975456 + - -0.9907526490822249 + - 0.13477591730488953 + - -0.09316465558675469 + - - 0.08869752777144384 + - -0.13563583019027248 + - -0.9867804569081353 + - 0.9720370891046262 + - - 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: + - - 0.9999182331155824 + - -0.012726049373261812 + - -0.0012548905773835705 + - 0.02390945025836157 + - - -0.012773654826740146 + - -0.9986031922421885 + - -0.05126888126415996 + - -0.03453468734672836 + - - -0.0006006874222102791 + - 0.051280718706552236 + - -0.9986840977323915 + - 0.9688071395971485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994773020743506 + - -0.008037242664329824 + - -0.03131334170177149 + - 0.09182397662945113 + - - -0.008809159880616858 + - -0.9996587597672641 + - -0.024591923933959786 + - -0.03378617469716956 + - - -0.031105005069521456 + - 0.024854914019779073 + - -0.999207041562806 + - 0.9683403392874126 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.969671541229988 + - 0.008742119324046456 + - -0.24425535301889267 + - 0.09992921766148602 + - - 0.011707730735843736 + - -0.9998742947941037 + - 0.010692223857187863 + - -0.08973028571929141 + - - -0.244131176152651 + - -0.013227621090709053 + - -0.9696519988483524 + - 0.9725376571733904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991617273780163 + - 0.017583782886572245 + - 0.03696827183378056 + - 0.012716904626242946 + - - 0.02089615016685449 + - -0.9956120945328744 + - -0.0912135304001961 + - -0.09294982144245115 + - - 0.03520217963681612 + - 0.09190956315455491 + - -0.9951449335396109 + - 0.9697462543365485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99234389402786 + - -0.006004363666329436 + - 0.12335940824511805 + - 0.05434317065433009 + - - -0.009412702461035153 + - -0.9995893552664578 + - 0.027065141240492228 + - -0.09323320798171172 + - - 0.1231462424031008 + - -0.028019073056584746 + - -0.9919929105225738 + - 0.9725572085518407 + - - 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: + - - 0.9999203446563351 + - -0.012603545189075735 + - 0.0006745302239715713 + - 0.023914711604599438 + - - -0.012534111188685575 + - -0.9978524858187467 + - -0.06429084384310993 + - -0.03451749549628143 + - - 0.0014833742163703548 + - 0.0642772680970217 + - -0.9979309757728335 + - 0.9686608481935537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998704657583741 + - -0.008822229394640438 + - -0.013461796783501529 + - 0.09186981887442074 + - - -0.0092565017526698 + - -0.9994273796903334 + - -0.03254581233610575 + - -0.033860303522358824 + - - -0.013166961662994647 + - 0.03266620568450726 + - -0.999379582604499 + - 0.9689214348167308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9675558280929027 + - 0.01354313432923562 + - -0.25229408046166585 + - 0.09994647877410051 + - - 0.009825371011744754 + - -0.9998238772734903 + - -0.015989888001024005 + - -0.08972442625514734 + - - -0.2524661989414401 + - 0.012992226381340698 + - -0.9675184858418553 + - 0.9727140557348354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9825270962880713 + - -0.011672727448182511 + - 0.18575320318544025 + - 0.012867151663164949 + - - 0.023577485190415776 + - -0.98218496392268 + - -0.18643175383045577 + - -0.09316848104760322 + - - 0.18462017021936344 + - 0.18755384314410725 + - -0.9647481270622136 + - 0.9722996725938889 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997597505101399 + - -0.006563270700570337 + - -0.02091326702392318 + - 0.0544414323758082 + - - -0.0029868244019171653 + - -0.9860103761399875 + - 0.16665718413639743 + - -0.09335014655145918 + - - -0.021714514498256458 + - -0.16655468057665626 + - -0.985793090987208 + - 0.9742701193222629 + - - 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: + - - 0.9997049435794193 + - -0.011894385574515064 + - -0.02117898426919534 + - 0.02392763226005026 + - - -0.012674366812550117 + - -0.9992318134836994 + - -0.037082925288846956 + - -0.03455006039241831 + - - -0.02072163624743432 + - 0.037340413948991576 + - -0.9990877375272638 + - 0.9691272264434869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999711629967915 + - -0.009761520982448884 + - -0.021940137078054745 + - 0.0918448225600895 + - - -0.009681697427993985 + - -0.9999461314024969 + - 0.0037415275080542815 + - -0.03378696252006068 + - - -0.0219754781929176 + - -0.003528030794928299 + - -0.9997522849970901 + - 0.9684585465394921 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9845419805526429 + - 0.014462089824549216 + - -0.1745506702576246 + - 0.0998519268978135 + - - 0.007573283535313816 + - -0.9991682661037035 + - -0.040067710039519464 + - -0.08964598349691878 + - - -0.1749849533702057 + - 0.03812642088137745 + - -0.9838326291218449 + - 0.9718781683646033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9931293693237422 + - 0.020564829661633435 + - 0.11520044951133651 + - 0.012797911983713977 + - - 0.03246772238568008 + - -0.9942112096321923 + - -0.10242029898794056 + - -0.09321739989706634 + - - 0.11242732225625762 + - 0.10545690315328216 + - -0.9880480447769767 + - 0.9710015302515284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9880884147044813 + - -0.0068994403053332844 + - 0.15373250290767448 + - 0.05428610874436681 + - - -0.015183390365173544 + - -0.998490900321645 + - 0.05277676223386925 + - -0.09309779523940505 + - - 0.1531363751164424 + - -0.05448228793236161 + - -0.9867020476911216 + - 0.9714438305714346 + - - 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: + - - 0.9996642430869067 + - -0.010587408532272673 + - -0.023649690781332503 + - 0.02392749174590067 + - - -0.012129854771912366 + - -0.9977419734724269 + - -0.06605922338749955 + - -0.03457918981948191 + - - -0.022896893166851232 + - 0.06632391086115182 + - -0.9975353984352575 + - 0.9693724048160073 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999313067908213 + - -0.00942366676928155 + - -0.006969663135467776 + - 0.09185952014723868 + - - -0.009414056975548394 + - -0.9999546922268839 + - 0.0014103278696883373 + - -0.033769094688043 + - - -0.006982637815431109 + - -0.0013446181838833015 + - -0.9999747170659262 + - 0.9684285491725283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9815219821901788 + - 0.013360201098356965 + - -0.19088243372315264 + - 0.09988119823014303 + - - 0.004672608378656863 + - -0.9989355426495566 + - -0.045890613009374075 + - -0.08966560529467454 + - - -0.19129235533183755 + - 0.04415072658573003 + - -0.9805396208892075 + - 0.9719223011260334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990478380866388 + - 0.019119126881920342 + - 0.039215764708676555 + - 0.01285793480015275 + - - 0.022950897426042567 + - -0.9947516681811552 + - -0.0997114585097826 + - -0.09303734237438854 + - - 0.03710355133612581 + - 0.10051655404997654 + - -0.994243304649403 + - 0.9696884717778987 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912182922868329 + - -0.0067694846540928165 + - 0.13206237584373748 + - 0.05429042311953935 + - - -0.010341467251255518 + - -0.9995984783422115 + - 0.026380601794260262 + - -0.09311469470834925 + - - 0.1318307668606452 + - -0.02751465379491663 + - -0.9908903030787418 + - 0.9713269433616156 + - - 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: + - - 0.9999074968788132 + - -0.012938297487620067 + - 0.004195014143980167 + - 0.023909916264445837 + - - -0.012783325406962084 + - -0.9993029567899256 + - -0.03507402375621262 + - -0.03453704654677865 + - - 0.004645888191300672 + - 0.03501715306865328 + - -0.9993759126144076 + - 0.9687290025355796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998482457397064 + - -0.007352977274822227 + - -0.01579301163260074 + - 0.0918767120293103 + - - -0.007894453035056533 + - -0.999373461239976 + - -0.03450163156297701 + - -0.03381441465840682 + - - -0.015529426985848546 + - 0.03462107298201592 + - -0.9992798497933725 + - 0.9688179285828298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9689827147406169 + - 0.014868923470339194 + - -0.24668079302762388 + - 0.10002799472297497 + - - 0.010889690116234127 + - -0.9997877773367164 + - -0.01748756521876624 + - -0.08981380575321349 + - - -0.2468884630416671 + - 0.014258871026185992 + - -0.9689389926171729 + - 0.9736890246943446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9925526906026949 + - 0.0025022509982458585 + - 0.12179037366431175 + - 0.012914871588161958 + - - 0.03020726687801726 + - -0.9736179478695984 + - -0.22617606551965724 + - -0.09330533656311286 + - - 0.11801134439159292 + - 0.22817061670191852 + - -0.9664426999407442 + - 0.9720812893059938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957679635474508 + - -0.008129155141309574 + - 0.09154277475175866 + - 0.05451396322003822 + - - -0.004351751564979126 + - -0.9991336701265868 + - -0.0413880596029078 + - -0.09350755412169719 + - - 0.09179991846880588 + - 0.040814532412679516 + - -0.99494067607725 + - 0.9753240388779474 + - - 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: + - - 0.99982997516231 + - -0.01175326864173132 + - -0.014208498976668444 + - 0.023920917832365687 + - - -0.012653647670127723 + - -0.9978027399645519 + - -0.06503520062146197 + - -0.034543397228910734 + - - -0.013412903025630366 + - 0.0652039323620043 + - -0.9977818104360076 + - 0.9689176937681038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9729095405325736 + - 0.003416019058807798 + - -0.23116088932707976 + - 0.0999480901561416 + - - 0.009076029302273709 + - -0.9996843702794991 + - 0.023426171496537286 + - -0.08973395671317438 + - - -0.23100790383188372 + - -0.02488956875220559 + - -0.9726334652552975 + - 0.9728825567367586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.990422959915446 + - 0.01493358286845541 + - 0.13725650649436538 + - 0.012719441441012549 + - - 0.013614131219260058 + - -0.9998516989824734 + - 0.010546822886850165 + - -0.09293892991780561 + - - 0.13739365306836981 + - -0.0085771874511866 + - -0.9904793869394537 + - 0.9695976741441565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992443361528318 + - -0.005408250961411002 + - 0.0384903557794007 + - 0.05442975084254614 + - - -0.012165242788645322 + - -0.9840357670064634 + - 0.1775545440699694 + - -0.09325021468415975 + - - 0.03691562723806492 + - -0.17788861704319303 + - -0.9833579594390238 + - 0.9734661520624435 + - - 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: + - - 0.9998976833579081 + - -0.013730708578719624 + - -0.00401129124034868 + - 0.023914409169235058 + - - -0.013828753252844867 + - -0.9995783314868775 + - -0.025532818202871635 + - -0.034528595835257726 + - - -0.003659016119198605 + - 0.02558567692743805 + - -0.9996659365694137 + - 0.9687269492398554 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998741344424166 + - -0.010053600992963936 + - -0.012273564278666464 + - 0.09184770209474766 + - - -0.009832612904741286 + - -0.9997908114196399 + - 0.01793469052765676 + - -0.03376555971554416 + - - -0.012451305011676407 + - -0.017811751961319823 + - -0.9997638253585562 + - 0.9685113136286746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.991429791064975 + - 0.010550530287836006 + - 0.13021388443443957 + - 0.012895448708990011 + - - 0.02149269607057608 + - -0.9963247915749734 + - -0.0829154612162466 + - -0.09310584331342278 + - - 0.12886051918441885 + - 0.08500350583199792 + - -0.9880128392848905 + - 0.9703594715606663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9796436534140271 + - -0.005572077630388202 + - 0.20066704830763435 + - 0.054295395360601656 + - - -0.024631987913485406 + - -0.9953975679235892 + - 0.09261180779594953 + - -0.09310919617446504 + - - 0.19922745166529496 + - -0.09566939804705012 + - -0.9752721613889469 + - 0.9715957513376104 + - - 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: + - - 0.9997042777927615 + - -0.01206552091799655 + - -0.021113506762983358 + - 0.023918121834875503 + - - -0.013419479829982282 + - -0.997781492155063 + - -0.0652074495277121 + - -0.03452495637480221 + - - -0.02027990443630973 + - 0.06547149851495543 + - -0.9976483390244585 + - 0.9689112061826534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998816890156672 + - -0.008698738526165338 + - -0.012686209805534995 + - 0.0918813844563446 + - - -0.008688906213768336 + - -0.999961906319119 + - 0.0008299514698116622 + - -0.033750861549916265 + - - -0.012692946071932368 + - -0.0007196239902278385 + - -0.999919182364919 + - 0.9684814573789069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9681234875217332 + - 0.009062542812704919 + - -0.25030937502723394 + - 0.09999513697087832 + - - 0.007502496038839192 + - -0.999946035868143 + - -0.007185951904577763 + - -0.08976713897330683 + - - -0.2503609902959001 + - 0.005078943724397128 + - -0.9681392352697529 + - 0.973076582544369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9772532699505356 + - -0.0035965866689020905 + - 0.21204506817023275 + - 0.012957351330750808 + - - 0.025962778187294193 + - -0.9903064366132865 + - -0.1364518074306562 + - -0.09334573065494871 + - - 0.21048035661263723 + - 0.13885325407288301 + - -0.967686826051481 + - 0.9726245692668444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980705491402584 + - -0.004288233432584582 + - -0.06194182749072435 + - 0.0543758987763293 + - - 0.0018469836006300912 + - -0.9951202118671995 + - 0.09865268665860032 + - -0.0932694623086384 + - - -0.06206261024515481 + - -0.09857674668707948 + - -0.9931922560220404 + - 0.9734744443053499 + - - 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: + - - 0.9998406217173662 + - -0.012799526944468096 + - -0.012446014375231166 + - 0.023934851592545277 + - - -0.013018158664295017 + - -0.9997595264983219 + - -0.017647003168919387 + - -0.03451502493317187 + - - -0.01221714814602271 + - 0.01780621480973555 + - -0.9997668128145328 + - 0.9689899428807709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999180730398063 + - -0.01055981487442144 + - -0.007234467373522501 + - 0.09184571023546903 + - - -0.010475133192657157 + - -0.9998773267077122 + - 0.011644875286343262 + - -0.033778621535631145 + - - -0.007356547624851354 + - -0.011568139247793636 + - -0.9999060252650679 + - 0.9684415324023037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9771072080114664 + - 0.022874334671970226 + - -0.21151422851749577 + - 0.09992176104938298 + - - 0.0036144292073979935 + - -0.9958444200393228 + - -0.09099904932497585 + - -0.0896713451578179 + - - -0.21271680693716102 + - 0.08815132381229099 + - -0.973129438541759 + - 0.9725179133390108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9905071193796559 + - 0.004792909746057287 + - 0.13737785292536195 + - 0.012728776986519112 + - - 0.028791622490712095 + - -0.984458002695095 + - -0.1732439996188537 + - -0.0930979872067799 + - - 0.13441238385122314 + - 0.17555474629229254 + - -0.9752506560478085 + - 0.970866364718536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976159988743407 + - -0.00572713926743575 + - 0.06877149602679085 + - 0.05434172482850062 + - - -0.011004494055254357 + - -0.9970007263776975 + - 0.07660582688629183 + - -0.09323667314039155 + - - 0.0681264992535165 + - -0.07717999402796061 + - -0.994686899793752 + - 0.97259595486736 + - - 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: + - - 0.9998548918633271 + - -0.012638330499268519 + - -0.011422251055097607 + - 0.02391552154852591 + - - -0.013303636161894259 + - -0.9980988207010518 + - -0.06018103837623218 + - -0.0345197855735522 + - - -0.010639947455056283 + - 0.0603242630900772 + - -0.9981221241916205 + - 0.9688153101089423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999597344512969 + - -0.008577762689570402 + - -0.002636562787625044 + - 0.09184445865235608 + - - -0.008637742536684838 + - -0.9996830159745926 + - -0.023648614670064055 + - -0.03377059104840544 + - - -0.00243287483476248 + - 0.023670436396159605 + - -0.9997168556950786 + - 0.9685360543043463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9674542913120382 + - 0.01806045793862301 + - -0.2524005033294688 + - 0.09997484016873884 + - - 0.006848597255528631 + - -0.9989531648246609 + - -0.045229096856195736 + - -0.08981561357797413 + - - -0.2529531398056832 + - 0.04202849445129814 + - -0.9665652149320321 + - 0.9732985855006967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9889028623349049 + - 0.00966766608184346 + - 0.148248659684876 + - 0.012810265522521512 + - - 0.040123660664786995 + - -0.9781778586954891 + - -0.20385820712633945 + - -0.09338934519477397 + - - 0.14304272341048752 + - 0.20754424345290445 + - -0.9677107864898857 + - 0.9725009987174691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992020018523928 + - -0.001120707490116231 + - 0.039926225828299536 + - 0.05441820276235665 + - - -0.001129138774352411 + - -0.999999344733454 + - 0.00018862208465102344 + - -0.0933598239301575 + - - 0.03992598827579637 + - -0.0002335538142731578 + - -0.9992026125430301 + - 0.9740709321157799 + - - 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: + - - 0.9997731186007556 + - -0.011187331327412066 + - -0.01812608454935173 + - 0.023900278624865472 + - - -0.0122629586314005 + - -0.9981013582271006 + - -0.06035974279949405 + - -0.03455106430253779 + - - -0.017416405166511918 + - 0.06056832772156763 + - -0.998012097375622 + - 0.9686899047249864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999244799117077 + - -0.010677851277750039 + - -0.006084239097125538 + - 0.09182376766765202 + - - -0.010623229122989969 + - -0.9999036040825825 + - 0.008940332525249286 + - -0.033793499430354375 + - - -0.006179116142394228 + - -0.008875023084579799 + - -0.9999415245347832 + - 0.9684641822631643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9656615820931114 + - 0.02016759138575864 + - -0.2590192601470517 + - 0.10002609146566332 + - - 0.0070627765039952065 + - -0.9986518675926417 + - -0.05142532976834577 + - -0.08984272380483652 + - - -0.25970719292596345 + - 0.047830070159111934 + - -0.9645021816103323 + - 0.9733249847731269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995707539515855 + - 0.011836384542006402 + - 0.09179540158556962 + - 0.012895317922774716 + - - 0.026483224844096792 + - -0.9867570171409351 + - -0.1600288346673211 + - -0.09318812050765928 + - - 0.08868559383089938 + - 0.1617729554780326 + - -0.9828348672705719 + - 0.9711294813846948 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922143248216041 + - -0.008652341348820966 + - 0.12424117919591621 + - 0.054479881091297214 + - - -0.003994213584346237 + - -0.9992813883619222 + - -0.03769287905309604 + - -0.09340507353611448 + - - 0.12447802969460475 + - 0.03690316873457054 + - -0.9915358673596717 + - 0.9743007991444425 + - - 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: + - - 0.999910346856784 + - -0.01239900735607167 + - -0.005055973232713008 + - 0.02392015368416683 + - - -0.012565015823093913 + - -0.9993345381053353 + - -0.03424326688798064 + - -0.03453208173774293 + - - -0.004628026157146195 + - 0.03430372525514033 + - -0.9994007383464896 + - 0.9689822842687772 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998307914742386 + - -0.00951822792327226 + - -0.015741402643924655 + - 0.09186966065118224 + - - -0.009691148449444591 + - -0.9998931328721588 + - -0.01094552314097998 + - -0.03380510657286059 + - - -0.015635538421440612 + - 0.011096223334970363 + - -0.9998161849890066 + - 0.9688139303785056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9986704112648016 + - 0.007997273135972123 + - 0.050925958867563195 + - 0.01288465151568647 + - - 0.017249431471411808 + - -0.9827877471727733 + - -0.18393124019855422 + - -0.09308431285228001 + - - 0.04857846002195981 + - 0.1845651311311371 + - -0.9816189920699584 + - 0.9713298867802822 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9917966884660556 + - -0.008214765089877363 + - 0.12756114762059786 + - 0.05448056094589583 + - - -0.004377904332269202 + - -0.9995303554670492 + - -0.030329893728338494 + - -0.0934327748089098 + - - 0.12775039217718012 + - 0.02952263766049606 + - -0.9913668600291943 + - 0.974865491581876 + - - 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: + - - 0.99985932463923 + - -0.014191026790245385 + - 0.008941235408010449 + - 0.02395770072459803 + - - -0.013607292026610374 + - -0.9979664379846055 + - -0.06227222703599062 + - -0.03454131292843092 + - - 0.00980675969347 + - 0.062141800866710915 + - -0.9980191501415979 + - 0.9687704435588489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9770763402998713 + - 0.008395612579851192 + - -0.21272362096302072 + - 0.09996191940562885 + - - 0.007982921857389875 + - -0.9999642189717174 + - -0.0027988810090120203 + - -0.08972746572672621 + - - -0.21273950781373135 + - 0.0010365643698514596 + - -0.9771084010228748 + - 0.9728019836940617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9927180693232666 + - 0.01964323208916215 + - 0.11884855183037463 + - 0.012766095614558172 + - - 0.028723709189167636 + - -0.9967561984200707 + - -0.07517998032445103 + - -0.09320163811267276 + - - 0.11698625290820311 + - 0.0780462961597796 + - -0.9900621153676359 + - 0.9707172617482157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962241122885664 + - -0.005370097998800401 + - 0.08665264071187398 + - 0.05432668443756976 + - - -0.006302241795607013 + - -0.9999251467087298 + - 0.010487265033126969 + - -0.09320127970288794 + - - 0.08658983683555216 + - -0.01099377219195593 + - -0.9961833852909734 + - 0.9723747811018691 + - - 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: + - - 0.9998841237697537 + - -0.01180020189337858 + - -0.00961739405802334 + - 0.023907089456514145 + - - -0.012241722994829868 + - -0.9988094064480064 + - -0.04722192085355318 + - -0.03454211469436714 + - - -0.009048715450805803 + - 0.04733418242937013 + - -0.9988381229821145 + - 0.9686258560716778 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998733601889791 + - -0.010866059082557765 + - -0.011627224278152923 + - 0.09183302802703172 + - - -0.01066976013854449 + - -0.9998017098344522 + - 0.01681360254947972 + - -0.03375643493916769 + - - -0.011807616312619236 + - -0.01668741358390532 + - -0.9997910333789225 + - 0.9684799095978602 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9705883040714257 + - 0.005009068719286738 + - -0.24069327624659384 + - 0.09988491307051849 + - - 0.011813239116340699 + - -0.9995700868920854 + - 0.026834469849985602 + - -0.08968067605216898 + - - -0.24045538334862424 + - -0.02888858980834979 + - -0.970230208763648 + - 0.9722013306098157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9924348252831964 + - 0.0036338377652268376 + - 0.12271883632192487 + - 0.012756692203428817 + - - 0.02737894352110062 + - -0.9809407508792504 + - -0.1923684920045917 + - -0.09314627683276853 + - - 0.11968087155757079 + - 0.1942731028412021 + - -0.9736192533509553 + - 0.9716584339499901 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997844202795721 + - -0.004320644928692154 + - 0.06548495227433743 + - 0.05428375367298867 + - - -0.012303770356656137 + - -0.9924537585208351 + - 0.12200063291999225 + - -0.09308620479300588 + - - 0.0644636655953007 + - -0.12254333611122309 + - -0.9903673897058348 + - 0.9714718872857618 + - - 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: + - - 0.9997301552931774 + - -0.01101314429821592 + - -0.020453049898388573 + - 0.023919269830334444 + - - -0.012423708116230062 + - -0.9974576088921056 + - -0.07017100497988274 + - -0.03454086117298826 + - - -0.01962824684280331 + - 0.07040617242764077 + - -0.9973252743262692 + - 0.9687806762887832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999396245344995 + - -0.01025390374085663 + - 0.003950284024910148 + - 0.09188697192390387 + - - -0.010226582367362453 + - -0.9999240692966995 + - -0.006875511196460285 + - -0.03381136154957565 + - - 0.0040204849070435865 + - 0.006834698179316024 + - -0.9999685608067433 + - 0.9687018633381359 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9691852596560308 + - 0.011325823697294343 + - -0.24607246530859553 + - 0.09993948033580236 + - - 0.009591842614104805 + - -0.9999200125101068 + - -0.008244097103716078 + - -0.08974128418032948 + - - -0.24614615378010354 + - 0.005629769033189786 + - -0.969216372478249 + - 0.9727196406681582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9909530363568751 + - -0.002465452450180863 + - 0.13418644223357915 + - 0.012848875121650945 + - - 0.01988700187429184 + - -0.9860961752725033 + - -0.16498133309375426 + - -0.0931172907911018 + - - 0.13272749109186718 + - 0.16615731899966454 + - -0.9771259685686907 + - 0.9718129104728661 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955657993436643 + - -0.0068401197348633 + - 0.09381871849062698 + - 0.054430918046950647 + - - -0.008961639232480435 + - -0.9997131541920676 + - 0.0222103209705482 + - -0.09339134846611313 + - - 0.09363988572973403 + - -0.022952605459089805 + - -0.9953415241529725 + - 0.9742359471437214 + - - 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: + - - 0.9998360572065693 + - -0.011897899387046246 + - -0.013649128169875109 + - 0.023918614708065455 + - - -0.012692099602058013 + - -0.9981382231300219 + - -0.05965733931825794 + - -0.03453540766817118 + - - -0.01291391951784556 + - 0.05982079502161476 + - -0.9981255948855676 + - 0.9687709581487732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998333395461391 + - -0.00811853405335996 + - -0.01635183588590133 + - 0.09188193701776952 + - - -0.008098294656638338 + - -0.9999663585841932 + - 0.0013035810384534009 + - -0.03376048848725354 + - - -0.01636186895404308 + - -0.0011709417978648662 + - -0.99986545001797 + - 0.9685256858715265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9771236348166471 + - 0.0017138426489671345 + - -0.21266514765254385 + - 0.09983940355877052 + - - 0.0134634615854477 + - -0.99846023403293 + - 0.05381353228551327 + - -0.08960493340274087 + - - -0.21224546516908405 + - -0.0554456833151273 + - -0.9756421673528045 + - 0.9718949432626851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9927412478368411 + - 0.01705938300665943 + - 0.11905373700469746 + - 0.012756766749869319 + - - 0.03165861903464157 + - -0.9920451094148689 + - -0.12183691036323621 + - -0.09318938990332246 + - - 0.1160282150348397 + - 0.1247216033310666 + - -0.9853841763385264 + - 0.9706938392027895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934127449453396 + - -0.008749907817375686 + - 0.11425654157794626 + - 0.054315549976121306 + - - 0.00018172637442822551 + - -0.9969589426184035 + - -0.07792838833647739 + - -0.09320987305859968 + - - 0.11459094709308573 + - 0.07743581759356205 + - -0.9903901296953274 + - 0.9723148824709226 + - - 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: + - - 0.9998922480015989 + - -0.01367479822429005 + - -0.005337816017240449 + - 0.023922819650526582 + - - -0.013875052394654211 + - -0.9991240148196149 + - -0.039480196703913284 + - -0.03450107680124529 + - - -0.004793256445732429 + - 0.03955000511073341 + - -0.999206095752216 + - 0.9688683896272431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998356033715169 + - -0.008285680721086326 + - -0.016128041595402782 + - 0.09184209358302228 + - - -0.008446171894262236 + - -0.9999152381517409 + - -0.009908516149317483 + - -0.03377477699876895 + - - -0.016044575751555375 + - 0.010043107434301849 + - -0.9998208377414511 + - 0.9685944881537233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9541695124189996 + - 0.0098086048497358 + - -0.29910588901088236 + - 0.09996188801754885 + - - 0.014198804970159818 + - -0.999820955838081 + - 0.012508005614268819 + - -0.08970102846198563 + - - -0.2989296497631306 + - -0.016181703801792777 + - -0.9541379444056106 + - 0.9730367103614608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997650221398215 + - 0.012466253891717492 + - 0.06736934212236018 + - 0.012737702603400836 + - - 0.024701369925711533 + - -0.9826220637693703 + - -0.18396663316323847 + - -0.09314468619513491 + - - 0.06390522723444092 + - 0.18519846734660533 + - -0.9806210530192505 + - 0.9714210064393026 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898598782459876 + - -0.006484799828886206 + - 0.14189915013846205 + - 0.054397111811429616 + - - -0.014932234601716898 + - -0.9981729287440563 + - 0.0585476958753529 + - -0.09329461738024597 + - - 0.141260220191807 + - -0.06007288651041169 + - -0.9881481662674225 + - 0.973530833840031 + - - 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: + - - 0.9999194188071033 + - -0.01268620883982466 + - 0.00046475556685031703 + - 0.023930202896645145 + - - -0.012642393353385262 + - -0.9984509269188864 + - -0.05418409752976958 + - -0.034527947997805404 + - - 0.0011514264035724956 + - 0.054173855687865306 + - -0.9985308545944628 + - 0.9690559952936931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999950988281408 + - -0.009898656779886736 + - 0.00019398193043674745 + - 0.09187862086882909 + - - -0.009897557410774313 + - -0.9999383946600213 + - -0.0050244643536147895 + - -0.03381981369522111 + - - 0.00024370542825318136 + - 0.005022298148688665 + - -0.9999873584845814 + - 0.9687758030250657 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9886318463214654 + - 0.0059312535712932254 + - 0.15023945111083048 + - 0.012843487507306472 + - - 0.04242532983393785 + - -0.9696234504864417 + - -0.24089511339013892 + - -0.09345609882870065 + - - 0.14424688498367022 + - 0.24453053898815852 + - -0.9588522574800916 + - 0.973274310417711 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9909315425839231 + - -0.014302541562831844 + - 0.13360432334730016 + - 0.054575474317403914 + - - 0.005150408498809574 + - -0.9895450098470935 + - -0.14413239323278795 + - -0.09361336852355143 + - - 0.13426895100708075 + - 0.14351345160492482 + - -0.9804976991323839 + - 0.9764201062775443 + - - 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: + - - 0.999866465321347 + - -0.012299220949818933 + - -0.010760143578185508 + - 0.023882181277580915 + - - -0.012762789037736663 + - -0.9989442554548261 + - -0.044130326418245575 + - -0.03451315761738969 + - - -0.010206014980091918 + - 0.0442617629317926 + - -0.9989678341169927 + - 0.9690138626142061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998003657889813 + - -0.010348163062294878 + - -0.01709222306942865 + - 0.09182746076202271 + - - -0.010200840217069306 + - -0.9999102605712284 + - 0.008684104055339275 + - -0.03378884557093013 + - - -0.017180553747908552 + - -0.008508015374592037 + - -0.9998162042332086 + - 0.968422591377993 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9634539552836314 + - 0.020502470316443106 + - -0.26708823403371745 + - 0.10003126000996451 + - - 0.007570209201914164 + - -0.9987523873023983 + - -0.04935950557287035 + - -0.08984129888579381 + - - -0.2677670031593992 + - 0.04553369706802133 + - -0.9624071458849165 + - 0.9736225185028451 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977241174502814 + - 0.023687896092629755 + - 0.06313057133245255 + - 0.012752058575034971 + - - 0.02752405707755388 + - -0.9977822468228351 + - -0.060605397508526 + - -0.0931163575807732 + - - 0.06155494894846928 + - 0.06220507619061059 + - -0.9961633986229728 + - 0.9698509263222879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9822272866288801 + - -0.008512789402361842 + - 0.1875022395019824 + - 0.05440866585678252 + - - -0.01786277792008328 + - -0.998676375839455 + - 0.048232950408930005 + - -0.09326546650541491 + - - 0.1868434600585354 + - -0.050725030870010825 + - -0.9810792489277265 + - 0.9733593653023588 + - - 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: + - - 0.9998595887713619 + - -0.012920124356726763 + - -0.01067113529900242 + - 0.023928068030171314 + - - -0.013519211609311651 + - -0.9982180283285295 + - -0.058120554344967844 + - -0.03451956344685455 + - - -0.009901194848378285 + - 0.058256658902741947 + - -0.9982525372039205 + - 0.9690472945525203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.965368402850271 + - 0.02237225289501419 + - -0.25992946943107154 + - 0.09998677188217628 + - - 0.005608642479887604 + - -0.9978658204255656 + - -0.06505649510960329 + - -0.08983321361784868 + - - -0.26083019362767346 + - 0.061345633314968444 + - -0.9634336112910613 + - 0.9735305381708521 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9924114410398975 + - 0.01298492622260258 + - 0.1222739685464881 + - 0.012787528126288226 + - - 0.035091437400988884 + - -0.9829623128501089 + - -0.1804263909119102 + - -0.0933325188589204 + - - 0.11784787954921579 + - 0.18334798391953627 + - -0.975958705109184 + - 0.971865059136381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957891194571825 + - -0.003094604315302432 + - 0.09162124750744696 + - 0.05443363929842736 + - - -0.00697295029876391 + - -0.9990915782761546 + - 0.042040411294291015 + - -0.09333295628638422 + - - 0.09140791833763698 + - -0.04250225454954001 + - -0.9949061015107836 + - 0.9740365047161283 + - - 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: + - - 0.9993892301152134 + - -0.010364591123046041 + - -0.03337277304290332 + - 0.02393260653164329 + - - -0.013189236822155476 + - -0.9962453814542341 + - -0.08556391741357666 + - -0.034595071634343035 + - - -0.03236063599143498 + - 0.08595181895667098 + - -0.9957736058242709 + - 0.9694513781823045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999869116828583 + - -0.00818588936383118 + - -0.01395494277138238 + - 0.09186726830796348 + - - -0.008370155633932412 + - -0.9998778756958624 + - -0.013197506908203888 + - -0.033767705297364586 + - - -0.013845205202278197 + - 0.013312584619504034 + - -0.999815525676439 + - 0.9684650593595645 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9716802487787378 + - 0.018853584489940324 + - -0.23554625126537443 + - 0.09989843620004799 + - - 0.007271308964667174 + - -0.9987255403585618 + - -0.04994419987785189 + - -0.0897180242215885 + - - -0.23618768426662423 + - 0.046817062993946466 + - -0.9705789717552044 + - 0.9724174524027414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997349798752434 + - 0.022874290475213662 + - 0.0025955440859868396 + - 0.012898461962458595 + - - 0.02302018194972195 + - -0.9943163512302718 + - -0.10394741410501672 + - -0.09306767873885081 + - - 0.0002030685806502716 + - 0.10397961584548042 + - -0.9945794077155314 + - 0.9700508885149204 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902736456363466 + - -0.009139531929510029 + - 0.1388329057327874 + - 0.05445840840558003 + - - -0.009519613669491516 + - -0.99995253683826 + - 0.0020738915863599376 + - -0.09336371499686383 + - - 0.13880736188575588 + - -0.0033753558090682707 + - -0.9903136489312259 + - 0.9737619787042383 + - - 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: + - - 0.9996281153582426 + - -0.011620374025108213 + - -0.024669776911124985 + - 0.023910620737739655 + - - -0.013121584133212162 + - -0.9980153246780209 + - -0.0615892501793926 + - -0.034540636072754934 + - - -0.023905125290680236 + - 0.061890052636440436 + - -0.9977966558219644 + - 0.9692777102027398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999447291719793 + - -0.008836587901576829 + - 0.005696781146828942 + - 0.09189171383528033 + - - -0.008734208334388831 + - -0.9998042603464766 + - -0.017752594114812083 + - -0.033799583890464634 + - - 0.005852538419237619 + - 0.01770185604086402 + - -0.999826180936846 + - 0.9687957079077212 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9658117861028249 + - 0.009083405849882271 + - -0.25908509328604296 + - 0.09988765874540105 + - - 0.012279846284640947 + - -0.9998671168962889 + - 0.010721656808906728 + - -0.08968563718751871 + - - -0.2589532760945435 + - -0.013536627632786189 + - -0.9657949888626643 + - 0.9722478948359685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9929456181410112 + - 0.010632803615310594 + - 0.11809294179519494 + - 0.01271388907067845 + - - 0.019894125225457197 + - -0.9967919451807186 + - -0.07752445939414111 + - -0.09303683640648178 + - - 0.11688979081202469 + - 0.0793269280264794 + - -0.9899717244920703 + - 0.9708237221700862 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977304976416789 + - -0.004155654405007569 + - 0.06720554004064068 + - 0.054437314287217514 + - - -0.002031009303015478 + - -0.9994968986319268 + - -0.03165161332967957 + - -0.09340806487590883 + - - 0.0673032620078632 + - 0.03144328484154647 + - -0.9972369782361036 + - 0.973987422835319 + - - 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: + - - 0.9996497432426614 + - -0.011760425722566668 + - -0.023708294365159952 + - 0.023917606739215516 + - - -0.013068009689847511 + - -0.9983578660974984 + - -0.0557745311409694 + - -0.034542079781605145 + - - -0.023013429940518092 + - 0.056064815955043555 + - -0.998161869865955 + - 0.9689676936519395 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996368904810826 + - -0.010625416710484191 + - -0.024762627264498085 + - 0.09180534302606486 + - - -0.010154324490141146 + - -0.9997665271452031 + - 0.019073041030985952 + - -0.03375489419526242 + - - -0.024959504872108747 + - -0.01881466767576077 + - -0.999511396331623 + - 0.9683474116611358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9697808137294187 + - 0.015016708346912464 + - -0.24351523934392755 + - 0.0999687518666004 + - - 0.007929718242174186 + - -0.999516728293575 + - -0.03005710281961694 + - -0.08973400087874356 + - - -0.2438489140654645 + - 0.027217794395083962 + - -0.9694312243668253 + - 0.9729186132304734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986019893488977 + - 0.019439990961467948 + - 0.049154385560621176 + - 0.01291609254671182 + - - 0.024402883192859496 + - -0.9944365561547808 + - -0.10247163058572024 + - -0.09305342882022215 + - - 0.0468888703244151 + - 0.1035278828839782 + - -0.9935207150861337 + - 0.9699073467095889 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9807660996862829 + - -0.01236246466949817 + - 0.19479483353891006 + - 0.05444670979117878 + - - -0.004913932351605777 + - -0.9992397682088813 + - -0.03867478375769324 + - -0.09328599138815222 + - - 0.19512485996151316 + - 0.03697370818779069 + - -0.9800812384327349 + - 0.9731802027499993 + - - 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: + - - 0.9999094722265691 + - -0.012770146415469252 + - -0.004239187671163216 + - 0.023941037868757675 + - - -0.013007843431796885 + - -0.998003254033143 + - -0.0618085831297921 + - -0.034539568845229664 + - - -0.0034414184339779216 + - 0.06185813042588694 + - -0.9980790190858523 + - 0.9691159653259365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999130835713309 + - -0.009492461811003869 + - -0.009149779868347946 + - 0.0918435971335895 + - - -0.00942850940164107 + - -0.9999309968423161 + - 0.007007479175570782 + - -0.03375867405979207 + - - -0.009215666733110424 + - -0.0069206013249952045 + - -0.9999335861765848 + - 0.9684856156694377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9653419450462392 + - 0.02177857249753484 + - -0.2600781092562645 + - 0.09998129291929347 + - - 0.006657360780531867 + - -0.9982428065287434 + - -0.058881056045691924 + - -0.08980677671656513 + - - -0.2609034470484851 + - 0.05510891936508733 + - -0.9637906402972748 + - 0.9732236393259107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9826462879805732 + - 0.00777328929707643 + - 0.18532633027042958 + - 0.012836912886988714 + - - 0.03673684985193936 + - -0.9874858736666373 + - -0.15336900981552556 + - -0.09329838536462882 + - - 0.18181495147802465 + - 0.15751579375523797 + - -0.9706348943535368 + - 0.9716816694817937 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899049980273984 + - -0.009399198972765269 + - 0.14142047213556727 + - 0.05446355658796059 + - - -0.01114687579679281 + - -0.9998709223716511 + - 0.01157090124556875 + - -0.09343711864812064 + - - 0.1412934607133227 + - -0.013030489412688924 + - -0.989881995141501 + - 0.974768944416992 + - - 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: + - - 0.9997219921391692 + - -0.012428731646431697 + - -0.020036593097426808 + - 0.02392472308763015 + - - -0.0132188382249209 + - -0.999120408157992 + - -0.03979538061371994 + - -0.034505482806602414 + - - -0.019524362967181144 + - 0.04004917766781803 + - -0.9990069382235827 + - 0.9689647052683409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999472457241979 + - -0.009282488348862483 + - -0.004397860689464161 + - 0.091857451828044 + - - -0.009322608183987745 + - -0.9999142976798895 + - -0.009191641419354536 + - -0.03379962623193476 + - - -0.004312162478217469 + - 0.009232156053023662 + - -0.9999480849271001 + - 0.9686347110513197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9736954604457544 + - 0.003954374505413873 + - -0.22781903614404406 + - 0.09990601548624797 + - - 0.014048280069323585 + - -0.9989890738173608 + - 0.042702180513701914 + - -0.08966122621105493 + - - -0.22741986750155355 + - -0.04477938494220159 + - -0.9727666783714239 + - 0.9721937561148074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959200960982122 + - 0.0034508121032754977 + - 0.09017346662713856 + - 0.012831270006698415 + - - 0.014110607594214175 + - -0.9929315784674572 + - -0.11784638830038965 + - -0.09295255134264577 + - - 0.08912941681089297 + - 0.1186379887639368 + - -0.9889292061017302 + - 0.9704137118547758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.988116860451769 + - -0.007403143918730511 + - 0.15352610055315566 + - 0.05437282642295353 + - - -0.009174034397372995 + - -0.9998992738083623 + - 0.010829558180536597 + - -0.0931633567354353 + - - 0.15343046367594318 + - -0.01210932275680079 + - -0.9880852479004819 + - 0.9722220030389972 + - - 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: + - - 0.9998222610357531 + - -0.01245797068881235 + - -0.014150805760489452 + - 0.023922288204417178 + - - -0.013095858346306586 + - -0.9988593901074113 + - -0.04591750525042906 + - -0.034535244872296 + - - -0.013562626276937707 + - 0.04609466086833051 + - -0.9988450016934085 + - 0.9687153335627975 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999483945298837 + - -0.008084345946987613 + - 0.0061523676513450575 + - 0.09187948999860782 + - - -0.007897794715819428 + - -0.9995257253521245 + - -0.02976489875568937 + - -0.03379124266490132 + - - 0.0063900794779616675 + - 0.02971477258736955 + - -0.9995379928618754 + - 0.9687010784433279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.965789757461207 + - 0.005198120550923082 + - -0.25927422534020045 + - 0.09994778271263377 + - - 0.01187456456770359 + - -0.9996368294229497 + - 0.02419098959446154 + - -0.08975031179335446 + - - -0.2590543168900113 + - -0.02644217850272513 + - -0.9655007364557933 + - 0.9728479474280042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995602734261587 + - 0.008332931379187752 + - 0.0284573723813823 + - 0.012868184617424843 + - - 0.011975882776846691 + - -0.9913958755809356 + - -0.13034874802937185 + - -0.09290527396035855 + - - 0.027126334436081454 + - 0.1306322323767729 + - -0.9910597266786306 + - 0.97022601478657 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875402173938217 + - -0.006487901864984207 + - 0.15723303138702668 + - 0.054347712371094266 + - - -0.012367913071568416 + - -0.9992590405923027 + - 0.0364472841348289 + - -0.09333510599405279 + - - 0.15688006169050775 + - -0.037937803362097254 + - -0.9868887319855473 + - 0.9730930438343861 + - - 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: + - - 0.9999182521875359 + - -0.012583923340293042 + - 0.0022657924858555116 + - 0.023921806325645445 + - - -0.012552480414469656 + - -0.999831499974839 + - -0.01339428585285596 + - -0.03450544035211989 + - - 0.0024339633661349465 + - 0.013364749583486017 + - -0.9999077253881495 + - 0.9687364898769638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999971266103468 + - -0.007545265443399513 + - 0.000732077055926968 + - 0.09187702392195712 + - - -0.007502209246811675 + - -0.9988531313210467 + - -0.04728783042768324 + - -0.03382116201832848 + - - 0.0010880366925002793 + - 0.047280979468798154 + - -0.9988810365386999 + - 0.9688400932194675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9624046345343784 + - 0.007379467003732596 + - -0.2715195442200988 + - 0.1000231408909126 + - - 0.01547340603659781 + - -0.9994970425359757 + - 0.027680962184581697 + - -0.08977265432397558 + - - -0.2711787106916322 + - -0.03084161844940186 + - -0.9620347714293103 + - 0.9733596810786528 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996485518972671 + - 0.020175627671976403 + - 0.017196416421416758 + - 0.012863559952406711 + - - 0.0218632273267925 + - -0.9942970586285822 + - -0.10438083393711094 + - -0.09307911265665753 + - - 0.014992397425161385 + - 0.10472011865248969 + - -0.9943887191480274 + - 0.9700221883950328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933952648212778 + - -0.0064230959059911035 + - 0.11456261026026716 + - 0.05442544727391842 + - - -0.013132420877660369 + - -0.9982356310165893 + - 0.057906515098072854 + - -0.09330651587498698 + - - 0.11398854044400876 + - -0.0590285423155086 + - -0.9917268998265351 + - 0.9735258488075339 + - - 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: + - - 0.9997333892856768 + - -0.011589308817870842 + - -0.019970935593946137 + - 0.02393593350479234 + - - -0.013061341019518393 + - -0.9970807833888247 + - -0.07522840399409769 + - -0.03458221839273139 + - - -0.019040790901256432 + - 0.0754691944958428 + - -0.9969663228835781 + - 0.9692144736345363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999909119035357 + - -0.009883380709760964 + - 0.009169103319422538 + - 0.091863926484376 + - - -0.009785511847858743 + - -0.9998953207427386 + - -0.01065792262363832 + - -0.03377112179774627 + - - 0.009273479811361899 + - 0.010567229652182744 + - -0.9999011632304796 + - 0.968761094535469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9602473170741241 + - 0.02632100910040465 + - -0.2779069889943089 + - 0.10002260645250127 + - - 0.005996321141761671 + - -0.9972599847891901 + - -0.07373307854029465 + - -0.08984263208135257 + - - -0.27908624864853404 + - 0.06913557129438372 + - -0.9577740540425428 + - 0.9735586929497309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9913965352013271 + - 0.0005270352206827381 + - 0.130891681266152 + - 0.01275926971599915 + - - 0.02795915195851446 + - -0.977765181233877 + - -0.20783054681264748 + - -0.09316865570366045 + - - 0.12787179443710198 + - 0.20970210442568174 + - -0.969367748373586 + - 0.9713657584049268 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993214580412116 + - -0.006179583800540694 + - 0.0363102773665946 + - 0.054381502547041126 + - - -0.009835814983619417 + - -0.9947975512348003 + - 0.10139570405521589 + - -0.09322342544448327 + - - 0.03549479175872066 + - -0.10168404398575526 + - -0.9941833205987254 + - 0.9729365010229316 + - - 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: + - - 0.9998923289911897 + - -0.013718879645375224 + - 0.005207952174333562 + - 0.023933653572550898 + - - -0.013520220459682512 + - -0.9992445655739811 + - -0.036434898237654 + - -0.034526015293308024 + - - 0.005703863891785877 + - 0.03636056259386437 + - -0.9993224581808229 + - 0.9687269159421652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9674917285027456 + - 0.00841006048614414 + - -0.25276278634599114 + - 0.09988078635824497 + - - 0.012287106618332717 + - -0.9998297741805777 + - 0.013764071816329429 + - -0.08969227404893913 + - - -0.25260400291705487 + - -0.016422348937796528 + - -0.9674303717403367 + - 0.9722902054463871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999318827842207 + - 0.018274613283122534 + - 0.032061173238507164 + - 0.012721379328353188 + - - 0.022413234870360156 + - -0.9907433605910928 + - -0.13388517598044136 + - -0.09306163740792522 + - - 0.029317694703426427 + - 0.13451257173223624 + - -0.9904780869980196 + - 0.9709389700121756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982417703351039 + - -0.005214661751630972 + - 0.05904384185547127 + - 0.054306134165920034 + - - -0.006565135552126646 + - -0.9997207301794686 + - 0.02270155599539739 + - -0.0931641158658521 + - - 0.05890897175660111 + - -0.023049272271506483 + - -0.9979972264963133 + - 0.9720844867434975 + - - 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: + - - 0.9998987783409077 + - -0.013149652853616434 + - 0.0054332036764459055 + - 0.023927837709503973 + - - -0.013028196047941755 + - -0.9996771161760316 + - -0.021815808527526293 + - -0.03450122267779131 + - - 0.005718319691724391 + - 0.021742815452527563 + - -0.9997472434551149 + - 0.9689459034015522 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997792312135474 + - -0.009989509015300945 + - -0.018485089766661134 + - 0.09187067517136227 + - - -0.009907357352811594 + - -0.9999406578065221 + - 0.004530467497289993 + - -0.033784798068719604 + - - -0.018529249966795447 + - -0.004346328921461441 + - -0.9998188717565671 + - 0.9686152136627629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9659389348771652 + - 0.01304483147666715 + - -0.25844110830151007 + - 0.09999961811886471 + - - 0.009342892710196261 + - -0.9998354847752946 + - -0.01554714571738831 + - -0.08981961768577017 + - - -0.25860140070033116 + - 0.012603005827868923 + - -0.9659018996771513 + - 0.9735337662645501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9915870984305938 + - 0.005993395587076516 + - 0.12930237985177515 + - 0.012757660871960494 + - - 0.017393196581877164 + - -0.9960375822834896 + - -0.08721588955875237 + - -0.09310645176110699 + - - 0.12826731048345916 + - 0.08873113257587287 + - -0.9877622604519483 + - 0.971635297157485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955782425397316 + - -0.007684029077991286 + - 0.0936211443992649 + - 0.05451894767845557 + - - -0.003283291242338951 + - -0.9988862223436562 + - -0.0470694679238958 + - -0.09352201597839056 + - - 0.09387855442068442 + - 0.04655395266944859 + - -0.9944946186434265 + - 0.9756768449570989 + - - 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: + - - 0.9998972033853503 + - -0.013793746736576015 + - 0.0039134656153688285 + - 0.02391520165529867 + - - -0.013652444905889252 + - -0.9993255798261801 + - -0.03408806613993901 + - -0.03450349242419181 + - - 0.004381028446282244 + - 0.034031133628434955 + - -0.9994111709070079 + - 0.9684899368345903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995246457373277 + - -0.0098851328097708 + - -0.029202169662590278 + - 0.09182095157608566 + - - -0.00993692064082342 + - -0.9999493009713999 + - -0.001628832400085176 + - -0.033755560667325324 + - - -0.02918458791635566 + - 0.0019182377701376376 + - -0.9995721985889817 + - 0.9683805747640208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.961422589294901 + - 0.0015358013707655526 + - -0.2750713473039998 + - 0.09996709089523574 + - - 0.016348604722732425 + - -0.9985357565922708 + - 0.051566131620678524 + - -0.08974150475681877 + - - -0.2745893805614266 + - -0.054073876510296964 + - -0.9600399408160273 + - 0.9731464905444046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9965798790541471 + - 0.007837745691672277 + - 0.08226247265244334 + - 0.01273158822079033 + - - 0.029376226866869096 + - -0.9640674050489373 + - -0.26402855114035406 + - -0.09316912027080812 + - - 0.07723717990377142 + - 0.2655421026215635 + - -0.9610004213192789 + - 0.9719617496468557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9853707333487477 + - -0.0035946277690248087 + - 0.1703866089543227 + - 0.054377841819071265 + - - -0.03128600708273681 + - -0.9866020611116283 + - 0.16011732814129337 + - -0.09319944621948706 + - - 0.16752821738611698 + - -0.16310564570697678 + - -0.9722812580307927 + - 0.9727822567474919 + - - 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: + - - 0.9999107817120194 + - -0.013355041920984523 + - -0.00026734125549669405 + - 0.023936443313061197 + - - -0.013344258425509861 + - -0.9978049904451795 + - -0.06486240675282741 + - -0.03453790284072792 + - - 0.0005994857223934786 + - 0.06486018731074376 + - -0.9978941811228706 + - 0.9689130785713365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999513234302589 + - -0.009324405484170338 + - -0.0032258692534634665 + - 0.09187600153174344 + - - -0.009313544760826674 + - -0.9999509642541072 + - 0.003365556606229755 + - -0.03376923609571668 + - - -0.0032570928850348844 + - -0.0033353485047941884 + - -0.9999891333391031 + - 0.9684817693694027 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9888583944542089 + - 0.009219735304520194 + - 0.14857345724710977 + - 0.012914911556345379 + - - 0.02126204463097322 + - -0.9965945277693399 + - -0.07966977267644863 + - -0.09319153593014512 + - - 0.1473329602483934 + - 0.08194109897433084 + - -0.9856868950753704 + - 0.9713027848258282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907806801575323 + - -0.008022824317218987 + - 0.13523785755679749 + - 0.05437275347225064 + - - -0.011617769842666834 + - -0.9995992477799872 + - 0.025814167845729506 + - -0.09321148166636531 + - - 0.13497655815163026 + - -0.027147341079002817 + - -0.9904768299268191 + - 0.9726156377731849 + - - 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: + - - 0.9997486438123084 + - -0.013418014806240818 + - 0.017961238100686 + - 0.02392072574593386 + - - -0.01291928583368193 + - -0.9995355366996134 + - -0.027600777673185795 + - -0.03453030412433852 + - - 0.018323243408241284 + - 0.02736179367798296 + - -0.9994576484262486 + - 0.9688385319747262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997292347887035 + - -0.006864914165962144 + - -0.022233534633238194 + - 0.09190095991756066 + - - -0.007874782275664433 + - -0.9989261544544189 + - -0.04565660687149029 + - -0.033823384891624064 + - - -0.021896230563827907 + - 0.04581932889513885 + - -0.9987097397075365 + - 0.9688977949609836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9660436694172659 + - -0.0026339655755994 + - -0.2583654214560665 + - 0.10002525817523346 + - - 0.017281938023461448 + - -0.9970500790084612 + - 0.07478284941999827 + - -0.08978687678298627 + - - -0.2578002393268431 + - -0.07670855346418323 + - -0.9631483968882752 + - 0.9735720391203623 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977238703991725 + - 0.016070762198124935 + - 0.06548899936681296 + - 0.012694514908977965 + - - 0.01703924236530828 + - -0.9997531735258322 + - -0.014256796436924835 + - -0.09296665469511686 + - - 0.06524371736275758 + - 0.015340229053014427 + - -0.997751439346138 + - 0.9697110059493154 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9801422433179587 + - -0.011902083335893779 + - 0.19793818044001713 + - 0.05444475923407624 + - - -0.014520484048208375 + - -0.9998251529454499 + - 0.01178215093323459 + - -0.09334658755417383 + - - 0.19776333938990073 + - -0.01442234203842199 + - -0.9801436923448937 + - 0.9739180312528716 + - - 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: + - - 0.9999165304160499 + - -0.011820732662258044 + - -0.005215599683283483 + - 0.02389956196308481 + - - -0.01204560337605123 + - -0.9988950572425064 + - -0.0454265126968559 + - -0.03452716227263301 + - - -0.004672862081819247 + - 0.045485546009893886 + - -0.9989540677449323 + - 0.9686504553643076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994910608952419 + - -0.00842727528360848 + - -0.030766868898189446 + - 0.09186161921927999 + - - -0.008555830862241933 + - -0.9999552001921443 + - -0.00404911928021204 + - -0.033752002328757504 + - - -0.030731367505543974 + - 0.00431029465152419 + - -0.9995183862297163 + - 0.9685067047097372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9761976467275578 + - 0.01240304099013994 + - -0.2165278714109924 + - 0.09991876606160893 + - - 0.008564008604401319 + - -0.9997892216556786 + - -0.018659314503930644 + - -0.08973166837114793 + - - -0.21671366426739708 + - 0.01636083235443004 + - -0.9760981051536104 + - 0.972365865696978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986347531946378 + - 0.01635334426396099 + - 0.04961046102657459 + - 0.01273603063047912 + - - 0.02653901705116104 + - -0.9768638359974309 + - -0.2122091574233828 + - -0.09312817432272102 + - - 0.04499233585671104 + - 0.21323605242024213 + - -0.9759641774483263 + - 0.9715123192378358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932315126634103 + - -0.004252022556322792 + - 0.11607360835493377 + - 0.054329976495930576 + - - -0.008147519279162702 + - -0.9994186108005804 + - 0.033106771437771604 + - -0.09319132651774135 + - - 0.11586535367377818 + - -0.03382840063641347 + - -0.9926887020251776 + - 0.9721283820660758 + - - 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: + - - 0.9998661804575801 + - -0.012666082199458409 + - 0.010353334674710076 + - 0.02391423981887599 + - - -0.012143386267471504 + - -0.9987211187819283 + - -0.04907815266422219 + - -0.034519741852099 + - - 0.010961721905292784 + - 0.04894586050617844 + - -0.9987412795074513 + - 0.9686881914685793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999884157236408 + - -0.00982498264412715 + - -0.01162505155605272 + - 0.09185528983830525 + - - -0.009988403432941696 + - -0.999850923866705 + - -0.014084098826557687 + - -0.03380113918820091 + - - -0.011484942511788295 + - 0.014198582990497515 + - -0.9998332342628754 + - 0.9687098545691639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9811727320198583 + - -0.011930002257399068 + - 0.19276344307680798 + - 0.012764112940217079 + - - 0.03259889168331188 + - -0.9735396047163343 + - -0.22618123332801904 + - -0.09325568067482701 + - - 0.19036118880093977 + - 0.22820673323743657 + - -0.9548216088376881 + - 0.9732656227425738 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972877236361923 + - -0.006063667166467055 + - 0.07335140233857897 + - 0.05453045696956385 + - - -0.0032265915431914215 + - -0.9992443203891145 + - -0.038734703782406794 + - -0.09352123119046452 + - - 0.07353084653093002 + - 0.03839296954641178 + - -0.996553658614454 + - 0.975539963674233 + - - 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: + - - 0.9999119505115012 + - -0.013268124584924436 + - -0.00021930409049227055 + - 0.023950943945721913 + - - -0.013267793028329195 + - -0.9993168185949696 + - -0.03449437260462265 + - -0.03452683102493849 + - - 0.0002385213671813386 + - 0.03449424507404164 + - -0.999404867991111 + - 0.9689120819173259 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993102896583013 + - -0.01038755330078308 + - -0.035651700092217416 + - 0.09181425735380085 + - - -0.01033040252456648 + - -0.9999450434323333 + - 0.0017868684307077395 + - -0.033801611843325016 + - - -0.035668301988214336 + - -0.0014173395964340954 + - -0.99936267860159 + - 0.9685132471030735 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9639617191018884 + - 0.006020973637556396 + - -0.2659728406860142 + - 0.10006247080720747 + - - 0.014036177253610678 + - -0.9995024837029114 + - 0.028244836693045967 + - -0.08982376711521811 + - - -0.26567045344606394 + - -0.030960183270895936 + - -0.9635666438900817 + - 0.9738618200310651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9929641661242632 + - 0.01611837895742941 + - 0.11731309668119459 + - 0.012809464150007298 + - - 0.035533768857484486 + - -0.9855948244389038 + - -0.16534870217219738 + - -0.09324942313315289 + - - 0.11295802788615548 + - 0.1683539126335704 + - -0.9792330897375964 + - 0.9712520687084839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9798347762258554 + - -0.0006637835858126807 + - 0.1998083348856576 + - 0.05440452441885319 + - - -0.03149550523305768 + - -0.9880062528892269 + - 0.151167712828847 + - -0.09318765370129962 + - - 0.1973115415999336 + - -0.15441244652922742 + - -0.9681037919088622 + - 0.972665740968919 + - - 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: + - - 0.9999226996358528 + - -0.012116549217324463 + - -0.0027899799304366792 + - 0.023901020655943527 + - - -0.012241811563666117 + - -0.998653876447616 + - -0.05040409810511185 + - -0.034545517344403365 + - - -0.0021755005372962005 + - 0.050434356258548634 + - -0.9987250086516299 + - 0.9687189803280984 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999958441571571 + - -0.008909863860316246 + - -0.0019311798843421272 + - 0.09186013440156685 + - - -0.008903966268230395 + - -0.9999557340760014 + - 0.003041261780885059 + - -0.03377285467755487 + - - -0.0019581916273114074 + - -0.0030239402302769365 + - -0.9999935106144614 + - 0.968576145052765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9795079337739578 + - 0.013742820910301285 + - -0.20093616535432127 + - 0.0998927424288074 + - - 0.007645612519750586 + - -0.9994873882302034 + - -0.03108866960748399 + - -0.08971799616876902 + - - -0.20126040912973817 + - 0.028915318469504212 + - -0.9791108987621048 + - 0.9722880223630199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997508410064726 + - 0.025280919045872704 + - 0.06586233356280737 + - 0.012812055224164058 + - - 0.030639037362357544 + - -0.9961894412953168 + - -0.08165688238741632 + - -0.09317709114997529 + - - 0.06354700024116426 + - 0.0834713854199169 + - -0.9944819287329604 + - 0.9706060047434104 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981872272871652 + - -0.0038304481239248285 + - 0.0600631912899328 + - 0.05431622159236007 + - - -0.003088885461808501 + - -0.9999179192957932 + - -0.012434365998136786 + - -0.09320708025220968 + - - 0.060105890454804564 + - 0.012226297000388667 + - -0.9981171271921414 + - 0.9722785221128042 + - - 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: + - - 0.9999095462875827 + - -0.013070965938422491 + - -0.0031700303464162415 + - 0.02390628302092336 + - - -0.013211438159972508 + - -0.9986960294045898 + - -0.0493122576369357 + - -0.03450100357727044 + - - -0.0025213378801388566 + - 0.049349677820051674 + - -0.9987783798993403 + - 0.9685112461916965 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998386185646646 + - -0.009277838284430113 + - -0.01538371032850042 + - 0.09181546368874993 + - - -0.00951581812385951 + - -0.9998350621844476 + - -0.015469247947355498 + - -0.03380455311860173 + - - -0.015237651792086419 + - 0.015613140087474341 + - -0.9997619935887108 + - 0.9687067453499983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9660357301540389 + - 0.015229954386762874 + - -0.2579593312038355 + - 0.1000505281802031 + - - 0.006016720276900462 + - -0.9993167198430596 + - -0.03646769144349243 + - -0.08980454457217918 + - - -0.25833847398880116 + - 0.0336770237919766 + - -0.9654672914841043 + - 0.9738417544924447 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9872520617260597 + - 0.01538929982707761 + - 0.15841886272940117 + - 0.012805930358278013 + - - 0.027206370453479727 + - -0.9969828820586477 + - -0.0726976360604749 + - -0.09312911184011811 + - - 0.15682212861835718 + - 0.07608089334954964 + - -0.9846920928101041 + - 0.970318047484758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913287655097865 + - -0.00895441880030197 + - 0.13109956924716207 + - 0.05449916816396741 + - - -0.00644243897387623 + - -0.9997876841340665 + - -0.019572471328552006 + - -0.09345779733882628 + - - 0.13124699483382665 + - 0.018558152865732848 + - -0.9911759789811799 + - 0.9750074114793614 + - - 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: + - - 0.9999199869911476 + - -0.012617441108220091 + - -0.0009054255926317024 + - 0.023914208600635072 + - - -0.01264483147482917 + - -0.9989800216646 + - -0.043347716802260655 + - -0.034546881505020194 + - - -0.0003575648142145749 + - 0.043355697375044244 + - -0.9990596356837402 + - 0.9688951784545672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998805845304388 + - -0.010160384759411492 + - -0.011644022526976239 + - 0.09184821123608757 + - - -0.010072300156920988 + - -0.9999204016136466 + - 0.007598631873714156 + - -0.033780075391028536 + - - -0.011720300705054495 + - -0.00748044238959528 + - -0.9999033340943707 + - 0.968476916976982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9716579428313759 + - 0.009276530258082854 + - -0.23620920413707322 + - 0.09997311361430157 + - - 0.013528148479627638 + - -0.9997742343652949 + - 0.01638503884651833 + - -0.08968076184308124 + - - -0.23600387990753838 + - -0.019116126324641183 + - -0.9715640701379034 + - 0.9728228679273431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9943862631054955 + - 0.008600544761521906 + - 0.10546084760181526 + - 0.012848630198073727 + - - 0.010145375594225105 + - -0.9998488276298596 + - -0.014120667167212816 + - -0.0929403603581305 + - - 0.10532345940549212 + - 0.015111337366366967 + - -0.9943231951341874 + - 0.9704208113956568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949619633289859 + - -0.0055382964591929 + - 0.10010004396032982 + - 0.05429099121649624 + - - -0.01680988351882612 + - -0.9935531739087283 + - 0.11211386369212586 + - -0.09311292521675954 + - - 0.09883379657087635 + - -0.11323170001471836 + - -0.9886407147023454 + - 0.9715193568947196 + - - 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: + - - 0.9997095772366118 + - -0.01226487998394244 + - -0.02074449084393851 + - 0.02389076179428759 + - - -0.01303471931648155 + - -0.9992156677501903 + - -0.03739178271870359 + - -0.03452346651135323 + - - -0.020269614543333165 + - 0.03765132190935248 + - -0.9990853420427827 + - 0.9686981394451112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999256886813594 + - -0.00889587846862976 + - -0.008335494069369918 + - 0.09186754978732722 + - - -0.009072759453717407 + - -0.9997292194780528 + - -0.02142831672572314 + - -0.03379461696505229 + - - -0.00814261327855579 + - 0.021502350291870285 + - -0.9997356384469452 + - 0.9687872829131352 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9546240645390787 + - 0.003130819636580286 + - -0.2977970674323242 + - 0.1000005701134747 + - - 0.01776583180944893 + - -0.9987626096871204 + - 0.046450239085402474 + - -0.08981187980733923 + - - -0.29728314890522706 + - -0.04963312864786868 + - -0.9534984435842654 + - 0.973555959138831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9954734148854838 + - 0.008243004685321553 + - 0.0946822746346503 + - 0.012743586535800442 + - - 0.02996105995104404 + - -0.972651997416279 + - -0.23032678265614737 + - -0.0932159080558772 + - - 0.09019431879471966 + - 0.23212097017693162 + - -0.9684961745207236 + - 0.9720408304625374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918896312041402 + - -0.0027784540075163804 + - 0.127071789564179 + - 0.05444151117000768 + - - -0.016845676561995933 + - -0.9938150250494547 + - 0.10976301365724646 + - -0.09336281351480327 + - - 0.1259808822436305 + - -0.11101340540349335 + - -0.9858016236189899 + - 0.9744171259133587 + - - 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: + - - 0.9997980780414987 + - -0.011797307542175341 + - -0.01626735010014398 + - 0.023907666481133044 + - - -0.01247351945401339 + - -0.9990349585990607 + - -0.04211368909754047 + - -0.034522691473312876 + - - -0.015754823291794517 + - 0.04230809652689757 + - -0.9989803854487413 + - 0.9689560992103526 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998790106854359 + - -0.009156439826069682 + - 0.012574720689758463 + - 0.09185948187358696 + - - -0.009097865952194204 + - -0.9999475332451845 + - -0.004707397581077573 + - -0.03376218565548851 + - - 0.012617163937659683 + - 0.004592424913049152 + - -0.9999098543406741 + - 0.968577811248207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9792023086152728 + - 0.01130935384755152 + - -0.20257082050006864 + - 0.09986240338253895 + - - 0.00969808086456364 + - -0.9999129637391788 + - -0.008944952424485012 + - -0.08967214611541269 + - - -0.2026543511254188 + - 0.0067943698664988325 + - -0.979226761535883 + - 0.9718622580993967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950647351826682 + - 0.007109720583833103 + - 0.09897284814061982 + - 0.012826973405640096 + - - 0.013787237706246437 + - -0.9976611577796513 + - -0.0669486843350769 + - -0.09298442360186257 + - - 0.0982653798256427 + - 0.06798283703249029 + - -0.9928354591757571 + - 0.9707981300291468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9838950305732793 + - -0.00953947980014689 + - 0.1784924848231667 + - 0.05437007815884492 + - - -0.007451290544563824 + - -0.9998957775128171 + - -0.012365774591957522 + - -0.09319592687423989 + - - 0.17859184494938818 + - 0.010836624805777762 + - -0.9838635680217009 + - 0.97261996494489 + - - 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: + - - 0.9998969747147973 + - -0.014114574119057088 + - 0.002611274331359551 + - 0.023918882560812347 + - - -0.014121176649309754 + - -0.9998970966332943 + - 0.002527551057421604 + - -0.03448955848671747 + - - 0.002575330315699783 + - -0.0025641649218659853 + - -0.9999933963442053 + - 0.9686716385363039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997255621982977 + - -0.008446772437508009 + - -0.02185068243068554 + - 0.09179013732958707 + - - -0.0085206419902426 + - -0.9999582871990301 + - -0.003289760182239136 + - -0.033724607519275994 + - - -0.021821983121884894 + - 0.0034750391899209497 + - -0.9997558327688102 + - 0.968064156370107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9648025530429576 + - 0.023371275630107366 + - -0.26193475736757926 + - 0.10002064801791052 + - - 0.006260636413170392 + - -0.9978020185749853 + - -0.06596920614488774 + - -0.08983536896543015 + - - -0.2629008141362312 + - 0.062007380230954444 + - -0.9628282540117944 + - 0.9735638980055034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971139593558929 + - 0.013630015631244512 + - 0.07468584023432268 + - 0.012731610646259666 + - - 0.020025430712164297 + - -0.9961314901089937 + - -0.08556305591800806 + - -0.09305974009187379 + - - 0.07323069153303857 + - 0.08681173357978689 + - -0.9935295610752934 + - 0.9708752734028534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9857268478595917 + - -0.019719605557109873 + - 0.16719365587684618 + - 0.05443770986968714 + - - 0.008147558961459876 + - -0.9863647362969419 + - -0.16437221259335025 + - -0.09341675978141935 + - - 0.16815528148637734 + - 0.16338832316458848 + - -0.9721255357008687 + - 0.9743143051419499 + - - 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: + - - 0.9996862046815504 + - -0.01077380406055582 + - -0.022614537701708806 + - 0.023914249376671384 + - - -0.012746567960847449 + - -0.9959512852291263 + - -0.0889863048770447 + - -0.03458174875488977 + - - -0.021564256876061262 + - 0.08924663913288614 + - -0.9957760894040724 + - 0.9695495084092459 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9621725455673338 + - 0.0033674143307829236 + - -0.27241999390133215 + - 0.09999636370802346 + - - 0.014668844624894626 + - -0.9991134972923529 + - 0.03945940351316146 + - -0.08977671253378743 + - - -0.27204561667824706 + - -0.041962841288080546 + - -0.9613689730780705 + - 0.9733086711062628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.966045198495068 + - -0.0021019824945509493 + - 0.25836457987544925 + - 0.012842460449534118 + - - 0.03051043513872656 + - -0.9920423556772828 + - -0.12215186404600369 + - -0.09339670142026277 + - - 0.25656536752311365 + - 0.12588703750529842 + - -0.9582936220052127 + - 0.9730471419285331 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9928923371521859 + - -0.0056261977173352705 + - 0.11888293705875243 + - 0.05448208093758939 + - - -0.007855983285023726 + - -0.9998017532213676 + - 0.018295840568431875 + - -0.09341384811137302 + - - 0.11875643288300329 + - -0.019099742268562193 + - -0.9927396987600423 + - 0.9748590067019753 + - - 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: + - - 0.9998781686123448 + - -0.0127175961243268 + - -0.00905045199103504 + - 0.02391501960498938 + - - -0.013221784575236994 + - -0.9982278076666444 + - -0.05802093082406443 + - -0.03451274119499198 + - - -0.00829652608442517 + - 0.05813352518008307 + - -0.998274341503911 + - 0.9689555209673667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999325267576946 + - -0.010818520916230258 + - -0.00423102081743115 + - 0.0918240412961676 + - - -0.010741900388433779 + - -0.9997850882569235 + - 0.01773101449832775 + - -0.03377403548852027 + - - -0.004421934872588425 + - -0.017684368925127945 + - -0.9998338409894425 + - 0.9683426819988613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9647634889201153 + - 0.021901260376281376 + - -0.262205540064692 + - 0.10009638883523442 + - - 0.003643708885439776 + - -0.9975462702288849 + - -0.06991539271146628 + - -0.08988694452011942 + - - -0.26309339374496776 + - 0.06649641754538897 + - -0.9624760218423025 + - 0.9742808389288647 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9912100162670765 + - 0.014648972404076782 + - 0.1314842624017283 + - 0.012806452175637075 + - - 0.031186213315346663 + - -0.9917153557590453 + - -0.12461168986399142 + - -0.09335934038975276 + - - 0.1285695288584027 + - 0.12761685139202614 + - -0.983455039892477 + - 0.9722979012844494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996085829754423 + - -0.004317827181603362 + - 0.08828576403289828 + - 0.054392111740497004 + - - -0.01683533159865172 + - -0.9897898139809908 + - 0.1415369059625092 + - -0.09326462514693343 + - - 0.08677321805952704 + - -0.14246922652947389 + - -0.985988300194119 + - 0.9734198586812179 + - - 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: + - - 0.9998221962726075 + - -0.013423672948844157 + - -0.013243143327098406 + - 0.0239262512786848 + - - -0.013899657943094456 + - -0.9992358909379849 + - -0.03652990241481164 + - -0.03449098632578206 + - - -0.012742658658402989 + - 0.03670748242433904 + - -0.9992448075343606 + - 0.9690774273440841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998908277191242 + - -0.006303073343976146 + - 0.013364277368618237 + - 0.09194758337131154 + - - -0.00554497824786489 + - -0.9984140914995157 + - -0.05602280884985883 + - -0.03383642624705434 + - - 0.013696198720652728 + - 0.0559425880847282 + - -0.998340042760475 + - 0.969192542386674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9639721916480172 + - 0.004431092836081443 + - -0.26596612405642267 + - 0.10001188615062367 + - - 0.014540141772880847 + - -0.999244141520216 + - 0.03605176715157951 + - -0.08977242999800494 + - - -0.2656053425790658 + - -0.0386200861444561 + - -0.9633079938107295 + - 0.973345279633135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9874513175458839 + - 0.00021950553412514173 + - 0.15792354889065327 + - 0.012834636689240165 + - - 0.04565743129333788 + - -0.9576915539265078 + - -0.2841518722541277 + - -0.09350665717194558 + - - 0.15117967603018664 + - 0.2877965242235431 + - -0.9456838087861379 + - 0.9737900880832914 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997870779180108 + - -0.00516035673261315 + - 0.06501752668993428 + - 0.0544081796037868 + - - -0.013798429084994858 + - -0.9910039057539792 + - 0.13311972857223056 + - -0.0933342693788569 + - - 0.06374567760460713 + - -0.13373342700592902 + - -0.9889650444216818 + - 0.9736678759281617 + - - 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: + - - 0.9998770574790136 + - -0.012072648352059477 + - -0.010006052612144795 + - 0.023923530998865336 + - - -0.012638154146175733 + - -0.9982058982822967 + - -0.05852573531542143 + - -0.03454134484719727 + - - -0.009281540113957123 + - 0.0586449980492862 + - -0.9982357523235241 + - 0.9689785636963698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999580582347578 + - -0.009157434121694645 + - -0.0001522224670576938 + - 0.09188584827704332 + - - -0.009155810640171782 + - -0.999921996954266 + - 0.008495359822554885 + - -0.0337410320665744 + - - -0.00023000629115677194 + - -0.008493609792084 + - -0.9999639021933774 + - 0.968557745927749 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9764115371504569 + - 0.018971383710195484 + - -0.2150827671376821 + - 0.09992311848026347 + - - 0.010395407063439312 + - -0.999107761480217 + - -0.04093429444824951 + - -0.08963270530820247 + - - -0.21566744221478412 + - 0.037732844447657586 + - -0.9757375604220749 + - 0.9723888606515425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984777830610271 + - 0.011363804561259102 + - 0.05397203608749749 + - 0.012786429825521934 + - - 0.01500664551702677 + - -0.9976012119347729 + - -0.06757678992522735 + - -0.09287939423563803 + - - 0.05307463917788726 + - 0.068283862604319 + - -0.9962531790584015 + - 0.9699037140229513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986435869233238 + - -0.0037030125024862214 + - 0.0519352866105898 + - 0.0544138679337816 + - - -0.00575518879394149 + - -0.9992061399935248 + - 0.03942039575128052 + - -0.09329711838427467 + - - 0.05174808304530486 + - -0.039665822790507135 + - -0.9978721152550006 + - 0.9734637004279758 + - - 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: + - - 0.9999114950661416 + - -0.01301790046945798 + - 0.0027452325877005035 + - 0.023917244713640404 + - - -0.012874769279742368 + - -0.9988150186604624 + - -0.046933983575801974 + - -0.03450234418357491 + - - 0.0033529614651363533 + - 0.04689448545050402 + - -0.9988942210683501 + - 0.9685510500558931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999666524273537 + - -0.00794455481702457 + - -0.0018915818753663493 + - 0.09188373997741776 + - - -0.008012957606493518 + - -0.9991906070405585 + - -0.039419833996564256 + - -0.03382511757812365 + - - -0.001576877810250507 + - 0.03943367660616288 + - -0.9992209458401541 + - 0.9689780054520365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9586739474617211 + - 0.0036624843448052665 + - -0.28448347696586035 + - 0.09999255268980564 + - - 0.016111187802807507 + - -0.9990114510647096 + - 0.04143127163347828 + - -0.08980143705239962 + - - -0.2840505097438549 + - -0.0443024474494181 + - -0.9577852583247712 + - 0.9733452294090534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9904713672695863 + - 0.016803991166934203 + - 0.13668978198818618 + - 0.01270062468602558 + - - 0.009897064209371358 + - -0.9986468776107125 + - 0.05105352052905486 + - -0.09289791130085367 + - - 0.13736272689180226 + - -0.049214222733236807 + - -0.9892974484661384 + - 0.969820166341472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973393997917918 + - -0.005558589408046809 + - 0.0726857875154517 + - 0.05441470992917935 + - - -0.011275770167311504 + - -0.9968515925594224 + - 0.07848413482276072 + - -0.09327249359337433 + - - 0.0720206819606883 + - -0.0790949081517645 + - -0.9942620463813255 + - 0.9735304511179819 + - - 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: + - - 0.9999012360891016 + - -0.0137290095160112 + - -0.0030053893584539417 + - 0.023904302731388414 + - - -0.013743361032135675 + - -0.9998939966398853 + - -0.00480785930087583 + - -0.034496412128238556 + - - -0.002939063630990126 + - 0.0048486886088835975 + - -0.9999839259326855 + - 0.968816693428206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999434503768408 + - -0.009271407603358303 + - -0.005209323325610699 + - 0.09185795744821915 + - - -0.009248950559708521 + - -0.9999479018954185 + - 0.004318611871335927 + - -0.03378730879171063 + - - -0.005249091540679139 + - -0.004270186881573922 + - -0.9999771060089299 + - 0.968544690768046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9763699584886917 + - 0.009810085605602752 + - -0.21588299233890842 + - 0.09992409720914462 + - - 0.008833482650008558 + - -0.9999459231862812 + - -0.005488195277891369 + - -0.08969062566371587 + - - -0.21592515774004298 + - 0.003451510328394953 + - -0.976403816733318 + - 0.972394784015239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922036210179044 + - 0.0039943916149507 + - 0.12456331432081051 + - 0.01292405764487533 + - - 0.025960543485748673 + - -0.9841856336462727 + - -0.1752275340984117 + - -0.0932384607375206 + - - 0.12189349704099549 + - 0.17709512517263679 + - -0.9766162460348515 + - 0.9716849170159596 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998948979309263 + - -0.00429085279315283 + - 0.045634694249978916 + - 0.05443003229073846 + - - -0.0017375433334312917 + - -0.9984379828489272 + - -0.055844206035445744 + - -0.09334855485186985 + - - 0.04580303134232509 + - 0.05570622036067748 + - -0.9973960594132008 + - 0.9739589341073652 + - - 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: + - - 0.9999076213381414 + - -0.013313741078897262 + - 0.0027373506140547102 + - 0.023949184382805994 + - - -0.013138348808692626 + - -0.998323805467747 + - -0.056364556478133244 + - -0.03454550371200431 + - - 0.0034831853928993205 + - 0.056323385328650395 + - -0.9984065022247394 + - 0.9691601571065079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999606606914045 + - -0.007396232256101826 + - -0.004896204450743535 + - 0.09187975724366117 + - - -0.007566231324387083 + - -0.9993351928125804 + - -0.035664051225116185 + - -0.033803805772704816 + - - -0.0046291698127791355 + - 0.03569969404148509 + - -0.9993518412612187 + - 0.9687346252099895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9567165476587894 + - -0.010001152110873504 + - -0.2908494875228464 + - 0.09993194660575927 + - - 0.021056609071133943 + - -0.9944109991527419 + - 0.10345716011215138 + - -0.08967890182314014 + - - -0.29025862028589716 + - -0.10510348101038831 + - -0.951158867713079 + - 0.9729338031057838 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9939561528233405 + - 0.024355586668712105 + - 0.10704191544739362 + - 0.012790969034709021 + - - 0.029165938777120544 + - -0.998623006597496 + - -0.043605489441438355 + - -0.09306368786680966 + - - 0.10583248215870857 + - 0.04646392247971526 + - -0.993297835308185 + - 0.9696152027726692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9894603974506824 + - -0.006803610103914573 + - 0.14464381343939836 + - 0.05448602691336886 + - - -0.015094443560419328 + - -0.9982998413417389 + - 0.056299063497190285 + - -0.0934336216396267 + - - 0.14401485913036505 + - -0.05788901162235592 + - -0.9878808544976708 + - 0.9749234497059598 + - - 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: + - - 0.9999072558038806 + - -0.01361848001004637 + - -0.00012958768774428472 + - 0.023932521797446826 + - - -0.013608190282238556 + - -0.9986805722880349 + - -0.049516983871049594 + - -0.03453629774161973 + - - 0.0005449293488477319 + - 0.049514154912099276 + - -0.9987732733285096 + - 0.9684504492880053 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998389991839466 + - -0.009016556485926776 + - -0.015513781614424406 + - 0.0918678980883762 + - - -0.009149283744917053 + - -0.9999219675709512 + - -0.008505843637930407 + - -0.033768890405487556 + - - -0.015435877616739436 + - 0.008646414180110524 + - -0.9998434743518744 + - 0.9686452908380622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9984837810801419 + - 0.007535110427217334 + - 0.05452853409686397 + - 0.012876829895789968 + - - 0.018130122293654856 + - -0.9803330360291951 + - -0.19651574271645328 + - -0.09310076827854083 + - - 0.051975355559344995 + - 0.19720639082096653 + - -0.9789832490057473 + - 0.9714877724489951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942334919950262 + - -0.005751997471047538 + - 0.10708257524204937 + - 0.054333823925317375 + - - -0.014355158359791528 + - -0.9967119304042945 + - 0.07974495105152729 + - -0.09318729620130287 + - - 0.10627178752538893 + - -0.08082228847810632 + - -0.9910469539135472 + - 0.9720961579593015 + - - 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: + - - 0.9999182364814637 + - -0.012783999321681914 + - 0.0002995215231183314 + - 0.023929297635140075 + - - -0.012758069165555767 + - -0.9989310385053584 + - -0.044429854622464716 + - -0.03455368367187909 + - - 0.0008671925774993164 + - 0.044422400564914206 + - -0.9990124615364335 + - 0.9690325234360815 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999370411414625 + - -0.009627719538269255 + - -0.00576374615589814 + - 0.0918871729505747 + - - -0.009699506537197068 + - -0.9998740838567005 + - -0.012559299528971272 + - -0.03380669225258192 + - - -0.00564210299374918 + - 0.012614414303326774 + - -0.9999045170542994 + - 0.9686942846265943 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9714352253512114 + - 0.015306596086320392 + - -0.23681070723911807 + - 0.09995240740446626 + - - 0.006613020621852041 + - -0.9992761724238715 + - -0.03746196983811873 + - -0.08979904139678535 + - - -0.2372127123598059 + - 0.0348258430213455 + - -0.9708332965822487 + - 0.9728827179273408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9871799139495071 + - 0.003127824114243862 + - 0.15958080777760858 + - 0.012737363206923636 + - - 0.019956544977789703 + - -0.994380959878065 + - -0.10396269977510551 + - -0.09308545879136369 + - - 0.1583589397766768 + - 0.10581457058595296 + - -0.9816953309680749 + - 0.9713187281995412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987624883360385 + - -0.002839467239991688 + - 0.04965308971854313 + - 0.05442555130113931 + - - -0.006003480691219502 + - -0.9979516797578654 + - 0.06368989784922902 + - -0.09339180658055035 + - - 0.049370538911326804 + - -0.06390917222314874 + - -0.9967337496008436 + - 0.9742287560024543 + - - 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: + - - 0.999908051941751 + - -0.013466955521489488 + - -0.0015902110032490566 + - 0.023919100968819842 + - - -0.013495784928928134 + - -0.9997133331115009 + - -0.01977663743523812 + - -0.034524001851882286 + - - -0.001323424045703723 + - 0.019796280157518716 + - -0.9998031585470811 + - 0.9688069845517222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999486233792417 + - -0.010134947452099717 + - -0.00018287181984741715 + - 0.09187285816311458 + - - -0.010135438290417166 + - -0.9999443732610731 + - -0.002919464708053689 + - -0.03378732834302338 + - - -0.00015327302588005357 + - 0.0029211682018676862 + - -0.9999957216327061 + - 0.9686650416734616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9686804901210218 + - 0.02222231714882108 + - -0.24731412551537446 + - 0.09995543030691666 + - - 0.003118052922289836 + - -0.996997415667395 + - -0.07737202917404445 + - -0.08977218048737978 + - - -0.24829092976762357 + - 0.07417763661018462 + - -0.9658412356190101 + - 0.9730234094251298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955449754658859 + - 0.021461857250685806 + - 0.09181280143846905 + - 0.01281527658295662 + - - 0.03558090605721029 + - -0.9872687516829252 + - -0.15503035533271334 + - -0.09330077639078217 + - - 0.08731667050899579 + - 0.15760647395900515 + - -0.9836340774990635 + - 0.971955533973884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981179220911842 + - -0.0028589437151835986 + - 0.061257163182848136 + - 0.054526725837772544 + - - 0.0010919896535217144 + - -0.9979256886479007 + - -0.06436713054976013 + - -0.09351490679676601 + - - 0.06131411875721019 + - 0.06431287878369833 + - -0.9960443928176996 + - 0.9757513844209285 + - - 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: + - - 0.9998467522873837 + - -0.012566337538344454 + - -0.012188482319126637 + - 0.023928756040278103 + - - -0.013097036714467073 + - -0.9989241732234888 + - -0.044485545731944166 + - -0.034518761051868366 + - - -0.011616349240237621 + - 0.044638361424243496 + - -0.9989356721629712 + - 0.9687014399918852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999539999207772 + - -0.009411267076230013 + - 0.0018509712203103501 + - 0.09184479887478532 + - - -0.009425420662017448 + - -0.9999252158243666 + - 0.0077925736402432826 + - -0.033776464717497415 + - - 0.001777494805213998 + - -0.007809661363623193 + - -0.9999679243363777 + - 0.9684391272643178 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9684848839021496 + - 0.014123527961113736 + - -0.24867158183228652 + - 0.09996408123111301 + - - 0.00795669048256485 + - -0.9996357991346853 + - -0.02578682153589083 + - -0.08973402971717573 + - - -0.24894521632199443 + - 0.022995544052943382 + - -0.9682445374098966 + - 0.9729427756664601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956685673267813 + - 0.010771759194002873 + - 0.09234756759818426 + - 0.012897120212094949 + - - 0.02793470193128416 + - -0.9820316641587266 + - -0.18663724981271254 + - -0.09321361275667062 + - - 0.08867782397784187 + - 0.18840854490576844 + - -0.9780789660048141 + - 0.9715306785240674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990892229875263 + - -0.003750637818588065 + - 0.04250479062570034 + - 0.05446704801393844 + - - -0.00411753294103647 + - -0.9999549912493978 + - 0.008547596030272104 + - -0.09338199064296797 + - - 0.0424708186012505 + - -0.008714825951849 + - -0.9990596986046275 + - 0.9745410280336569 + - - 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: + - - 0.999908870545255 + - -0.01277393470695238 + - 0.004367745072118588 + - 0.02391803758652149 + - - -0.012561414582857165 + - -0.9988789628772655 + - -0.04564020579397092 + - -0.03451049783378586 + - - 0.004945853676574156 + - 0.04558118157025935 + - -0.9989483942717307 + - 0.9686063599316928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994840003883363 + - -0.011110716224587055 + - -0.03013776621956137 + - 0.0917850006035796 + - - -0.01044419320197913 + - -0.999699352524866 + - 0.022183854257602338 + - -0.0337266276530629 + - - -0.030375183885665107 + - -0.021857642744347032 + - -0.9992995505140446 + - 0.9681050923961371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9685049635948408 + - 0.014159012143447357 + - -0.2485913471287318 + - 0.0998998808913894 + - - 0.01076313296994057 + - -0.9998293469259039 + - -0.0150143929078407 + - -0.08975202933516202 + - - -0.2487615132226593 + - 0.0118658923322837 + - -0.9684920805759489 + - 0.9725785607646126 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982564551073949 + - 0.024702125303768897 + - 0.05360834675584182 + - 0.012778531453701792 + - - 0.030497014301135 + - -0.9934499692489176 + - -0.11012307078011363 + - -0.09315901839671334 + - - 0.05053693654283016 + - 0.11156596078017009 + - -0.9924711856976325 + - 0.9706260120349022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912159041648022 + - -0.008292445998072311 + - 0.1319934341932307 + - 0.05442172632607829 + - - -0.012719775795080993 + - -0.9993831460448054 + - 0.032734304717076584 + - -0.09335584897807571 + - - 0.13164056606713806 + - -0.03412569033670389 + - -0.9907099467677547 + - 0.9736949111618793 + - - 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: + - - 0.9994693945138253 + - -0.010361747116466365 + - -0.03087982556398104 + - 0.02391326758626515 + - - -0.012869326334994331 + - -0.9965372750764546 + - -0.08214523615449734 + - -0.03454608488215467 + - - -0.029921729058510597 + - 0.08249905199388122 + - -0.996141855636164 + - 0.9694669081027834 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996899003915164 + - -0.008096196103370692 + - -0.02354898434871212 + - 0.09187162111355136 + - - -0.008794454287235994 + - -0.9995201546440416 + - -0.029700471951495704 + - -0.03382741013650314 + - - -0.023297223632652877 + - 0.02989836231313735 + - -0.9992814054619465 + - 0.9688559512692618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9650051824647232 + - 0.007552153943269449 + - -0.26212203796522615 + - 0.09993395325613225 + - - 0.013770318601474102 + - -0.9996654678236216 + - 0.021893623879880534 + - -0.08972700110111835 + - - -0.261869005691472 + - -0.024736964482266987 + - -0.9647863527467431 + - 0.9727145009472623 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9938751058793028 + - 0.008924687464937901 + - 0.1101481904847177 + - 0.012720637588813387 + - - 0.021836379363859248 + - -0.9929413672873726 + - -0.11657878737472234 + - -0.09305361424175512 + - - 0.10833026562176472 + - 0.11826999231899983 + - -0.9870545894058654 + - 0.970771497216075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950959495431239 + - -0.006752599054398671 + - 0.09868360354627924 + - 0.054380506724476974 + - - -0.005914457570306836 + - -0.9999439348445598 + - -0.008783300019233466 + - -0.09332052057309831 + - - 0.0987373809381114 + - 0.008156566286701816 + - -0.9950800972946313 + - 0.9737559344746756 + - - 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: + - - 0.9997345740647221 + - -0.013523266814697212 + - 0.018652149320847536 + - 0.023913082330239758 + - - -0.012795506358380428 + - -0.9991728204007775 + - -0.03859987032865087 + - -0.03453284218141556 + - - 0.019158716988914734 + - 0.03835096122673492 + - -0.9990806510669319 + - 0.9687883252371603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998828274438557 + - -0.011670745729388886 + - -0.009905810264713762 + - 0.09183429348537442 + - - -0.011565357786816742 + - -0.9998766105988174 + - 0.010630431632124236 + - -0.03380107930171269 + - - -0.010028653057289137 + - -0.010514621797397245 + - -0.999894428850524 + - 0.9684439452526813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9640053981400247 + - 0.0020414069092336527 + - -0.2658748295998011 + - 0.10003262508495497 + - - 0.01686742241330956 + - -0.9984258257868486 + - 0.053491685923888255 + - -0.08982327357439593 + - - -0.26534709800188755 + - -0.0560508970461656 + - -0.9625223189735894 + - 0.9736284271121762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.992256653406319 + - -0.0008861169623821151 + - 0.12420124221448461 + - 0.012864797868594933 + - - 0.015820437110068527 + - -0.9909277960093217 + - -0.13346091887049089 + - -0.09302872706941956 + - - 0.12319272519324534 + - 0.1343924026604122 + - -0.9832406798778336 + - 0.971142799926905 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991078019326184 + - -0.0002693668411286685 + - 0.13328273350285477 + - 0.05434783763396814 + - - -0.025675649264923626 + - -0.9816533338575346 + - 0.1889378023615512 + - -0.09311645518135388 + - - 0.13078654610973076 + - -0.19067422365881773 + - -0.972901957953007 + - 0.9720599725347205 + - - 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: + - - 0.9997297141163773 + - -0.012437619699651976 + - -0.01964190237714482 + - 0.023898407815124024 + - - -0.01332387922357942 + - -0.9988684516099201 + - -0.045654031813599706 + - -0.03451699864933853 + - - -0.019051849128678484 + - 0.04590339850826445 + - -0.998764188910561 + - 0.9689612453061347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998984282099105 + - -0.00987567098524099 + - -0.010276399463914437 + - 0.09185036194547731 + - - -0.009768800535899876 + - -0.9998982173344402 + - 0.01039834157447173 + - -0.03375238407139261 + - - -0.010378044104766272 + - -0.010296897299713842 + - -0.9998931293426111 + - 0.9685923582982201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.964734791837127 + - -0.006796368982442861 + - -0.26313606895982494 + - 0.09997445536877905 + - - 0.019944372158651427 + - -0.9949055625834623 + - 0.09881874093350135 + - -0.08972322893690415 + - - -0.26246714735023974 + - -0.10058196115178772 + - -0.9596844615042429 + - 0.972948498276357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9839991782027289 + - -0.002994265139612903 + - 0.17814783656454547 + - 0.012846749873288406 + - - 0.014435452035303189 + - -0.9952320022885036 + - -0.0964618025197106 + - -0.09295875835096282 + - - 0.17758726030008676 + - 0.09748997895726966 + - -0.97926424880214 + - 0.9705219157377677 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947703977855289 + - -0.0025662608176640865 + - 0.10210421144613142 + - 0.05431977191575369 + - - -0.01723534691954593 + - -0.9895657736696636 + - 0.1430472732984589 + - -0.09311503393270676 + - - 0.10067173638208239 + - -0.14405899446746395 + - -0.9844349687037944 + - 0.9720486939137175 + - - 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: + - - 0.999891801064069 + - -0.013639195156086383 + - 0.0055098566538960315 + - 0.023891252269388357 + - - -0.01352673846191237 + - -0.9997093458136682 + - -0.019956233096218263 + - -0.03446514365081123 + - - 0.005780442148773159 + - 0.019879543463112184 + - -0.9997856721519183 + - 0.9682062114770157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999716531170979 + - -0.009614353168026321 + - -0.021781219355798225 + - 0.09188591832625431 + - - -0.010062262707730422 + - -0.9997382182167445 + - -0.0205486229711503 + - -0.0337744426486152 + - - -0.02157795571099252 + - 0.02076196642831142 + - -0.9995515657420406 + - 0.9688253607682557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9531691975557902 + - 0.013351410853460255 + - -0.3021427157140695 + - 0.09999744846026684 + - - 0.012144592898928622 + - -0.9999090069498359 + - -0.005872536412323398 + - -0.08977695240744321 + - - -0.3021936294731744 + - 0.0019281205400273563 + - -0.9532446132326238 + - 0.9734327739603986 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969456437431364 + - 0.0059952364989368295 + - 0.07786809719586664 + - 0.012866439677725118 + - - 0.014129180231219531 + - -0.9944421898934819 + - -0.10433166933319035 + - -0.0929775901331481 + - - 0.07680982806631474 + - 0.10511321562571604 + - -0.991489516945714 + - 0.9707196519958781 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947315619872269 + - -0.005841035873470646 + - 0.10234745666784631 + - 0.05439298261811771 + - - -0.010061764311738103 + - -0.999117828902171 + - 0.04077161842197342 + - -0.09326768688427892 + - - 0.10201902021381543 + - -0.04158661166453451 + - -0.9939128096794387 + - 0.9733449427248199 + - - 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: + - - 0.999912640739268 + - -0.01208340182144451 + - -0.0053574518425456965 + - 0.02391707052890208 + - - -0.012342173599814408 + - -0.9986103989874225 + - -0.05123418570654345 + - -0.034510665770039244 + - - -0.004730923869153788 + - 0.051295832526649265 + - -0.9986722965641642 + - 0.9691039763472359 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9706457838968237 + - 0.021264690543631604 + - -0.2395716492813879 + - 0.09997902111688978 + - - 0.0023369694434415313 + - -0.9968706802273333 + - -0.0790150965127249 + - -0.08973569043013271 + - - -0.24050218455793942 + - 0.07613579867039155 + - -0.9676580177850445 + - 0.9730756762796157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9869257285959063 + - -0.0008120819387949481 + - 0.16117365404545514 + - 0.012851564365988985 + - - 0.010699935208131228 + - -0.9974511835540333 + - -0.07054535996932311 + - -0.09304942912532793 + - - 0.16082014059806432 + - 0.07134757844232882 + - -0.9844015468437847 + - 0.9712404944074908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959988423476693 + - -0.01086070336975407 + - 0.08870372689135897 + - 0.05448946454684943 + - - 0.0016548848010863619 + - -0.9901760064816532 + - -0.13981679993598836 + - -0.09347074395126918 + - - 0.08935081084353808 + - 0.13940416532643232 + - -0.9861961829632291 + - 0.9750461320042872 + - - 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: + - - 0.9999082133621152 + - -0.012622832120271469 + - -0.0049222921739806485 + - 0.023892113597048643 + - - -0.012766751772927002 + - -0.9994564549632196 + - -0.03039415538425552 + - -0.0344948146435026 + - - -0.004535956365646995 + - 0.030454207289260484 + - -0.9995258707798571 + - 0.9687572775554862 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999431784628763 + - -0.010105609800326515 + - 0.0033935963407275157 + - 0.0919009223572943 + - - -0.01011203134656214 + - -0.9999471039528237 + - 0.0018804569675030549 + - -0.033784566529776155 + - - 0.0033744136685354884 + - -0.0019146662696226818 + - -0.9999924736644118 + - 0.9687627279320814 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9783087443434267 + - -0.012150619998737313 + - -0.20679546217176528 + - 0.09986436238817163 + - - 0.01520395583638992 + - -0.9913742163982988 + - 0.13017681355596375 + - -0.08959450003427871 + - - -0.20659341825942282 + - -0.13049722408658862 + - -0.9696853273292229 + - 0.9717009748244929 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922210891080255 + - 0.014743909262028062 + - 0.12361200374137085 + - 0.012767164237946068 + - - 0.030043238180105635 + - -0.9919721542276898 + - -0.12283586233885177 + - -0.0931911525167077 + - - 0.12080858483128193 + - 0.12559403798170113 + - -0.9846986460102977 + - 0.9708683067868595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998073135502729 + - -0.004290161966208518 + - 0.061900005638567734 + - 0.05432818746653574 + - - -0.009490049736908781 + - -0.9964241821695763 + - 0.08395706130923222 + - -0.09320824391842406 + - - 0.0613184731034785 + - -0.08438272156072521 + - -0.9945449216391702 + - 0.9721865728529178 + - - 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: + - - 0.9998043554392946 + - -0.011859792868314609 + - -0.015830229238307 + - 0.023889009569805005 + - - -0.012307720128502713 + - -0.9995178826759757 + - -0.02850477567308375 + - -0.03449484477266294 + - - -0.01548453647530739 + - 0.02869403289980431 + - -0.9994682994503076 + - 0.9687068200895546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998276163504025 + - -0.00934313490505823 + - -0.01604504326008881 + - 0.09186075595654725 + - - -0.009431654407902428 + - -0.9999406680882016 + - -0.005450155819103289 + - -0.033780702244600606 + - - -0.01599316973592582 + - 0.005600547604341319 + - -0.9998564158859665 + - 0.9687134001799518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9670112696692312 + - -0.006537572172880823 + - -0.2546496897362842 + - 0.09997736302966906 + - - 0.019024861947689087 + - -0.9950251679314834 + - 0.09779043823807713 + - -0.0897135497560784 + - - -0.25402216234134534 + - -0.09940913103436817 + - -0.9620761745862016 + - 0.97295962138219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9789119394077749 + - 0.0007342266025565578 + - 0.20428136429005184 + - 0.012815114160467208 + - - 0.04190700850131717 + - -0.9794476149751786 + - -0.19729716713097117 + - -0.09340375691643094 + - - 0.19993803420905015 + - 0.2016973733858028 + - -0.958823733564147 + - 0.9725679254270673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999906342899977 + - -0.0029322002959291517 + - 0.013368157308248882 + - 0.054429977230242316 + - - -0.0028625997878490603 + - -0.9999822648014811 + - -0.005222605188623855 + - -0.09333195783371034 + - - 0.013383233945804785 + - 0.005183848370292797 + - -0.9998970030784304 + - 0.9739615474684434 + - - 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: + - - 0.999887155633601 + - -0.013541209708967102 + - 0.00650473969999903 + - 0.023917723646482168 + - - -0.013339863539044285 + - -0.9994591009119247 + - -0.030059169068477696 + - -0.03450607719545253 + - - 0.0069082588042606845 + - 0.029969004720634695 + - -0.9995269554726117 + - 0.968512204832894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996980714413485 + - -0.006842389393752293 + - -0.023599738639077085 + - 0.09187626323818161 + - - -0.007944306284436011 + - -0.9988671184188727 + - -0.046918735482070435 + - -0.033815182287359365 + - - -0.023251966671822673 + - 0.047092052927874044 + - -0.9986198899465853 + - 0.9689912019578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9658241637672594 + - 0.004417227142848097 + - -0.2591605154872989 + - 0.09994525378238525 + - - 0.011605906622344151 + - -0.9995889578539261 + - 0.026214848234841517 + - -0.08965957746721757 + - - -0.2589381926536668 + - -0.028326726617645594 + - -0.9654784352560041 + - 0.9725878347846504 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995157962702868 + - 0.007456205974296625 + - 0.09800527670256366 + - 0.012715617327090221 + - - 0.020926250527338028 + - -0.9903300761263184 + - -0.13714383820830792 + - -0.09305441030091113 + - - 0.09603500043184406 + - 0.13853066560191038 + - -0.9856908913954447 + - 0.9710501458072274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.982655534086467 + - -0.0035021466033764177 + - 0.18540721749276318 + - 0.054358791464577325 + - - -0.019394426117403565 + - -0.9962793996097061 + - 0.08397150795895195 + - -0.0932226596693352 + - - 0.1844233107956174 + - -0.08611093358274671 + - -0.9790673876463719 + - 0.9726239087689532 + - - 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: + - - 0.9999009050836704 + - -0.012542812941535508 + - -0.006392015047737332 + - 0.023918646053236202 + - - -0.012797597847335257 + - -0.9990559622576908 + - -0.04151392256457743 + - -0.03451908316856275 + - - -0.005865279379085974 + - 0.04159161118390944 + - -0.9991174787666024 + - 0.9688474161127668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9718206364477131 + - 0.021318159213422522 + - -0.2347555892031389 + - 0.09995253582479671 + - - 0.005645113328273471 + - -0.9977212686870501 + - -0.06723394012710138 + - -0.0897460949265385 + - - -0.23565394813130694 + - 0.06401410857970977 + - -0.9697264617575788 + - 0.9727232345958456 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9961602562821965 + - 0.020248666320776706 + - 0.08517473402376133 + - 0.012794271000007242 + - - 0.03492164084582634 + - -0.9840396555601544 + - -0.17448906924414323 + - -0.09323672305991329 + - - 0.08028214499142233 + - 0.1767935174074042 + - -0.9809683121275089 + - 0.9712596499309132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9866703729060178 + - -0.012395404073714016 + - 0.16225883392699822 + - 0.05444024885997227 + - - -0.0032847287493650472 + - -0.9984086461478052 + - -0.05629729881930787 + - -0.09334913061580029 + - - 0.16269845047369977 + - 0.055013900563009546 + - -0.9851409467473682 + - 0.9740165772516849 + - - 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: + - - 0.9998797547561357 + - -0.012721605951712008 + - -0.008867737638159862 + - 0.02392021518629286 + - - -0.012961204812152068 + - -0.9995375849145582 + - -0.027506790306933485 + - -0.03451441768694804 + - - -0.00851370651522106 + - 0.027618419309973722 + - -0.9995822826141884 + - 0.9689992388501911 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998136750570992 + - -0.008745270297404344 + - -0.017208585538698598 + - 0.09185548557725084 + - - -0.008872817706736251 + - -0.9999336267175017 + - -0.007349507842517931 + - -0.03375298356423708 + - - -0.01714316991575353 + - 0.007500827088364474 + - -0.999824909330744 + - 0.9685740776194844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9740686331342092 + - 0.01955716034848836 + - -0.22540589039143744 + - 0.0999232549403104 + - - 0.0059143713566901426 + - -0.9981176439541793 + - -0.06104251828696084 + - -0.08966793860472551 + - - -0.22617541456910906 + - 0.05812646820908957 + - -0.9723507574625682 + - 0.972197893678961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99664319428233 + - 0.0060697952589351 + - 0.08164251880134832 + - 0.012844604307147558 + - - 0.01057667090882383 + - -0.9984367233541463 + - -0.054883909211378756 + - -0.09291006004924121 + - - 0.08118175486647441 + - 0.055563180644659246 + - -0.9951493634793972 + - 0.9701103112196272 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889021107834052 + - -0.008624989791561042 + - 0.14831798555543202 + - 0.054321304897007004 + - - -0.007234472697083806 + - -0.9999247026804803 + - -0.009912183117187157 + - -0.09319608479024176 + - - 0.14839231008688092 + - 0.008729176390070769 + - -0.9888900463583555 + - 0.9722425919868378 + - - 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: + - - 0.9999100076693525 + - -0.012339489722991964 + - 0.005264366633493052 + - 0.02393769258692268 + - - -0.011980636767819814 + - -0.9979114652018036 + - -0.06347575884876268 + - -0.034553202705197565 + - - 0.006036630294561964 + - 0.06340697605283575 + - -0.9979694957675416 + - 0.9687760991696215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999313410189237 + - -0.010505360836242754 + - 0.00519140075482115 + - 0.09187345156771844 + - - -0.010435045435375653 + - -0.9998558855057866 + - -0.013390968829785783 + - -0.03379434261345568 + - - 0.0053313295582308904 + - 0.013335876916760503 + - -0.9998968603371059 + - 0.9687434181732751 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.956356874960773 + - 0.011181673274180955 + - -0.29198715365244027 + - 0.10004230123107816 + - - 0.01295224182206289 + - -0.9999075810720608 + - 0.0041314339403980506 + - -0.08981371676301364 + - - -0.29191397216825216 + - -0.007733013475388192 + - -0.9564133172198844 + - 0.9736294454220111 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9915875506839021 + - 0.021939459907869885 + - 0.1275648440113916 + - 0.012743926649560571 + - - 0.00407474264826106 + - -0.9903330162650428 + - 0.13865032768707716 + - -0.09303133114246907 + - - 0.1293735900446847 + - -0.13696414492243728 + - -0.9820912876126212 + - 0.9706630894163261 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900056828484932 + - 0.0005067822212387902 + - 0.14102656168065905 + - 0.0544217181514573 + - - -0.025466311021377704 + - -0.9829120911877278 + - 0.182305479895506 + - -0.093252962612269 + - - 0.13870910183059706 + - -0.18407488739300787 + - -0.9730756501426808 + - 0.9733891302709626 + - - 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: + - - 0.9998962020284355 + - -0.014281271818369676 + - 0.0019053724989571486 + - 0.023985907691244125 + - - -0.014200352656393533 + - -0.9992040757882962 + - -0.03727686832999021 + - -0.03448987326236416 + - - 0.00243621705601108 + - 0.0372459421052443 + - -0.9993031595282531 + - 0.9689527659569018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998948029057304 + - -0.009043055466306928 + - -0.011340470446311665 + - 0.09185944273278476 + - - -0.00906244430222965 + - -0.9999575582121939 + - -0.0016594811163665707 + - -0.033741062117255353 + - - -0.01132498235669077 + - 0.0017620789255559145 + - -0.9999343177691625 + - 0.9684298054359004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9669166246288675 + - 0.006542279682926652 + - -0.25500870493547506 + - 0.0999408198493844 + - - 0.010014150301431875 + - -0.999873974426098 + - 0.012318768570690733 + - -0.08972484876859046 + - - -0.254895974487747 + - -0.014464917625353802 + - -0.9668602837783921 + - 0.9727588281118512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9918597689958946 + - -0.008306869381075947 + - 0.12706374214738153 + - 0.012872923579755762 + - - 0.023180127612274826 + - -0.9694174740731079 + - -0.24432036887167896 + - -0.09320391755833611 + - - 0.12520734935014466 + - 0.24527689838792477 + - -0.9613336376024246 + - 0.97305744639676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984204146824146 + - -0.005082954557406364 + - 0.05595390172599622 + - 0.05438239816634008 + - - -0.008761314437670375 + - -0.9978015167964082 + - 0.06569149448834359 + - -0.093292174991319 + - - 0.055496981131583814 + - -0.06607795889519553 + - -0.996269937533762 + - 0.9732930251130985 + - - 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: + - - 0.9998216205668352 + - -0.011302558377187912 + - -0.015132059385219186 + - 0.023932958810656643 + - - -0.012319605143773 + - -0.9975476465324887 + - -0.06889789711300895 + - -0.03455839866180488 + - - -0.014316227722729984 + - 0.06907202814181371 + - -0.9975089476050667 + - 0.9691197183069475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998208766095218 + - -0.009515168022158928 + - -0.01636081517765479 + - 0.09187526068803246 + - - -0.009694678422091731 + - -0.9998932915105821 + - -0.010927891032876667 + - -0.03375729926626737 + - - -0.01625508862047587 + - 0.011084546433854722 + - -0.9998064337281974 + - 0.9688139215918372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9626732930658957 + - 0.010999519016542817 + - -0.2704424918519072 + - 0.10000368125773847 + - - 0.011127460358917497 + - -0.999937525850259 + - -0.0010601992379303364 + - -0.08980658067610446 + - - -0.2704372578688538 + - -0.0019887126157646156 + - -0.9627355475822568 + - 0.9733050660604168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9694640559307456 + - -0.015401916486854303 + - 0.24474931098338168 + - 0.012790327703794149 + - - 0.03412248427858331 + - -0.9798452974555595 + - -0.19682187155111855 + - -0.09323757062448959 + - - 0.24284789545097143 + - 0.19916318440605216 + - -0.9493992446027519 + - 0.9727650619434262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963240235712465 + - -0.004004652387593123 + - -0.0855710395756454 + - 0.054407593959713785 + - - 0.0015853348038145688 + - -0.9978736952404526 + - 0.065158077478727 + - -0.09337521475008842 + - - -0.08565002491746244 + - -0.06505421666901016 + - -0.9941991863430684 + - 0.9744549943763466 + - - 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: + - - 0.9998619310494895 + - -0.0128715943446177 + - -0.010509086402419909 + - 0.02390456829439431 + - - -0.013324381833871092 + - -0.9989330880897298 + - -0.04421703708143684 + - -0.034503792573344474 + - - -0.009928730368537935 + - 0.0443509591614833 + - -0.9989666724844853 + - 0.9689927692528844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999154508083844 + - -0.008269894731749073 + - -0.01003494273981499 + - 0.09185684168117969 + - - -0.00848881714464275 + - -0.9997225216035086 + - -0.02197316049654985 + - -0.03378148841592564 + - - -0.00985044253576437 + - 0.022056487477567874 + - -0.9997081974966503 + - 0.968641789713991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9638198719106288 + - 0.006485074618440563 + - -0.266475511665467 + - 0.1000592776565921 + - - 0.015888762613475067 + - -0.9993241399074055 + - 0.03314831249003725 + - -0.08973752389765942 + - - -0.2660804422215053 + - -0.036182968445358114 + - -0.963271504333898 + - 0.973725715115629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9925810512823939 + - 0.01570892765819707 + - 0.12056569257863983 + - 0.012747790029979545 + - - 0.01816919659135187 + - -0.9996479787559891 + - -0.019333878666515078 + - -0.09303905459211664 + - - 0.12021953639222854 + - 0.02138102338280958 + - -0.992517060260801 + - 0.9707851598743881 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9873803289029949 + - -0.0020415027112802853 + - 0.15835377596411612 + - 0.054354784390434605 + - - -0.026301657067926767 + - -0.9881441829671662 + - 0.15125903775851712 + - -0.09317496612863928 + - - 0.15616756683413754 + - -0.15351516516237462 + - -0.9757278232859171 + - 0.9724813430894723 + - - 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: + - - 0.9998640954902266 + - -0.01336118331238544 + - 0.009657604775715006 + - 0.023946828795447885 + - - -0.013068950113180376 + - -0.9994729957833275 + - -0.029714192616340115 + - -0.034527497967344355 + - - 0.010049531951801693 + - 0.029583939568532645 + - -0.9995117795339664 + - 0.9692101065052765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999406027231218 + - -0.009128629752401021 + - -0.005954758144830328 + - 0.09187581125447408 + - - -0.009194213782081012 + - -0.9998963343654361 + - -0.011080927555649977 + - -0.03374679751115415 + - - -0.005852987156079862 + - 0.011135018698132043 + - -0.9999208738194955 + - 0.9687587082245298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.961134390876819 + - 0.0024329356385093728 + - -0.2760702147969337 + - 0.10001912154588567 + - - 0.013800488679102824 + - -0.9991344673547434 + - 0.039241083776712496 + - -0.08980899816916964 + - - -0.2757357959824299 + - -0.04152585902701936 + - -0.9603360733857724 + - 0.9736629431148023 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9797879681824604 + - -0.0028820317646987073 + - 0.20001807742749947 + - 0.012965364078060305 + - - 0.03181736995638158 + - -0.9849218393183462 + - -0.17004889121315722 + - -0.09336568071621557 + - - 0.19749225902284032 + - 0.1729759067808945 + - -0.9649228690933708 + - 0.9727881532998577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999850765424682 + - -0.004696168361225439 + - -0.0027915399114013155 + - 0.05449229714452905 + - - -0.004419134991168449 + - -0.9957401684625985 + - 0.09209770983041447 + - -0.09350597551676673 + - - -0.0032121547726957243 + - -0.09208399922245132 + - -0.9957460615784113 + - 0.9754802216915155 + - - 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: + - - 0.9999231985406435 + - -0.012319020727836218 + - 0.0013560046297342112 + - 0.023930762931109684 + - - -0.0121994738951356 + - -0.9976465935585761 + - -0.06747182521357385 + - -0.03453920662516373 + - - 0.0021840002130549528 + - 0.06745010073584988 + - -0.9977202584160517 + - 0.9690530078695371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999475441680054 + - -0.010231896278891258 + - 0.0004660589159266095 + - 0.09184336435493365 + - - -0.010231834162879067 + - -0.9999476442383068 + - -0.00013546927358952575 + - -0.03376618734238643 + - - 0.00046742062261341695 + - 0.00013069352989817761 + - -0.9999998822185746 + - 0.9683659846527858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9563956829448839 + - 0.01606014478791532 + - -0.29163225026354755 + - 0.10002727164592781 + - - 0.012704742377941612 + - -0.9998295565347307 + - -0.013395797873740765 + - -0.08985236529245888 + - - -0.29179768190563027 + - 0.009106570647350154 + - -0.956436711552597 + - 0.97374834503121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9905028379934386 + - 0.007008998152291238 + - 0.13731351671210326 + - 0.01293047645713604 + - - 0.02572954875424536 + - -0.9905061077263885 + - -0.1350394049069513 + - -0.0932587082492567 + - - 0.1350633860372484 + - 0.13728992862414127 + - -0.9812794491125002 + - 0.9718334037754226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874179011836807 + - -0.0038128084714972865 + - 0.1580865298296307 + - 0.054484491237853816 + - - -0.020296342112381092 + - -0.994496360854416 + - 0.10278641322752796 + - -0.0933771803089353 + - - 0.1568245737085621 + - -0.10470172271210548 + - -0.9820608954348221 + - 0.974582043368514 + - - 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: + - - 0.999828207176258 + - -0.013268590999253625 + - -0.012942203351986752 + - 0.023917115088780288 + - - -0.013565305646209894 + - -0.9996407904751843 + - -0.023114335397633932 + - -0.03451248615066619 + - - -0.012630859726659838 + - 0.023285929464892156 + - -0.9996490518534603 + - 0.9689750768582737 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999563352981233 + - -0.007984972003251998 + - -0.004854659540513035 + - 0.09189076081986608 + - - -0.008142419685459186 + - -0.9994113226064545 + - -0.033327304836783804 + - -0.03378617769684905 + - - -0.00458568411612261 + - 0.03336537828536263 + - -0.9994327006022279 + - 0.9689264915204117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9618765519333042 + - 0.009054441304043955 + - -0.2733340738612166 + - 0.10005230629287112 + - - 0.012939956795315703 + - -0.9998391900309478 + - 0.012415780136322241 + - -0.08977851815145439 + - - -0.27317770106476985 + - -0.015479378893539423 + - -0.9618390366740358 + - 0.9735654486246798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978252230045085 + - 0.02405563841470691 + - 0.06136897095816153 + - 0.012761368982628061 + - - 0.03352520186425337 + - -0.9868246623093619 + - -0.15828185839816017 + - -0.09321048232007018 + - - 0.0567528428888268 + - 0.15999503779328605 + - -0.9854850088690145 + - 0.9708827228276307 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9775401858689408 + - -0.029737277497907073 + - 0.20864055056083725 + - 0.0544663514162413 + - - 0.018104657034326548 + - -0.9744858183500791 + - -0.22371770432454838 + - -0.09346886064663004 + - - 0.20997001310898233 + - 0.22247041187894875 + - -0.952060664786349 + - 0.9745858469615829 + - - 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: + - - 0.9998653473179189 + - -0.013553275534988469 + - -0.009251808206516651 + - 0.02391359364800144 + - - -0.013981041549092675 + - -0.9987564836234528 + - -0.04785412100664894 + - -0.03452508416849787 + - - -0.008591723344011377 + - 0.0479770272358463 + - -0.998811487292568 + - 0.9689223777194143 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999767089363189 + - -0.009285727882963377 + - -0.019481844982979713 + - 0.09185347912868719 + - - -0.009527022897780728 + - -0.9998786010356758 + - -0.012329599573611162 + - -0.03378930988291517 + - - -0.019364990600629194 + - 0.012512331861966711 + - -0.9997341840161384 + - 0.9686425553840466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.959307522186567 + - 0.0017812580055277059 + - -0.2823577606445184 + - 0.100066784519004 + - - 0.020668978897104742 + - -0.9977404250233558 + - 0.06392837856198287 + - -0.08982249814965498 + - - -0.2816058791780109 + - -0.06716302103189593 + - -0.9571767116986541 + - 0.973841905591539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9781578593460838 + - -0.0006363647818746904 + - 0.20786244788164893 + - 0.0127256065542108 + - - 0.020451726443050332 + - -0.9948486099376376 + - -0.09928731132752693 + - -0.09311585364290667 + - - 0.2068548502815089 + - 0.10136980983022022 + - -0.9731059719115899 + - 0.9714318489436491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960298705217043 + - -0.005739730563787028 + - 0.08883441068399069 + - 0.05446382773856101 + - - -0.010965542819374946 + - -0.9982300679167034 + - 0.058450734620624764 + - -0.09337304046873927 + - - 0.0883416883424425 + - -0.059192795170268625 + - -0.9943299045592152 + - 0.9742429573191987 + - - 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: + - - 0.9998459348330437 + - -0.012770312971438437 + - 0.012042661850617777 + - 0.023954630402610106 + - - -0.011784925427742636 + - -0.9968350511202795 + - -0.07861931308967149 + - -0.03457412611345374 + - - 0.013008540675239426 + - 0.0784652787202133 + - -0.9968319707477582 + - 0.9694373062409498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999445441350724 + - -0.010425571617977665 + - 0.0014886607876198302 + - 0.0918627354446961 + - - -0.010431039291712041 + - -0.9999386993815765 + - 0.003713609884761094 + - -0.03376022572630009 + - - 0.0014498530259781195 + - -0.003728932222480624 + - -0.9999919964633135 + - 0.9685354223961571 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9667700572772371 + - 0.00533706213532514 + - -0.25559180761505507 + - 0.09998552013747375 + - - 0.01890431041713815 + - -0.9985373065058096 + - 0.05065446242706177 + - -0.08967435531901825 + - - -0.2549476091274835 + - -0.05380300441319062 + - -0.9654568624834015 + - 0.9729213641571328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9891267933437499 + - -0.0034807785381427286 + - 0.14702404861205207 + - 0.01286603856341547 + - - 0.020622139224988983 + - -0.9865595998469884 + - -0.16209529087402785 + - -0.09304704276280798 + - - 0.14561220437619857 + - 0.16336474567824888 + - -0.9757607523395198 + - 0.9710805116881203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899921480036149 + - -0.00436857677319015 + - 0.14105482064844682 + - 0.05446976423056331 + - - -0.021148208218378605 + - -0.9928263627524294 + - 0.11767993334860895 + - -0.09340696779204742 + - - 0.13952885070959647 + - -0.119485266709991 + - -0.9829826910271111 + - 0.9743269578572888 + - - 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: + - - 0.9998631176695663 + - -0.014143889914631981 + - -0.008584655041295524 + - 0.023926816591324965 + - - -0.01446325737078874 + - -0.999159447516254 + - -0.03835638962728315 + - -0.03447932089969448 + - - -0.008034930635767436 + - 0.03847530139058564 + - -0.9992272469626624 + - 0.9686626768105848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999966826894535 + - -0.00811337928450385 + - 0.000719852110403566 + - 0.09188951330911461 + - - -0.008093681619215027 + - -0.9996769103718863 + - -0.024094961862752673 + - -0.03379539429109665 + - - 0.0009151110980910861 + - 0.0240883363042471 + - -0.9997094150930923 + - 0.968929830029636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9768564602420102 + - 0.004804225865758991 + - -0.21384194045434754 + - 0.0999176014600969 + - - 0.011146393087911138 + - -0.9995327169656678 + - 0.028462354722709048 + - -0.08966514329415473 + - - -0.21360527616278516 + - -0.030187201411563863 + - -0.9764535415811442 + - 0.9721487607035622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9966713100724387 + - 0.01929882884534373 + - 0.0792076693489129 + - 0.0128029232024277 + - - 0.033633192469155124 + - -0.982378369992178 + - -0.18385196908340007 + - -0.09330973243226597 + - - 0.07426377342164453 + - 0.18590398967399502 + - -0.9797574182319158 + - 0.9716472677529167 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975137477410222 + - -0.004735015932780394 + - 0.07031289136265646 + - 0.054388814298362356 + - - -0.0006914582621819878 + - -0.9983497920759971 + - -0.057421377093255295 + - -0.09331737804505795 + - - 0.07046875160758899 + - 0.05722999463507295 + - -0.9958709167160864 + - 0.9733947209700963 + - - 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: + - - 0.9997624063025389 + - -0.012444966277477938 + - -0.017895635180393586 + - 0.023921520185681028 + - - -0.013094726703361387 + - -0.9992419389978503 + - -0.03666163499329644 + - -0.034522635487495554 + - - -0.017425816386085844 + - 0.03688726287175372 + - -0.9991674888431417 + - 0.9689826767173214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999093720617764 + - -0.010169493438487527 + - -0.008822078339504547 + - 0.09185743151755756 + - - -0.010113826754711707 + - -0.9999288071270234 + - 0.006331760095283895 + - -0.03378205987731167 + - - -0.008885841063144998 + - -0.006241961288978889 + - -0.9999410381356832 + - 0.9687235376094798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9642492333179491 + - 0.011624544124306281 + - -0.26474192342666375 + - 0.0999264192581506 + - - 0.008362331382258757 + - -0.9998746306321431 + - -0.0134459820053783 + - -0.08967330307857532 + - - -0.2648650363101946 + - 0.010751418145422631 + - -0.9642255542912466 + - 0.972794006709831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9777807821669625 + - 0.012855655258797966 + - 0.2092354514723304 + - 0.012734069537377367 + - - 0.011561715822822859 + - -0.9999057337199507 + - 0.007406105670253337 + - -0.09302594864283158 + - - 0.20931093796597272 + - -0.004822426965088356 + - -0.9778372438427423 + - 0.9708285821451155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991647890723843 + - -0.0048714076782076544 + - 0.04057084747907566 + - 0.05431646935208958 + - - -0.01642123119100614 + - -0.9570360786780859 + - 0.28950351858767576 + - -0.09309624123772046 + - - 0.03741747511670512 + - -0.28992794535143707 + - -0.9563167461987611 + - 0.9715178347735036 + - - 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: + - - 0.9999212844861736 + - -0.01254028603149557 + - 0.0004075018637704981 + - 0.02395313898507204 + - - -0.012503731608003018 + - -0.998646874186705 + - -0.05047848425813681 + - -0.034525617170743816 + - - 0.0010399650935130464 + - 0.05046941552437691 + - -0.9987250655556976 + - 0.9686788820488754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996457063743361 + - -0.010622717260654531 + - -0.024405319202066955 + - 0.09186112181940427 + - - -0.010176021794029344 + - -0.9997797459419878 + - 0.0183550588291309 + - -0.03378298681311242 + - - -0.024594924431720164 + - -0.018100206688698574 + - -0.9995336273532889 + - 0.9684299759603828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9618793332496033 + - 0.00023647536255960375 + - -0.27347411641086194 + - 0.1000106595714399 + - - 0.01752625855090969 + - -0.9979972192775292 + - 0.060781416366564894 + - -0.08977304175220387 + - - -0.2729120344149474 + - -0.0632573663198363 + - -0.9599570443919729 + - 0.973273764537932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9925704446618291 + - 0.01628000769543577 + - 0.12057725213843422 + - 0.01277556473459652 + - - 0.031643607011268046 + - -0.9914461652634017 + - -0.12662220784606354 + - -0.09330610761136662 + - - 0.11748444373250196 + - 0.12949696032699703 + - -0.9845953192794146 + - 0.9718634511461327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910175364758637 + - -0.0007209268770430252 + - 0.1337300364979697 + - 0.05442547518749301 + - - -0.021514751355776855 + - -0.9878191782103148 + - 0.1541116044754482 + - -0.09330319903143101 + - - 0.13198999155772925 + - -0.1556044710936541 + - -0.9789616390361036 + - 0.9735471737426111 + - - 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: + - - 0.9999080957831455 + - -0.012281133414580356 + - -0.005742277368519847 + - 0.02392097364743497 + - - -0.01274870907216413 + - -0.9958515590535113 + - -0.09009518715051021 + - -0.03456280199568512 + - - -0.0046119848565511785 + - 0.09016011364647572 + - -0.9959166046928521 + - 0.9694074226984806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999662492834068 + - -0.008143888974646962 + - -0.0010850651796171045 + - 0.09184550234213452 + - - -0.00815583473596002 + - -0.99990059201079 + - -0.011501671888528407 + - -0.03378815438067485 + - - -0.0009912889765864438 + - 0.011510133311142852 + - -0.999933264861873 + - 0.968513478339373 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.845876693725586 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.992553476452178 + - 0.014394793839615408 + - 0.12095613375522042 + - 0.012923480674223446 + - - 0.02016905326426973 + - -0.9987076313528754 + - -0.0466505773592591 + - -0.09310200174354412 + - - 0.12012828839669219 + - 0.048742763440783064 + - -0.9915610608222961 + - 0.9704992696862248 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959851592758008 + - -0.0022260004468938497 + - 0.08949082312934742 + - 0.05434360726288007 + - - -0.012772681589439182 + - -0.9929962660512326 + - 0.11745328523853699 + - -0.09317100609213824 + - - 0.08860260214786311 + - -0.11812476679477829 + - -0.9890379761982385 + - 0.9721407843989522 + - - 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: + - - 0.9998631658853181 + - -0.012101803939668218 + - -0.011278113636356819 + - 0.02391273104849452 + - - -0.012508643775145078 + - -0.9992469486728196 + - -0.036729680082553263 + - -0.03454309782816647 + - - -0.01082512525078907 + - 0.03686572811522942 + - -0.9992615947557674 + - 0.9691516363283762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999065412171548 + - -0.009013775067621 + - -0.010279138591176067 + - 0.09185338593082927 + - - -0.00925101726187957 + - -0.9996863937328572 + - -0.02327085870817628 + - -0.03374293986935615 + - - -0.01006615670286715 + - 0.02336377633058987 + - -0.9996763508480172 + - 0.9684898636432107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9682442361664928 + - -0.0014476066843088818 + - -0.2500020071224479 + - 0.10003802053006176 + - - 0.013816529286225912 + - -0.998145161127658 + - 0.05929030979784405 + - -0.08977405694962236 + - - -0.2496241227302518 + - -0.06086166077531079 + - -0.9664282982191814 + - 0.973498230077428 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9847018974400364 + - 0.015433412887706143 + - 0.1735626196639974 + - 0.012815293929052904 + - - 0.027709863478860633 + - -0.9972639519972984 + - -0.06853301038706286 + - -0.09326175010403857 + - - 0.17203004575938102 + - 0.07229398186134131 + - -0.9824353635444205 + - 0.9712769210351542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976933416890397 + - -0.006162652658131298 + - 0.06760190575399717 + - 0.054502417017242094 + - - -0.004162936013810248 + - -0.9995507276071695 + - -0.029681861527265506 + - -0.09350452139303644 + - - 0.06775445308687843 + - 0.029331973206623348 + - -0.9972707603427992 + - 0.9755351774215745 + - - 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: + - - 0.9999061221368675 + - -0.013690299756859039 + - -0.000567983960340654 + - 0.023929530220788215 + - - -0.013702044884164816 + - -0.9991340467623595 + - -0.03928626434598562 + - -0.03450692374058237 + - - -2.965137756752239e-05 + - 0.03929035877715644 + - -0.9992278352948127 + - 0.9687868157214283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999612666164742 + - -0.008628092490579883 + - -0.001738184901145818 + - 0.09188166595373527 + - - -0.00866043267043123 + - -0.9997714227851973 + - -0.01954735501348827 + - -0.033790817407659185 + - - -0.0015691312046797246 + - 0.01956165131159475 + - -0.9998074212693294 + - 0.9688594721669722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9665609684799796 + - 0.003420765330419776 + - -0.256414103698681 + - 0.09991704684447397 + - - 0.012904839681359479 + - -0.9992929488054532 + - 0.035313844034600306 + - -0.08970570812519883 + - - -0.25611200542700485 + - -0.037441966191105194 + - -0.9659217048207902 + - 0.972694416919017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9930994843302026 + - 0.009181946107321365 + - 0.11691495237465577 + - 0.012919224041572848 + - - 0.027842718576291163 + - -0.9868864894872499 + - -0.1589963518129085 + - -0.09327160866900278 + - - 0.11392189098398617 + - 0.16115442511211092 + - -0.9803321141436806 + - 0.9716764968150199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933853679867191 + - -0.0030056718425765794 + - 0.11478883485193861 + - 0.05432616733922785 + - - -0.008387645601130691 + - -0.9988862523495546 + - 0.04643169465281392 + - -0.09319426586266544 + - - 0.11452143061960379 + - -0.04708737414463731 + - -0.9923041978773458 + - 0.9723305109112633 + - - 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: + - - 0.9995275943936767 + - -0.010949018392169777 + - -0.028717713032863693 + - 0.02391910917482911 + - - -0.01261364044155833 + - -0.9982112618223283 + - -0.058439480198627866 + - -0.0345400570475177 + - - -0.028026489619662778 + - 0.058774107967051806 + - -0.9978778082071351 + - 0.9691476257654195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996279152431402 + - -0.00997662790540973 + - -0.025386964416608985 + - 0.09185080413783582 + - - -0.009559493264119168 + - -0.9998181713015745 + - 0.016499709806843888 + - -0.03377755676841618 + - - -0.025546959803202245 + - -0.016250884000995145 + - -0.9995415257076622 + - 0.9685499934588682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9728505049034138 + - 0.015545557637568904 + - -0.23091173800157871 + - 0.10004622001433704 + - - 0.005498942043661985 + - -0.9990124942480011 + - -0.04408852427546579 + - -0.08975350054566548 + - - -0.23136909202737765 + - 0.041621772837361376 + - -0.9719752935544721 + - 0.9736275480116545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9915439816240557 + - 0.006460152018806373 + - 0.12961018069969735 + - 0.012737200040157957 + - - 0.026687264553641534 + - -0.9875633755285708 + - -0.1549398890707589 + - -0.09308311686603196 + - - 0.12699733231748703 + - 0.1570886557027879 + - -0.9793849252636743 + - 0.9709945336521033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999773700965556 + - -0.0016516945380606783 + - -0.006521594891529509 + - 0.05438348100435606 + - - -0.0017507627387449048 + - -0.9998827212357091 + - -0.015214420925742824 + - -0.09327978637256196 + - - -0.006495700470996619 + - 0.015225494390199592 + - -0.9998629857115248 + - 0.9731265298837755 + - - 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: + - - 0.9998083730647103 + - -0.011786025892707275 + - -0.015630314883381617 + - 0.023928995456023082 + - - -0.012506465599749255 + - -0.9988247995792396 + - -0.046825292991003686 + - -0.034548035079066286 + - - -0.015060062015128483 + - 0.04701179999901603 + - -0.9987807993713897 + - 0.9691824303321692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996504897368879 + - -0.007685928623483842 + - -0.02529475973388549 + - 0.09182493013618884 + - - -0.008603968842076551 + - -0.9993007241172494 + - -0.0363872848520816 + - -0.03377211987791198 + - - -0.02499740164426813 + - 0.03659220244719718 + - -0.9990175877486338 + - 0.9685615016541917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9733660788601165 + - 0.010212097434020722 + - -0.22902879642193372 + - 0.09998991311393671 + - - 0.008254363859379912 + - -0.999920763238555 + - -0.00950435277663949 + - -0.08971663358228299 + - - -0.22910770829842994 + - 0.007360727574358351 + - -0.9733732468523151 + - 0.9731588416516753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9934418979296928 + - 0.010186038408675616 + - 0.11388344945331948 + - 0.01274856944408384 + - - 0.02301486090900559 + - -0.9934519023189337 + - -0.11190904322811077 + - -0.09306976024090638 + - - 0.11199781968944268 + - 0.11379614404903632 + - -0.9871711735987747 + - 0.9713385081387953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996048050451125 + - -0.0062316213581243545 + - 0.027411687762185513 + - 0.054392486959880186 + - - -0.009354200666563383 + - -0.9932860180385421 + - 0.11530561694482386 + - -0.0933347582296501 + - - 0.026509105239752015 + - -0.11551646317467373 + - -0.992951768252115 + - 0.9738011162411315 + - - 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: + - - 0.9999146449707382 + - -0.012431167098234306 + - -0.004021051804993242 + - 0.02392344962647441 + - - -0.012585954563972018 + - -0.9990764996954412 + - -0.041082131201026176 + - -0.03452472033153926 + - - -0.003506639524715143 + - 0.04112923340983239 + - -0.9991476815958504 + - 0.9690226383117555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999457519169123 + - -0.009861495618379519 + - -0.003353226429822167 + - 0.09185406811961869 + - - -0.009834117022727202 + - -0.999918953350127 + - 0.008085596673676932 + - -0.0337617855958157 + - - -0.0034326907382232143 + - -0.008052182024442191 + - -0.9999616887655949 + - 0.9685403164860095 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9664332546521522 + - 0.004145429228978959 + - -0.25688437032827777 + - 0.09998669006271181 + - - 0.01614156796308831 + - -0.9988741737881043 + - 0.04460756351590898 + - -0.08972805262060553 + - - -0.2564102456731034 + - -0.04725674931309156 + - -0.965412132489653 + - 0.9729100931995225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9874380301987578 + - 0.0008638202195538711 + - 0.15800439972299954 + - 0.012749462448232276 + - - 0.02646810655589383 + - -0.9867595040073617 + - -0.16001600103268404 + - -0.0931706469614634 + - - 0.15577411804450372 + - 0.16218796214816433 + - -0.9743867246025487 + - 0.9721979940090888 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990506115991543 + - -0.00338969186247016 + - 0.04343253909723996 + - 0.05448733284731272 + - - -0.0011653309948185526 + - -0.9986909440540499 + - -0.051137464427790505 + - -0.09347325165428078 + - - 0.043549023720725236 + - 0.05103830182822042 + - -0.9977467485687256 + - 0.9749945509742343 + - - 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: + - - 0.9998912520806422 + - -0.011449701382053378 + - -0.009294533386215912 + - 0.023949384484594653 + - - -0.012061468006317147 + - -0.9975660130967625 + - -0.0686772924900384 + - -0.03454916183407073 + - - -0.008485576122943284 + - 0.06878192969444447 + - -0.9975956300753177 + - 0.9692106701478879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996257192606212 + - -0.009862792337646274 + - -0.025517576687257876 + - 0.09183505855170135 + - - -0.009712046204742121 + - -0.9999346871454123 + - 0.006024749117087373 + - -0.03378471718261026 + - - -0.025575330910910514 + - -0.005774666285713559 + - -0.9996562187462681 + - 0.9685648920729459 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9659527202829225 + - 0.007258039027340435 + - -0.25861682669056907 + - 0.10002245764020479 + - - 0.01197389028188668 + - -0.9997894392512106 + - 0.016664426580819822 + - -0.08984252363579512 + - - -0.2584414210793997 + - -0.019193697695540527 + - -0.9658362355178195 + - 0.9735913081961378 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9735573352674153 + - 0.0044870944794417715 + - 0.22839873233041844 + - 0.012835176741463603 + - - 0.03527453060210742 + - -0.9907685774772126 + - -0.1308943595980397 + - -0.09336662932309192 + - - 0.22570295177026498 + - 0.13548982200487425 + - -0.9647282963069325 + - 0.9723788728225038 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999951208614319 + - -0.000469730557231602 + - 0.009867104132731721 + - 0.05448878571910835 + - - -0.00023201202339629507 + - -0.9997100230322478 + - -0.024079369162895266 + - -0.09353336451946243 + - - 0.009875553715289491 + - 0.02407590501031259 + - -0.9996613547780819 + - 0.9754284904438923 + - - 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: + - - 0.9999193941005492 + - -0.012688509825714326 + - 0.0004549944980784264 + - 0.023926910517947115 + - - -0.012655430155153772 + - -0.9989175947146042 + - -0.044760239690809646 + - -0.03453150420065291 + - - 0.0010224427507470465 + - 0.044750873600338324 + - -0.9989976546132773 + - 0.9691857228267389 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9621895300711929 + - -0.007603346029078084 + - -0.27227467262038707 + - 0.0999683312960299 + - - 0.018789851588829405 + - -0.9953761983115635 + - 0.09419748039140191 + - -0.08974688744437041 + - - -0.2717319445678896 + - -0.0957518300816276 + - -0.957597690753989 + - 0.9729974207230672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9932357148209112 + - 0.01576753688677367 + - 0.1150399912409498 + - 0.012710574679527244 + - - 0.014587846070397223 + - -0.9998320963383044 + - 0.011089358808225907 + - -0.0929107138417844 + - - 0.11519552747923839 + - -0.009336161538631007 + - -0.9932989613084794 + - 0.9694074182428822 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9877497230326182 + - -0.00015527910136899775 + - 0.15604634099326603 + - 0.054375854181616445 + - - -0.03213733281389444 + - -0.9787650314028221 + - 0.20245050047515672 + - -0.09327892132765253 + - - 0.15270126551078406 + - -0.20498533896704207 + - -0.9667798789383092 + - 0.973019982640962 + - - 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: + - - 0.999916313068776 + - -0.012741036410635393 + - -0.002243401463898662 + - 0.023913547168001842 + - - -0.01279166504423687 + - -0.9996247715167271 + - -0.02422167367312753 + - -0.03450463036633403 + - - -0.0019339504495741442 + - 0.02424834347567466 + - -0.9997040950573047 + - 0.9686945367729672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999255932921972 + - -0.007375627281510416 + - -0.009716378000653144 + - 0.0918792167008164 + - - -0.0077521290443759725 + - -0.9991974223500729 + - -0.039299054241155255 + - -0.03381444367662066 + - - -0.009418724676232953 + - 0.039371452744014414 + - -0.9991802521739004 + - 0.9690113451445188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9703889442804521 + - 0.005736635002917959 + - -0.24147958058004224 + - 0.09994904502761735 + - - 0.010493625734278249 + - -0.9997753067177599 + - 0.018417923236851503 + - -0.08967950656751603 + - - -0.24131966483736608 + - -0.020406545426724185 + - -0.970231102504207 + - 0.9726753549282949 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9947446294950999 + - 0.005691597147181395 + - 0.10222880128697 + - 0.012806765350025461 + - - 0.010133877983827214 + - -0.9990242065374026 + - -0.04298766415289507 + - -0.09292095737626238 + - - 0.10188437862432838 + - 0.04379772224930647 + - -0.9938316421397073 + - 0.9703384952230287 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983143360859162 + - -0.0042055359624038995 + - 0.057886093602912365 + - 0.05441948805798868 + - - -0.007016523994899562 + - -0.9988012820590557 + - 0.04844344484257083 + - -0.09330078236863133 + - - 0.057612973854551226 + - -0.04876794464046164 + - -0.9971471470245398 + - 0.9735029488162126 + - - 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: + - - 0.9998774041260076 + - -0.01178937168146085 + - -0.010304728700597355 + - 0.023933983092166662 + - - -0.01266346238854997 + - -0.9959206182928058 + - -0.08934068938400308 + - -0.03457222238235814 + - - -0.009209421185412585 + - 0.08946023012842919 + - -0.995947816799052 + - 0.9691845198350554 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996515653471965 + - -0.009666415992567186 + - -0.024562335002161106 + - 0.09185704576137474 + - - -0.009352118590798843 + - -0.9998733301361734 + - 0.012878725102365257 + - -0.03374990844071968 + - - -0.0246837148088245 + - -0.012644527838448523 + - -0.9996153410882503 + - 0.9682398942761721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9737654676470061 + - 0.010607958413745155 + - -0.2273065886341609 + - 0.09991523662403357 + - - 0.006049552463929837 + - -0.9997665731950277 + - -0.020741312322449235 + - -0.08966431402501457 + - - -0.22747355216198992 + - 0.01882207055994312 + - -0.9736023380860601 + - 0.9726041074357383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988007353934389 + - 0.00842312307859979 + - 0.048230094081686055 + - 0.012849967734826542 + - - 0.014344382625543153 + - -0.9922065688606014 + - -0.12377545555143653 + - -0.09299256939645464 + - - 0.04681164026839419 + - 0.12431884695200636 + - -0.9911374751405111 + - 0.9709443302226068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997754575512254 + - -0.0042210208577822626 + - 0.02076577619921846 + - 0.054372661501980724 + - - -0.0045283805616755865 + - -0.9998805661870838 + - 0.014776573719407281 + - -0.09327188396624234 + - - 0.020700923837512653 + - -0.014867291088648475 + - -0.9996751649450728 + - 0.9730954634841494 + - - 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: + - - 0.9998750320963605 + - -0.012946186476065873 + - -0.009072841122220161 + - 0.023917687332591774 + - - -0.013413308852345193 + - -0.9984793154082447 + - -0.0534709252539634 + - -0.03451856130886852 + - - -0.008366799623136566 + - 0.05358593992466935 + - -0.9985281887390343 + - 0.9689447447386835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997932304495288 + - -0.011080791586957253 + - -0.01705029046971813 + - 0.09184450064962102 + - - -0.010628833807284192 + - -0.9995956527221992 + - 0.02637345162805297 + - -0.03375788059568579 + - - -0.017335634952100148 + - -0.026186773697546906 + - -0.9995067426706638 + - 0.9683008730093736 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9693586983474038 + - 0.005789494772967446 + - -0.2455813423053568 + - 0.09999517245864933 + - - 0.010687628629740278 + - -0.999769564610209 + - 0.018616988837767297 + - -0.0897758544364009 + - - -0.24541696871345267 + - -0.02067122225187903 + - -0.9691971997679901 + - 0.9731332733652197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9916991264960772 + - 0.008216537078204623 + - 0.12831730602440197 + - 0.012904333053485142 + - - 0.021658770835172814 + - -0.9943709881958929 + - -0.10371709348142152 + - -0.09316698713218907 + - - 0.12674281104988563 + - 0.10563534613360698 + - -0.9862948005005435 + - 0.9707705819747016 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9803607908482525 + - -0.008999301004081457 + - 0.1970069347734415 + - 0.054300801677071936 + - - -0.013445751533747748 + - -0.9996839004347908 + - 0.021244080991566085 + - -0.0930792693568794 + - - 0.1967534790876182 + - -0.023475770337124995 + - -0.9801719015937954 + - 0.9710605704173307 + - - 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: + - - 0.999832630064697 + - -0.01327338564432014 + - -0.012590833627988934 + - 0.023913289931113746 + - - -0.013883756777701763 + - -0.9986678246569163 + - -0.04969725639068219 + - -0.0345073708762056 + - - -0.011914409580342674 + - 0.04986374663581486 + - -0.9986849621456168 + - 0.968698355045743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999479960430514 + - -0.009962355944150797 + - -0.002180979946667483 + - 0.09185140693354149 + - - -0.009967982796467887 + - -0.9999469784879063 + - -0.0025844790336858126 + - -0.03376993300829835 + - - -0.0021551168077490923 + - 0.0026060846011372327 + - -0.9999942818809496 + - 0.9684577425511898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9692574877730733 + - -0.010374053466136379 + - -0.24582982205280218 + - 0.09984685317616332 + - - 0.017540963179572978 + - -0.9936552154762168 + - 0.1110928772138251 + - -0.08959769013972557 + - - -0.2454225682502803 + - -0.1119896949348238 + - -0.9629257869752172 + - 0.9721488462276475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9949239385738228 + - 0.00652318169631045 + - 0.10041814852559784 + - 0.012723609498499452 + - - 0.026527340553408336 + - -0.9796012145359112 + - -0.19919277266741353 + - -0.09307447097649907 + - - 0.09707036960842173 + - 0.20084548434138444 + - -0.974801741260119 + - 0.9711832891589742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9895359120088232 + - -0.007248090698061315 + - 0.14410462874626667 + - 0.05437254628986088 + - - -0.016168631937273283 + - -0.9980172460038933 + - 0.06082887488751959 + - -0.09326999383438282 + - - 0.14337801151551677 + - -0.0625223308909481 + - -0.9876910974357415 + - 0.9731890285079619 + - - 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: + - - 0.9997217569205712 + - -0.011685138668194352 + - -0.020490638690665638 + - 0.023920410599063486 + - - -0.013399548854787089 + - -0.9962367169650254 + - -0.08563209597595822 + - -0.03456673129839213 + - - -0.019412903701778065 + - 0.08588283475207731 + - -0.9961160965795165 + - 0.969444293776503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998896429315274 + - -0.009673698720596058 + - 0.011274817573944867 + - 0.09191014918924638 + - - -0.009739433439158769 + - -0.999935807769179 + - 0.0057899721315052746 + - -0.03381183450600491 + - - 0.011218083372251865 + - -0.005899143502454397 + - -0.9999196741295725 + - 0.9689725230764147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9653987727116999 + - 0.00549727261994627 + - -0.26072013662255833 + - 0.09993428558904359 + - - 0.013632933222251814 + - -0.9994745662238785 + - 0.029406370115118673 + - -0.0897232454615495 + - - -0.26042149062337605 + - -0.03194325383131329 + - -0.9649664635396232 + - 0.9726285037652704 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957097570083091 + - 0.011489513345230185 + - 0.09181541745014098 + - 0.012821815596145045 + - - 0.014398984785081306 + - -0.9994129019387654 + - -0.031088915637170002 + - -0.09293652361750393 + - - 0.09140431628546254 + - 0.03227758543363884 + - -0.9952906150682632 + - 0.9700927363760443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940247955813591 + - -0.004479439478114567 + - 0.10906255265396557 + - 0.054375868607709106 + - - -0.015351635034092422 + - -0.9949636846562058 + - 0.09905348816233862 + - -0.09324814619099317 + - - 0.1080695751412817 + - -0.10013591182641939 + - -0.9890873399712862 + - 0.9730813707888608 + - - 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: + - - 0.9995936279072577 + - -0.012700064244102529 + - -0.025520333371696274 + - 0.02390805561151904 + - - -0.013708525600237558 + - -0.9991161102720463 + - -0.03973757064446844 + - -0.034523289619527484 + - - -0.02499310651108576 + - 0.040071268548077646 + - -0.9988841965232373 + - 0.9689722828685465 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997340514010444 + - -0.008272390889938102 + - -0.021526588634009084 + - 0.09185766663113629 + - - -0.00848411262499574 + - -0.9999163513781972 + - -0.009762688127768563 + - -0.033776309184811594 + - - -0.02144402719220827 + - 0.00994272575694183 + - -0.9997206089214636 + - 0.9687112815879587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9678157226446014 + - -0.004627823977875036 + - -0.25161738860249266 + - 0.09992235252287256 + - - 0.01600373639289044 + - -0.9966754004526572 + - 0.0798875869832187 + - -0.08967179917695386 + - - -0.2511505672368169 + - -0.08134328108555904 + - -0.9645240604561713 + - 0.9724115787653207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9912379303900886 + - 0.019902366746632524 + - 0.1305804776904135 + - 0.012887669765995053 + - - 0.01618917089602878 + - -0.9994355467426326 + - 0.029436349178436388 + - -0.09303963738394194 + - - 0.1310926241314637 + - -0.027064436168858088 + - -0.9910006257279503 + - 0.9699000117155088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979891317118633 + - -0.004865291639266507 + - 0.06319827467792113 + - 0.054278217209302385 + - - -0.012699909156071316 + - -0.9921800868659635 + - 0.1241667730678244 + - -0.0930827395708614 + - - 0.06209996209683722 + - -0.12471970238865211 + - -0.9902467321550006 + - 0.971468194850339 + - - 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: + - - 0.9998792422050472 + - -0.013642833444896883 + - 0.007441377765939919 + - 0.023936170369583863 + - - -0.01320897151222828 + - -0.99836967861389 + - -0.05552934265761864 + - -0.03452348618263997 + - - 0.008186823501808483 + - 0.0554243441097221 + - -0.9984293254912725 + - 0.9688074385431159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999870695935393 + - -0.00973611536138809 + - -0.012798416595132256 + - 0.09181727674493333 + - - -0.009819262074999582 + - -0.9999309878348797 + - -0.006449934872889186 + - -0.033760693621244724 + - - -0.012734736038697021 + - 0.006574771876786299 + - -0.9998972941621521 + - 0.9683344600830636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.975506851592035 + - 0.0019341089094264702 + - -0.2199605458252045 + - 0.0998695252806079 + - - 0.012681235511294525 + - -0.9987927398540861 + - 0.0474578663729685 + - -0.08962442589207864 + - - -0.21960320754238197 + - -0.049084845293572314 + - -0.9743536879386269 + - 0.9717851499259058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9919194431121022 + - 0.0020299710609222683 + - 0.12685305512154157 + - 0.012863702202368467 + - - 0.011758792295105427 + - -0.9970390917757428 + - -0.07599197506818178 + - -0.09301305046756084 + - - 0.12632319335710926 + - 0.07686955631779341 + - -0.9890063306832614 + - 0.9712934152910748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976656659730865 + - -0.005732824705685769 + - 0.0680467020462533 + - 0.054375865383725616 + - - -0.005293639298281133 + - -0.9999639914216337 + - -0.006632740240230286 + - -0.09325829310322434 + - - 0.06808227611836568 + - 0.006257042512925365 + - -0.9976600889569222 + - 0.9729983068435307 + - - 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: + - - 0.9998966717096404 + - -0.013215890397355566 + - -0.005655629495369068 + - 0.023916720659502955 + - - -0.01341092150038619 + - -0.9992632006754072 + - -0.035961131245432085 + - -0.034505033793664576 + - - -0.005176204062272185 + - 0.03603326264641876 + - -0.9993371857859387 + - 0.9688801341912784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999314560484389 + - -0.009675943271318344 + - -0.0065923688200105615 + - 0.09185717332912414 + - - -0.00971528464085056 + - -0.9999350314509146 + - -0.00596205682674429 + - -0.03376341202235269 + - - -0.006534251999737337 + - 0.006025694903353824 + - -0.9999604964956041 + - 0.9685270742106216 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9695357024729864 + - 0.0015213789746066084 + - -0.24494531437900274 + - 0.09986726663852218 + - - 0.012213866777564728 + - -0.9990370796259216 + - 0.04213947069969851 + - -0.08965933448996576 + - - -0.24464534144052846 + - -0.043847450764285874 + - -0.9686206987117928 + - 0.9720650518548823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960347065889916 + - 0.005783274276751958 + - 0.08877734513276085 + - 0.012735755064573034 + - - 0.029373617165715557 + - -0.9633032492499188 + - -0.2668033744148485 + - -0.09326083801507595 + - - 0.08397650793396601 + - 0.2683531325011648 + - -0.9596533449074348 + - 0.9725852649918048 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9951444632448154 + - -0.008392052313280083 + - 0.09806666472945512 + - 0.05441337152485485 + - - -0.01468626373330316 + - -0.9978649458131794 + - 0.06363853844029732 + - -0.09329927074298154 + - - 0.09732322914260526 + - -0.06476977207951642 + - -0.9931430237856098 + - 0.9732979309587655 + - - 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: + - - 0.9999110770977907 + - -0.011842439320771916 + - -0.0061314376837595915 + - 0.023912890323179302 + - - -0.012293836416588315 + - -0.9967400249194344 + - -0.07973822364316957 + - -0.034539104441891615 + - - -0.005167154274662117 + - 0.07980651198078886 + - -0.9967969809154533 + - 0.9689073525780216 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999133547979029 + - -0.007853470456337225 + - -0.01056436929468396 + - 0.09188601365595922 + - - -0.00811339275068326 + - -0.999659754857397 + - -0.02479006608549693 + - -0.033806334876223317 + - - -0.010366086767733677 + - 0.024873631022461984 + - -0.9996368574261772 + - 0.9687984841775501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9624125627545708 + - 0.014556271786282505 + - -0.2712013532485841 + - 0.0999754863872854 + - - 0.007004997142607038 + - -0.999560905133281 + - -0.028791091402854074 + - -0.08981101965196392 + - - -0.27150136107800915 + - 0.025809143356944383 + - -0.9620919389808693 + - 0.973398111852413 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9839851891315641 + - -0.005662574844448848 + - 0.1781602728327817 + - 0.012929668859581387 + - - 0.03916833432871214 + - -0.9681978182915808 + - -0.24710084225137038 + - -0.09344032437201355 + - - 0.17389361447630683 + - 0.2501218101276924 + - -0.9524705197237401 + - 0.9733146934604207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998626023276113 + - -0.0021193940740039975 + - 0.01644033562358619 + - 0.054407839700152956 + - - -0.0020211084850092677 + - -0.9999800015343465 + - -0.005992633132457252 + - -0.09334996801465166 + - - 0.016452707593247497 + - 0.0059585820567881415 + - -0.9998468901350465 + - 0.9739289297457039 + - - 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: + - - 0.9999107591894733 + - -0.013096421540209565 + - 0.0026376883766535365 + - 0.023956237214981874 + - - -0.013018299601045214 + - -0.9995307296121577 + - -0.027728044223969458 + - -0.0345203589279193 + - - 0.0029995887432486927 + - 0.027691231533287116 + - -0.9996120238190127 + - 0.9688972814220811 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996199859280132 + - -0.007903180086976044 + - -0.026408776529623926 + - 0.09182177147380147 + - - -0.008394043846283648 + - -0.9997931001246585 + - -0.01852827490705818 + - -0.03376270518942061 + - - -0.02625688026376054 + - 0.01874291032998023 + - -0.9994795043177108 + - 0.9684814489429099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9701310429630465 + - 0.00888191862515076 + - -0.24241879259035962 + - 0.09989677149101332 + - - 0.010045886362351389 + - -0.9999431810734285 + - 0.003565780692540215 + - -0.08968873486062626 + - - -0.2423733476408376 + - -0.005894586184692716 + - -0.9701651479037396 + - 0.9724153674171732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972731895069774 + - 0.013050921586631544 + - 0.07263510815246174 + - 0.012893517161206961 + - - 0.02383986766208577 + - -0.9884412715683065 + - -0.14971811303340948 + - -0.09323092250674633 + - - 0.06984157930942325 + - 0.15104147147777042 + - -0.9860571117807511 + - 0.9711437895634892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934112330246178 + - -0.0055967559278153264 + - 0.11446745574001899 + - 0.05431098963298178 + - - -0.0085251410520057 + - -0.9996483639142639 + - 0.02510917150322293 + - -0.09313260782521102 + - - 0.11428667494748523 + - -0.02591958422929117 + - -0.9931096269208289 + - 0.9718347081969995 + - - 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: + - - 0.9999111706223203 + - -0.012983411159743132 + - 0.003013618980265144 + - 0.023927451540987372 + - - -0.012856788049875306 + - -0.9991644336549995 + - -0.03879610186506899 + - -0.034516640286978095 + - - 0.0035148066435780477 + - 0.03875391017099156 + - -0.9992426034656033 + - 0.9689572746466716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998451650899098 + - -0.011243226134591056 + - -0.013536458636488136 + - 0.09182373190780382 + - - -0.011068155491377903 + - -0.9998550227381112 + - 0.012939452824211849 + - -0.0337635782558954 + - - -0.013679977351939833 + - -0.012787625716205939 + - -0.9998246520506447 + - 0.9684384003246203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9645517437452613 + - 0.0039036229673402763 + - -0.26386491878554946 + - 0.10004107899993131 + - - 0.015644716695749177 + - -0.9989777957392815 + - 0.042409980657828555 + - -0.08979608291968771 + - - -0.2634296423667722 + - -0.04503471269605812 + - -0.9636268459185325 + - 0.9737075874626616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9914256316304637 + - 0.01925933014617095 + - 0.129245097193111 + - 0.012826210184653667 + - - 0.03165755632658164 + - -0.9950146659573053 + - -0.09457068074885505 + - -0.09333980756471283 + - - 0.12677939924753245 + - 0.097851380839482 + - -0.987092747007211 + - 0.9719942229306059 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9834208426580886 + - -0.009434411728874492 + - 0.1810923468868444 + - 0.05443788851816385 + - - -0.01751377833738198 + - -0.9989186419007678 + - 0.04306755659977457 + - -0.09330324729852817 + - - 0.18049020414971045 + - -0.0455251440245477 + - -0.9825226447606895 + - 0.973499705182353 + - - 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: + - - 0.9999159826495154 + - -0.012898274733829939 + - -0.00128924433085343 + - 0.02390384156210024 + - - -0.012930320787878258 + - -0.99949338651478 + - -0.029082247463689738 + - -0.03452586264925163 + - - -0.0009134803646257772 + - 0.02909647439308359 + - -0.9995761905585369 + - 0.9687783782476294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999546881637932 + - -0.008527849096894184 + - -0.028867060772904327 + - 0.09183213211682137 + - - -0.008798271913875607 + - -0.9999184750315973 + - -0.009253847946365426 + - -0.03378855067766736 + - - -0.02878579196783473 + - 0.009503635107975528 + - -0.9995404239451844 + - 0.9683954329482898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9712894142097348 + - 0.017406230436642328 + - -0.23726334943706906 + - 0.09995287998971739 + - - 0.005937765052984356 + - -0.9987828129859952 + - -0.04896565561654654 + - -0.08975086056700085 + - - -0.23782686305437784 + - 0.04615100893554965 + - -0.9702105274547093 + - 0.9727803391201235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982425404011812 + - 0.017485143720047194 + - 0.0566224362111467 + - 0.012720372470661183 + - - 0.021163371906390647 + - -0.99765908524587 + - -0.06502662005614501 + - -0.09307133413142968 + - - 0.055352888117494635 + - 0.06611066007433097 + - -0.99627578430954 + - 0.9712930542495356 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984243236936244 + - -0.0031229369145793938 + - 0.05602782453349434 + - 0.054295327614122875 + - - -0.003713546755915441 + - -0.9999386024208996 + - 0.010440352438040508 + - -0.0932020964675292 + - - 0.055991779998675724 + - -0.010631963768111036 + - -0.9983746200294829 + - 0.9724979599088908 + - - 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: + - - 0.9999142224806784 + - -0.013043483259075077 + - -0.0011896324351207644 + - 0.02393266369425642 + - - -0.013082279788799849 + - -0.9990096435854253 + - -0.04252747322437114 + - -0.034507516727371026 + - - -0.0006337478899548075 + - 0.04253938842757703 + - -0.9990945895138359 + - 0.9690452793525823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996809951747228 + - -0.010545965120516603 + - -0.022949738694648676 + - 0.0918172285350787 + - - -0.010277581849654457 + - -0.9998777811378424 + - 0.011781090704532902 + - -0.0338002518232528 + - - -0.023071176775350248 + - -0.011541464661888694 + - -0.9996672023206817 + - 0.9683265270782206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9641047744744201 + - 0.004668877108411479 + - -0.2654810453161847 + - 0.10000749846408473 + - - 0.015156841867675384 + - -0.999182779917161 + - 0.03747055459442627 + - -0.08980049178882968 + - - -0.2650891434597537 + - -0.040149394809413354 + - -0.9633876541227904 + - 0.973594648182394 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9595963693790276 + - -0.009334280221426176 + - 0.2812253172944015 + - 0.012846221529544063 + - - 0.044630616654457625 + - -0.981748265699884 + - -0.184874148685836 + - -0.09348926605786323 + - - 0.27781813463420946 + - 0.18995582120066137 + - -0.9416654767274579 + - 0.9737015683955087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996582187825348 + - 0.0019918573293054897 + - -0.026066801202091067 + - 0.05457091034526163 + - - -0.00024829267096380546 + - -0.9963248496074358 + - -0.0856547278640805 + - -0.09361381593602812 + - - -0.02614161378490605 + - 0.08563192488260342 + - -0.9959838299237698 + - 0.9767330952757738 + - - 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: + - - 0.9998935058989588 + - -0.013672965696117381 + - -0.005101653669327992 + - 0.023913682935384407 + - - -0.013795053489557327 + - -0.9995993037294665 + - -0.024716967507898358 + - -0.03453400668576384 + - - -0.004761655206881595 + - 0.024784712881916717 + - -0.9996814715933531 + - 0.969071800186879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997637362374963 + - -0.00777729661201394 + - -0.02029742254205558 + - 0.09182019835915593 + - - -0.007994157953126406 + - -0.9999115974839414 + - -0.010625001446277673 + - -0.0337645351614287 + - - -0.020212994411082572 + - 0.010784751945301908 + - -0.9997375275453135 + - 0.9685458311463694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9817782306010461 + - 0.007942179179201102 + - -0.18986423493582075 + - 0.0998567037097618 + - - 0.008608216402228131 + - -0.9999593478576979 + - 0.0026835130670067784 + - -0.08965103278530537 + - - -0.1898352036063161 + - -0.004269007132091729 + - -0.9818066872097865 + - 0.9718835011317659 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969275719177619 + - 0.00929889700265007 + - 0.07777497582570958 + - 0.012729441821504296 + - - 0.021920583242809204 + - -0.98637462808167 + - -0.16304778780174634 + - -0.09300396597946273 + - - 0.07519909826886673 + - 0.16425170803155242 + - -0.9835479002205577 + - 0.970725114909756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998227201651646 + - -0.007258283415787165 + - 0.017373703214540796 + - 0.05429133761786474 + - - -0.009339992085156183 + - -0.9923738419761376 + - 0.12291022052445096 + - -0.09306823822772181 + - - 0.016349091393103653 + - -0.12305070127137048 + - -0.9922657064149925 + - 0.9712792591584776 + - - 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: + - - 0.9999083627602888 + - -0.013275301008467367 + - 0.0026518795548150713 + - 0.02392502933422263 + - - -0.013155788383451916 + - -0.9990766529106659 + - -0.040899472378376225 + - -0.03452365689751162 + - - 0.0031923837564573104 + - 0.04086083689738028 + - -0.9991597473347273 + - 0.9687066925564798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999284896884895 + - -0.00946684729410172 + - -0.007307141137726344 + - 0.09186649691518634 + - - -0.009501813624013809 + - -0.9999435014816612 + - -0.004765436228621918 + - -0.03378889192688466 + - - -0.007261614638012628 + - 0.004834526544007765 + - -0.9999619474289728 + - 0.9687443831513877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9628920794750336 + - 0.012537712645921791 + - -0.26959534314571104 + - 0.09996834620771575 + - - 0.01088888159073632 + - -0.9999117514478559 + - -0.007610622457091655 + - -0.08976623041366583 + - - -0.26966697154443725 + - 0.0043926163148808005 + - -0.9629436273115691 + - 0.9729479865379193 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994513357187041 + - 0.028940225993595328 + - 0.016108719674071806 + - 0.012781330872037873 + - - 0.029821894410978333 + - -0.9979006780039441 + - -0.05748818533411274 + - -0.09307347737492691 + - - 0.014411181209000812 + - 0.05793703615743962 + - -0.9982162179094533 + - 0.9695747998482472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9720429553785137 + - -0.026676419761255683 + - 0.23328279303824834 + - 0.05449942115991673 + - - 0.009200022896228182 + - -0.9884352038599105 + - -0.15136448509847655 + - -0.09340672612929886 + - - 0.2346227876352035 + - 0.1492789884717181 + - -0.9605560530875581 + - 0.9747855300016072 + - - 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: + - - 0.9998489734635768 + - -0.012534670747362659 + - -0.012037952196568207 + - 0.02390979806993589 + - - -0.012907663510396468 + - -0.9994228015273625 + - -0.03142381278426667 + - -0.03450475999193879 + - - -0.011637116762069116 + - 0.03157444879096819 + - -0.999433655475446 + - 0.9689692015298116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994251052547771 + - -0.009617856311386475 + - -0.03251085705501018 + - 0.09184768554625515 + - - -0.009166821200953126 + - -0.9998600579413177 + - 0.013994067409236033 + - -0.033761319712653504 + - - -0.032640900348298266 + - -0.013688001079705144 + - -0.9993734088171919 + - 0.9684944220201339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9608470804350567 + - 0.02184375265481362 + - -0.27621683237880873 + - 0.0999836573055287 + - - 0.0031586103561334605 + - -0.9976863558297403 + - -0.0679114023694943 + - -0.08976386904655215 + - - -0.2770612047906486 + - 0.06438001134768892 + - -0.9586930180922495 + - 0.9732741426659863 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9884926292342584 + - 0.01261939814286047 + - 0.15074174186354233 + - 0.012923845066842448 + - - 0.01799894515937611 + - -0.9992468733171932 + - -0.03437621472709064 + - -0.09319534554717386 + - - 0.1501944070952465 + - 0.03669382722373399 + - -0.987975304914542 + - 0.9713334950711843 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9841886460210645 + - -0.013801796736033878 + - 0.1765848788828787 + - 0.05448947913787324 + - - -0.005146222322020878 + - -0.9987667605589475 + - -0.04938091127548958 + - -0.09345642344041227 + - - 0.17704865274561135 + - 0.04769138716207199 + - -0.9830459328798024 + - 0.9747691791621577 + - - 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: + - - 0.9999142999806329 + - -0.01293093452175985 + - 0.002045391560294206 + - 0.023895270896103823 + - - -0.012784713256421028 + - -0.9981114300387075 + - -0.060084310206886773 + - -0.03454008943777 + - - 0.0028184749763047134 + - 0.060053011235742915 + - -0.9981912101598208 + - 0.9689645372203907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997676802135752 + - -0.008250076394993882 + - -0.01991285614478845 + - 0.09187292952059786 + - - -0.008009673072238899 + - -0.9998944397075844 + - 0.01212248238326795 + - -0.03376968536453166 + - - -0.020010765543629898 + - -0.011960170623095455 + - -0.9997282248596492 + - 0.9685204066594808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9593994311561769 + - 0.006499801622755331 + - -0.28197603457753145 + - 0.099988842037009 + - - 0.0159253287868625 + - -0.999387912447627 + - 0.031147782531096246 + - -0.08977546686952402 + - - -0.28160098614925816 + - -0.034373725902772934 + - -0.9589157061845042 + - 0.9733427491230437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9853242691383368 + - 0.0024163567909658845 + - 0.17067585027431742 + - 0.012865957886785809 + - - 0.005843524389850752 + - -0.9997912073243493 + - -0.019580474448402038 + - -0.09296657339318201 + - - 0.170592900994466 + - 0.020290465169090104 + - -0.9851326606876425 + - 0.970727108705087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946937375607906 + - -0.003399922330449773 + - 0.10282416537707335 + - 0.0545163601971575 + - - -0.013286745763845172 + - -0.9953290865797215 + - 0.09562150278773739 + - -0.09344636185832919 + - - 0.1020187769204854 + - -0.09648030854285881 + - -0.9900927831365726 + - 0.974936054371423 + - - 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: + - - 0.9998946716541444 + - -0.01273159141781665 + - -0.006967939266436565 + - 0.02391420666930066 + - - -0.013032543254033097 + - -0.9989019630320364 + - -0.045000234078005755 + - -0.034527963262631925 + - - -0.0063873636175442155 + - 0.045086304247668504 + - -0.9989626753564436 + - 0.9691357878987807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999454950813291 + - -0.010271327599317844 + - 0.0018726173937016633 + - 0.09188308637678666 + - - -0.010297729016990291 + - -0.9998392006147028 + - 0.014680929508881122 + - -0.033765148201138136 + - - 0.0017215236415276487 + - -0.01469941303248507 + - -0.9998904758086518 + - 0.9685143777588832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.957301424513511 + - 0.018909870083221095 + - -0.28847252804701945 + - 0.1000382109364516 + - - 0.007629485293703955 + - -0.9991633980292325 + - -0.04017829006852838 + - -0.08983937655392046 + - - -0.2889909576069049 + - 0.03626183740674693 + - -0.9566448168308501 + - 0.9738537394719341 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9739545790045526 + - -0.001966027018113393 + - 0.22673467483785692 + - 0.012765325194803345 + - - 0.019263240427074765 + - -0.9956297856970305 + - -0.09137974283796901 + - -0.09314040063710122 + - - 0.22592345076222914 + - 0.09336736351985464 + - -0.9696603167218083 + - 0.9719570702606407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9886731378431702 + - 0.00022030911745903048 + - 0.15008456939749787 + - 0.05439262549768351 + - - -0.02445405435026342 + - -0.9863992809542436 + - 0.16253755799440836 + - -0.0932332909805364 + - - 0.14807911984197486 + - -0.16436669369688026 + - -0.9752210848161467 + - 0.9731475488761252 + - - 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: + - - 0.9998201851298137 + - -0.011843923855364182 + - -0.014809418445481805 + - 0.02393115725414715 + - - -0.012323363087331327 + - -0.9993888065746431 + - -0.032713116872727155 + - -0.03454481025503109 + - - -0.014412915360982357 + - 0.032889736408479184 + - -0.9993550585801716 + - 0.969072219940484 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999535489734017 + - -0.009626624553835426 + - -0.00047748842718580597 + - 0.0918735754295777 + - - -0.00963418158377196 + - -0.9997582798754138 + - -0.019762701378234087 + - -0.0337555814511251 + - - -0.00028712490228587263 + - 0.01976638359067837 + - -0.9998045847259539 + - 0.9686447482102022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9648026865595312 + - 0.02444687500320939 + - -0.26183606762646094 + - 0.10006320998595054 + - - 0.003503503468237133 + - -0.9967761310134041 + - -0.08015653501366793 + - -0.08986072150540553 + - - -0.2629515192406372 + - 0.07641789675545108 + - -0.9617779388115087 + - 0.9739842174420514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9943687899945239 + - 0.005626010900042995 + - 0.10582559938965133 + - 0.012819742333315978 + - - 0.013381532326170106 + - -0.997262669799341 + - -0.07271933729960858 + - -0.09299409156266233 + - - 0.10512679999614769 + - 0.07372594811898439 + - -0.9917221589218055 + - 0.9710890393126915 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984244878312912 + - -0.0030459612362514284 + - 0.056029137232079015 + - 0.05440747418494185 + - - -0.0003465109314228672 + - -0.9988412054650722 + - -0.0481261487681734 + - -0.09333595897001132 + - - 0.05611080135765567 + - 0.04803091072662694 + - -0.9972685744501192 + - 0.9740326246771589 + - - 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: + - - 0.9998826523784546 + - -0.013483332730561844 + - -0.007271946857846455 + - 0.02393094825204091 + - - -0.013846854530976973 + - -0.9985248496981273 + - -0.052501325268325426 + - -0.03452988276470189 + - - -0.006553326805855613 + - 0.0525958579529748 + - -0.9985943769288741 + - 0.9690799629918755 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999458128916402 + - -0.009427569310107567 + - -0.0044149991370429215 + - 0.09189183307450258 + - - -0.009423988603394115 + - -0.9999552478251654 + - 0.000831135196441693 + - -0.033814591692639936 + - - -0.00442263714090017 + - -0.0007894832580772543 + - -0.9999899084475327 + - 0.9685965032498572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9629664543125268 + - 0.01855942515775444 + - -0.26898170124856774 + - 0.09995794521201813 + - - 0.008602175034270078 + - -0.9992350017803375 + - -0.03814988599890357 + - -0.08974365836843992 + - - -0.26948397067996427 + - 0.034423232777635364 + - -0.9623894381131256 + - 0.9729024679783111 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9788708635446456 + - 0.019643615833525363 + - 0.20353368482967313 + - 0.012824628383684554 + - - 0.02148578174695045 + - -0.9997457213583941 + - -0.006844984171342732 + - -0.09329021494400747 + - - 0.20334747032132525 + - 0.011073435897154647 + - -0.979044016033676 + - 0.9719266657508592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980121088385423 + - -0.005871490831851326 + - 0.0627483562099998 + - 0.05444098074722544 + - - -0.009820963633420237 + - -0.9979765724374526 + - 0.06281965886015148 + - -0.09333649661142254 + - - 0.06225254440548251 + - -0.0633110295399329 + - -0.996050367327696 + - 0.9740058778083922 + - - 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: + - - 0.9998424212396243 + - -0.013812511789403653 + - 0.011151107915956358 + - 0.02393465885082023 + - - -0.013331922891557539 + - -0.9990253350021633 + - -0.0420789716584143 + - -0.03452402215401449 + - - 0.011721455613501403 + - 0.04192367519533152 + - -0.9990520571704047 + - 0.968748157858258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999679956439123 + - -0.008673746583638077 + - -0.023764486404633297 + - 0.09186910416521589 + - - -0.008885527292679574 + - -0.9999216192202603 + - -0.008820590720870958 + - -0.033780938723161076 + - - -0.02368611615702795 + - 0.009028927740152492 + - -0.9996786715566458 + - 0.9686201106143877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9873517867952941 + - -0.0059308029044942215 + - 0.15843381800943906 + - 0.01273776177289393 + - - 0.034803938201974485 + - -0.9668169649646217 + - -0.2530882101999843 + - -0.09321867034131875 + - - 0.15467751936779034 + - 0.2554012173688809 + - -0.9543820425640464 + - 0.972422963510634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930410539140457 + - -0.0056285671275091795 + - 0.11763411271128905 + - 0.05437844113140398 + - - -0.016861214197179723 + - -0.9953618680459131 + - 0.09471246536727826 + - -0.09324128108876434 + - - 0.11655541470510052 + - -0.0960368203984398 + - -0.9885301029461271 + - 0.9727691309346889 + - - 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: + - - 0.9998808065564309 + - -0.013157084193730776 + - 0.008078602328395353 + - 0.023948025663832036 + - - -0.012557323339954315 + - -0.9974488878114119 + - -0.07027111664341802 + - -0.034535464819783555 + - - 0.008982555905593555 + - 0.07016129516546928 + - -0.9974952162041212 + - 0.9690291817476536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999700536352082 + - -0.00648152987962656 + - -0.004228664472208259 + - 0.09193750291789235 + - - -0.006748251346811497 + - -0.9977669658609151 + - -0.06644955184547104 + - -0.033794313270409534 + - - -0.0037885269643048673 + - 0.066476098013671 + - -0.9977808253601177 + - 0.9692378918116238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9612701376754642 + - -0.0023388911043602627 + - -0.2755979898362757 + - 0.09992916214543854 + - - 0.01591328977185635 + - -0.9978247585176557 + - 0.06397279498207946 + - -0.08967803311412978 + - - -0.27514812305743774 + - -0.06588080811271356 + - -0.9591419235443653 + - 0.9725833830040835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9857171121822942 + - 0.0012707781210948036 + - 0.16840475015261705 + - 0.01287018512600954 + - - 0.009100495819730641 + - -0.9989123909485967 + - -0.045729817244257086 + - -0.0929729405226656 + - - 0.16816347917081606 + - 0.046609230119419844 + - -0.9846566020399405 + - 0.9706483335029924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.994965159043389 + - -0.0030378803168442624 + - 0.10017536410187877 + - 0.054337051943399536 + - - -0.018068370165878065 + - -0.9885997418604145 + - 0.14947937781872053 + - -0.09317333757349872 + - - 0.09857923863224072 + - -0.1505367784852045 + - -0.9836771889364851 + - 0.972726374984169 + - - 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: + - - 0.9997539280874598 + - -0.011337284255891688 + - -0.019066967755657638 + - 0.02389295983716665 + - - -0.012237703572575582 + - -0.9987824323015027 + - -0.047790077810823964 + - -0.03451918631824109 + - - -0.018501942734857557 + - 0.04801165391439821 + - -0.9986754023222163 + - 0.9686743217059568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998956937204383 + - -0.007203702323337773 + - -0.012518320660542967 + - 0.09189971394073851 + - - -0.007665335534090896 + - -0.9992773768532236 + - -0.037228574247361555 + - -0.033821754631587105 + - - -0.012241091065474611 + - 0.03732064820147483 + - -0.9992283647431899 + - 0.9687473473834673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.969931024346404 + - 0.010089256093224643 + - -0.24317075260363996 + - 0.09993957185290887 + - - 0.0102996163972858 + - -0.9999468749961434 + - -0.000406309631415198 + - -0.08973057354250802 + - - -0.2431619335183945 + - -0.0021104731538564253 + - -0.9699834122244892 + - 0.9727742432366225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974310519106718 + - 0.02508879571293813 + - 0.06709581964657046 + - 0.012770650786560334 + - - 0.031238260845462128 + - -0.995247320237019 + - -0.09223308853325675 + - -0.09316719276147727 + - - 0.06446291758617137 + - 0.09409210323245605 + - -0.9934743118800664 + - 0.9703221489315795 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999546935661695 + - 0.0010120392503628274 + - -0.009465019363090459 + - 0.05442458514505125 + - - -0.00011332675543826237 + - -0.9929959976128497 + - -0.11814794065876914 + - -0.09341619600646794 + - - -0.00951829669817316 + - 0.11814366043684806 + - -0.9929508938142654 + - 0.9743413595612014 + - - 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: + - - 0.9998432790998234 + - -0.01352495405912475 + - -0.011423346996882144 + - 0.023900249749329604 + - - -0.013864414314954618 + - -0.9994483419113052 + - -0.03017929532719631 + - -0.03450541797268831 + - - -0.011008871632274257 + - 0.0303329436164942 + - -0.9994792230341473 + - 0.9690153386953477 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999269026615022 + - -0.008407077704083868 + - -0.00868967077927824 + - 0.09186824868137224 + - - -0.008577656424028574 + - -0.9997675045982923 + - -0.019782834973160978 + - -0.033770112709567014 + - - -0.00852133463995327 + - 0.019855925910959065 + - -0.9997665372786654 + - 0.9688725298985988 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9758187614394823 + - 0.00843343228504112 + - -0.21841845627741344 + - 0.09988168245576716 + - - 0.010447211624256648 + - -0.9999128893258847 + - 0.008066568616210941 + - -0.08967220636535535 + - - -0.21833140083825034 + - -0.010153372831511144 + - -0.9758218630611597 + - 0.9722159869667459 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974031259548906 + - 0.025337745002320715 + - 0.06741663751337704 + - 0.01280750732197705 + - - 0.02967449439628942 + - -0.997500652910975 + - -0.06412387873876786 + - -0.09317176253205652 + - - 0.06562338544861346 + - 0.06595791173450678 + - -0.9956621541275367 + - 0.9702667944385983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991215300957385 + - -0.005343799318608719 + - 0.04156455109817443 + - 0.05433172389168167 + - - -0.009946535352073066 + - -0.9937334350334753 + - 0.11133250437792555 + - -0.0931883425684873 + - - 0.04070914557737951 + - -0.11164812540035451 + - -0.9929136224067769 + - 0.972282339894976 + - - 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: + - - 0.9999264024833053 + - -0.012114633010549575 + - -0.0006521378800283591 + - 0.023939106196502094 + - - -0.012120870029164198 + - -0.9952308312663182 + - -0.09679192635075498 + - -0.03456658049172538 + - - 0.0005235709416826612 + - 0.09679270718382438 + - -0.995304424640771 + - 0.9692779267361262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999262201869586 + - -0.007870196243876366 + - -0.009252793832397709 + - 0.09185515958657853 + - - -0.008130491466951627 + - -0.9995624677241237 + - -0.028438850640734863 + - -0.03377971202483979 + - - -0.009024926100961134 + - 0.02851198218895125 + - -0.9995527087555359 + - 0.9688260845741266 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9665373484295127 + - 0.004112956967646136 + - -0.2564929583357584 + - 0.09999281704425246 + - - 0.0120342306153583 + - -0.999497600472033 + - 0.029321049506185037 + - -0.08973943573586085 + - - -0.2562435001796986 + - -0.03142658485470656 + - -0.9661012567945588 + - 0.9730515289061608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9865103876118357 + - -0.009279740530159375 + - 0.1634354354160647 + - 0.012863884770904943 + - - 0.01832981614894879 + - -0.9858514303809932 + - -0.1666162508751674 + - -0.09310819245312503 + - - 0.1626692133560972 + - 0.1673644037166921 + - -0.9723825807750085 + - 0.9721328700661734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991061235635966 + - -0.0016577175092127635 + - 0.13339744822286437 + - 0.05440969458854916 + - - -0.025460715600739245 + - -0.9838939287186829 + - 0.17693074631508615 + - -0.09333474130586687 + - - 0.13095563821695655 + - -0.17874559855608962 + - -0.9751413394047114 + - 0.9736199132451682 + - - 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: + - - 0.9997826858094685 + - -0.013478411996728206 + - 0.015903256448034003 + - 0.02391523190885096 + - - -0.01262808823851437 + - -0.9985458734941038 + - -0.05240868167906294 + - -0.03452588035337535 + - - 0.016586516905178643 + - 0.05219646480312154 + - -0.9984990818819067 + - 0.9688115381823424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999543629764897 + - -0.009532317060946822 + - -0.000637883792240589 + - 0.09187727956238484 + - - -0.009545118855858906 + - -0.9996522102505548 + - -0.024583515761741757 + - -0.03381730741201969 + - - -0.00040332407608260445 + - 0.024588482519868133 + - -0.9996975761984519 + - 0.9688754417706835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9630433891282325 + - 0.004548482177891569 + - -0.2693078943630972 + - 0.1000239420838165 + - - 0.015460815260641695 + - -0.9991423444186943 + - 0.038412742429975284 + - -0.08978783640269022 + - - -0.26890220127006037 + - -0.04115685725845351 + - -0.9622877528331759 + - 0.9735329404971957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9824884333353922 + - 0.022571914990380255 + - 0.1849513098516306 + - 0.012780449070381054 + - - 0.021727142508575763 + - -0.9997421969546779 + - 0.006593247048803342 + - -0.09312554481432682 + - - 0.18505245105261064 + - -0.0024593254972778626 + - -0.9827255680389719 + - 0.9701893925750134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956466961523172 + - -0.0024149621078229247 + - 0.09317630814210906 + - 0.05445682089832937 + - - -0.013376618348050678 + - -0.9930182137160026 + - 0.11720022743088035 + - -0.09335624552932263 + - - 0.09224273696365515 + - -0.11793640314295356 + - -0.988727607731855 + - 0.9743887337547992 + - - 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: + - - 0.9997541884040868 + - -0.012335878645127637 + - -0.018422509778484045 + - 0.02389546345344851 + - - -0.013746319460052815 + - -0.9968187445034755 + - -0.07850751115541324 + - -0.03450284585914987 + - - -0.017395443937647283 + - 0.07874145480347594 + - -0.9967432878257294 + - 0.9688913879473974 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994913448039617 + - -0.00846314283551378 + - -0.03074779464146559 + - 0.09183501922394978 + - - -0.009146316011485134 + - -0.9997129014136662 + - -0.022146323633670018 + - -0.0337805941412092 + - - -0.030551539492897885 + - 0.022416287837527703 + - -0.9992817988306396 + - 0.9685922061752827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9740638380715282 + - -0.0033690044140590597 + - -0.22624829097834478 + - 0.09985684447774026 + - - 0.017208732066255648 + - -0.995890272880067 + - 0.08891807422306021 + - -0.08961233269440974 + - - -0.2256180376256197 + - -0.09050532687153763 + - -0.970002725205368 + - 0.9718182781538031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9928135858732798 + - 0.017633365029148123 + - 0.11836489404881942 + - 0.012718209274762771 + - - 0.015271268791556969 + - -0.9996663206165906 + - 0.020833525250994592 + - -0.0930851075304478 + - - 0.11869276327955067 + - -0.018876224798317784 + - -0.992751588305165 + - 0.9710931556339579 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946631024860656 + - -0.0016180483229295724 + - 0.10316343573388363 + - 0.054323401719940455 + - - -0.025303221411328285 + - -0.9731678916622741 + - 0.22870068129285254 + - -0.09311247807223318 + - - 0.10002529449596122 + - -0.23009049645135343 + - -0.9680151361955903 + - 0.9720273332520817 + - - 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: + - - 0.9996988102636205 + - -0.012769280144534451 + - -0.020957915976832008 + - 0.023921881184915818 + - - -0.013601464351964819 + - -0.9991048037077306 + - -0.040057351080909395 + - -0.034502331121686915 + - - -0.02042765099035575 + - 0.040330344564947634 + - -0.9989775645039726 + - 0.9688431423789872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992200686947645 + - -0.011394944289425278 + - -0.03780753314183436 + - 0.09180277583468395 + - - -0.010314715382894525 + - -0.9995364319867048 + - 0.028644856045322534 + - -0.03375386803566398 + - - -0.03811641331762327 + - -0.028232541081671447 + - -0.9988743978398245 + - 0.9683800291240247 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9695210528049161 + - 0.008947567890042866 + - -0.24484458171848567 + - 0.09994722052089818 + - - 0.011974682504359728 + - -0.9998691343507613 + - 0.010877552646567487 + - -0.08973780450477936 + - - -0.24471521233255383 + - -0.013477952422832637 + - -0.9695013200875597 + - 0.9726903978972109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989322124420512 + - 0.018305572963976183 + - 0.04241863911170892 + - 0.012910923571591898 + - - 0.02354733580189433 + - -0.9916780622848314 + - -0.12657070656212369 + - -0.09314941429067417 + - - 0.039748684534984084 + - 0.12743440187587865 + - -0.9910502082620616 + - 0.9706668967629644 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975788308590285 + - -0.005419159347716565 + - 0.06933331763227484 + - 0.05432357301510991 + - - -0.019052973782587995 + - -0.9801115159012715 + - 0.19753075858648295 + - -0.09316979987770496 + - - 0.06688393239017777 + - -0.19837350909250823 + - -0.9778417512452363 + - 0.9720648706309494 + - - 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: + - - 0.9999093994335925 + - -0.013241910321892352 + - -0.002417588753175433 + - 0.023920971722294793 + - - -0.013302599340802884 + - -0.9995441766458801 + - -0.0271012874987042 + - -0.0345087616527044 + - - -0.0020576139410954154 + - 0.02713099232126077 + - -0.9996297692048456 + - 0.9689478072544637 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999150989785464 + - -0.010585915953130317 + - 0.007598237832362061 + - 0.09185469783096736 + - - -0.0105919554670543 + - -0.9999436185954957 + - 0.0007550559776641746 + - -0.03378794899628648 + - - 0.007589816473921855 + - -0.0008354720693888823 + - -0.9999708479112344 + - 0.9686644500257902 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9710040098995496 + - 0.01029214448212008 + - -0.2388415468903066 + - 0.09995204923958913 + - - 0.006097418607619531 + - -0.9998140394397468 + - -0.018295027343538866 + - -0.08970292855131798 + - - -0.23898542684715904 + - 0.01630822801951656 + - -0.9708861969631382 + - 0.972949563607441 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9931964423270723 + - 0.012116720841605678 + - 0.11581887594383362 + - 0.012727820896076845 + - - 0.019002165239361216 + - -0.9981046566062366 + - -0.05853214652789233 + - -0.0931247008955915 + - - 0.11489014172270194 + - 0.060334729111791364 + - -0.9915442379429897 + - 0.9720735763794965 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988391258928304 + - -0.005593065518220509 + - 0.047844730156575505 + - 0.05438410665575176 + - - -0.011009922549485143 + - -0.993452323365014 + - 0.11371571046302273 + - -0.09327396299019661 + - - 0.0468954389157514 + - -0.11411046761259272 + - -0.9923606295042818 + - 0.9732359482874975 + - - 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: + - - 0.9998974207567485 + - -0.01366237958271155 + - 0.004299691633098376 + - 0.02391207068217297 + - - -0.013594462230020416 + - -0.9997882619418622 + - -0.015447390716448779 + - -0.03450861896878607 + - - 0.004509829340271971 + - 0.015387354139291985 + - -0.9998714371217499 + - 0.9687246516323319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999405012882925 + - -0.00811819584666415 + - 0.0072862047400185205 + - 0.09188323910093912 + - - -0.00796005045630378 + - -0.9997376438174236 + - -0.021477456346568932 + - -0.03379555893590767 + - - 0.007458651356067088 + - 0.02141817990822005 + - -0.9997427819641246 + - 0.9688493690517155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9665649182855984 + - 0.007744202341707844 + - -0.25630506446351237 + - 0.09999060215954 + - - 0.015210504683308687 + - -0.9995153440020753 + - 0.027160958224850918 + - -0.08968430254044196 + - - -0.25597050472043376 + - -0.030151358750539568 + - -0.9662142600265547 + - 0.9730703508895032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991811817402398 + - 0.022256810385783386 + - 0.03378757830370745 + - 0.012868731719230761 + - - 0.02638926789669023 + - -0.9915190335355789 + - -0.12725412636354458 + - -0.09311140540956242 + - - 0.030668756023917762 + - 0.12804155781668522 + - -0.9912945005778165 + - 0.9703949984945055 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907411182428842 + - -0.01093264158142273 + - 0.1353237376475069 + - 0.05438242064368645 + - - 0.004322013454579849 + - -0.9937074787108563 + - -0.11192304031705347 + - -0.09334905910295152 + - - 0.13569582463192284 + - 0.11147162913569753 + - -0.9844596076403019 + - 0.9734912066301935 + - - 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: + - - 0.9998523765892255 + - -0.01202317258609505 + - -0.01227470365599296 + - 0.023915154922080226 + - - -0.012561163311482389 + - -0.9989198633580668 + - -0.044736157244043076 + - -0.03451833439555756 + - - -0.011723574759421432 + - 0.04488373769714875 + - -0.9989234244351236 + - 0.9689072823072332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999397821400005 + - -0.008557068795926485 + - 0.006870856382605721 + - 0.09188691349035968 + - - -0.008483149822452275 + - -0.9999065936062772 + - -0.010716353474060674 + - -0.03379553970769537 + - - 0.006961915174608238 + - 0.010657421654085269 + - -0.9999189722676476 + - 0.9686884208033553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9694246883430684 + - -0.0004578919477693979 + - -0.24538859787265768 + - 0.09994124497066516 + - - 0.015413107402381906 + - -0.9979100874094213 + - 0.06275263792642076 + - -0.08974705871139904 + - - -0.24490449107998688 + - -0.06461615727885704 + - -0.9673916179435127 + - 0.9727278080049573 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9911206770170948 + - 0.003673401697902124 + - 0.13291467078220343 + - 0.01273345505151685 + - - 0.018869823544716235 + - -0.9933868249697092 + - -0.11325434091456583 + - -0.09306113929218007 + - - 0.13161965411201682 + - 0.11475679542653357 + - -0.9846355389456888 + - 0.9713363593457466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9699733032286106 + - -0.007960665439771817 + - 0.24308109517100232 + - 0.05444614054324608 + - - -0.016487770355579925 + - -0.9993171977460774 + - 0.0330649620841786 + - -0.09332001342064225 + - - 0.24265189975040277 + - -0.03607999576888184 + - -0.9694422568945699 + - 0.9737797082278841 + - - 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: + - - 0.9999116341465107 + - -0.011694253811549845 + - -0.006322050794285894 + - 0.023910993224731242 + - - -0.012204149530903484 + - -0.9960670699122827 + - -0.08775791115669854 + - -0.03455183538302531 + - - -0.005270923323463096 + - 0.08782731160721416 + - -0.9961217700176858 + - 0.969126115418773 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999862424664359 + - -0.008481596086286305 + - -0.014254622833951215 + - 0.0918668867624893 + - - -0.008671919510361975 + - -0.9998733683951347 + - -0.013343349885735545 + - -0.033792655503549054 + - - -0.014139644844016197 + - 0.013465129111763032 + - -0.9998093621994589 + - 0.9688761866027957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9911733942593235 + - 0.019197279472606358 + - 0.13117456679288972 + - 0.012777299215344852 + - - 0.029180311945499315 + - -0.9967856247850883 + - -0.07461184635542539 + - -0.09323755224706715 + - - 0.12932057805011152 + - 0.07778099178239439 + - -0.988547573670652 + - 0.9714262777185071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9841741338857142 + - -0.005283243695086827 + - 0.1771252707164132 + - 0.054489105534740956 + - - -0.023208439075519338 + - -0.9947886001567223 + - 0.09928247254126461 + - -0.09343834169144358 + - - 0.17567766661127487 + - -0.10182204247748804 + - -0.9791678247980429 + - 0.9750078665291253 + - - 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: + - - 0.999911200648383 + - -0.013228853482304424 + - -0.0016088049766157671 + - 0.023912306488420083 + - - -0.013291761461245576 + - -0.9987125267572534 + - -0.048955265042695525 + - -0.034493849887096126 + - - -0.0009591116548183774 + - 0.048972301698888346 + - -0.9987996764973182 + - 0.9684632278137235 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998759284046143 + - -0.010834116690008755 + - -0.011434584057059369 + - 0.09184540358280735 + - - -0.010468552287628418 + - -0.9994470433538482 + - 0.03155973612457914 + - -0.03373486399423874 + - - -0.011770183091688608 + - -0.0314361169166796 + - -0.9994364578817354 + - 0.9682967457978799 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9739672737762057 + - 0.00736493094444403 + - -0.22656899038731887 + - 0.09987980913112537 + - - 0.012307698430049871 + - -0.9997159193317652 + - 0.02041081071390238 + - -0.08956433333261093 + - - -0.2263543023057003 + - -0.02266800447386966 + - -0.9737812338512549 + - 0.9719925543899868 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9940273117586951 + - 0.004859074716732597 + - 0.10902335928909568 + - 0.01271169684308249 + - - 0.030443840836431063 + - -0.9716957396505663 + - -0.23426600713732376 + - -0.09321559297130805 + - - 0.1047992177113364 + - 0.2361858991088075 + - -0.9660400328295178 + - 0.9727181579847053 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970573551817908 + - -0.0042500140868904634 + - 0.07654128205193277 + - 0.05440770817836163 + - - -0.0016817160336686638 + - -0.9994343603961748 + - -0.03358766277477966 + - -0.09333680773255557 + - - 0.07664073531141512 + - 0.03336010551169541 + - -0.9965005273712481 + - 0.9734735000915313 + - - 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: + - - 0.9999119373123713 + - -0.013233812724904577 + - 0.000991877503874751 + - 0.02391595351542598 + - - -0.013202931690426118 + - -0.9995624583880245 + - -0.026468365572260864 + - -0.03451447831603416 + - - 0.0013417209093104353 + - 0.0264529390059225 + - -0.9996491593568968 + - 0.9690089552955249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996781586359917 + - -0.008760605021742215 + - -0.02380821173053254 + - 0.09186090670381526 + - - -0.008563442112365217 + - -0.9999282970535639 + - 0.00837067564460755 + - -0.03375117445768903 + - - -0.02387983679468962 + - -0.008164101371987071 + - -0.9996814997005028 + - 0.9685832456543149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9692376985081625 + - 0.01205320692489987 + - -0.24583125105125622 + - 0.09995067608180916 + - - 0.008793217297011895 + - -0.9998583039866905 + - -0.014354486351929594 + - -0.08970156361875051 + - - -0.24596943533733565 + - 0.011751261706121093 + - -0.9692063478579512 + - 0.9727698368558791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9868360962734646 + - 0.010148800818704413 + - 0.16140483553379523 + - 0.012909757960501379 + - - 0.02522974375426214 + - -0.9954704534519236 + - -0.0916626223403895 + - -0.09323551088373958 + - - 0.15974347912150746 + - 0.09452818704579533 + - -0.982622227884141 + - 0.9715807542468505 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997091482500335 + - -0.003895682153060933 + - 0.02380005390234931 + - 0.054317283812430006 + - - -0.006950757467631918 + - -0.9915334825413122 + - 0.129665106987665 + - -0.09311281053444037 + - - 0.02309341628730079 + - -0.12979282206677986 + - -0.9912721712345818 + - 0.9720262115024058 + - - 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: + - - 0.999887380005848 + - -0.012796297704826369 + - -0.007841050318058963 + - 0.023902816462081092 + - - -0.013006210491354038 + - -0.999541796012572 + - -0.027331968692673486 + - -0.034514405264485196 + - - -0.007487709509287158 + - 0.027430872917429128 + - -0.9995956589628094 + - 0.9689920235871053 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999184508694946 + - -0.00900241736679568 + - -0.009058040202162528 + - 0.09186188885699118 + - - -0.008998707127152863 + - -0.9999594094347452 + - 0.0004502809751439654 + - -0.033774968849692194 + - - -0.009061726148461189 + - -0.00036873360419672227 + - -0.9999588737316853 + - 0.9686868824889977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9753861585095934 + - 0.0016983324550010987 + - -0.22049706903895736 + - 0.09988989354854755 + - - 0.012252316203029332 + - -0.9988428804631954 + - 0.04650570820498506 + - -0.08962538124124844 + - - -0.22016294541897694 + - -0.048062623886534955 + - -0.9742783286359096 + - 0.972139812769994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.996861947660789 + - 0.004443720708270404 + - 0.07903486984999308 + - 0.012853358007836697 + - - 0.014671925219526176 + - -0.9914957420567505 + - -0.12930942770612652 + - -0.09299117911837385 + - - 0.0777881219486053 + - 0.13006324165420535 + - -0.9884495744619997 + - 0.9709608422733391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957533922297038 + - -0.002669082391414149 + - 0.09202205095641754 + - 0.05434735352774682 + - - -0.011484084315118062 + - -0.9953731061705815 + - 0.09539651628739786 + - -0.09319961918291546 + - - 0.0913416535348519 + - -0.0960481936921062 + - -0.9911767989708006 + - 0.9724582264878745 + - - 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: + - - 0.9998990262187418 + - -0.013057073445659425 + - -0.005608047774992932 + - 0.023894398398565674 + - - -0.013142215206687704 + - -0.9997946780530139 + - -0.015423485868334447 + - -0.03450054310884814 + - - -0.005405510731934049 + - 0.015495630671394481 + - -0.9998653238730815 + - 0.9688111433790916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999935542460601 + - -0.010592610229344563 + - -0.004087484868820624 + - 0.09186756035948118 + - - -0.01060775640970239 + - -0.9999368841523761 + - -0.003701785459735297 + - -0.03373579238365235 + - - -0.004048015313220847 + - 0.0037449058955699734 + - -0.9999847945103252 + - 0.9686258650708842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9783129331374654 + - 0.012914916812628123 + - -0.20672931524022478 + - 0.099940656338576 + - - 0.008949528215354774 + - -0.9997578125986725 + - -0.02010527524408859 + - -0.0896950094815712 + - - -0.2069389059618609 + - 0.017819120955897015 + - -0.9781915804829172 + - 0.972359239528534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953937578758447 + - 0.014285391446834283 + - 0.09480081420016907 + - 0.012794913642985814 + - - 0.03692952677913236 + - -0.969663713555379 + - -0.24163710945519246 + - -0.09332767936143688 + - - 0.0884730288487605 + - 0.24402501962954953 + - -0.9657247604577215 + - 0.9719785351382698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968281610135501 + - -0.0032813710877534876 + - 0.07951635060871569 + - 0.054397845683413465 + - - -0.012718836033882856 + - -0.9928758740308994 + - 0.1184724861616421 + - -0.09324095049544127 + - - 0.07856111391959096 + - -0.11910806593661796 + - -0.9897683668457742 + - 0.9734779983917723 + - - 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: + - - 0.9998080578388319 + - -0.011953512046269455 + - -0.015522919516076586 + - 0.023899794909636438 + - - -0.012732103489303257 + - -0.9986140484305961 + - -0.05106736548709639 + - -0.03454122149261561 + - - -0.014890971132890297 + - 0.05125520292433445 + - -0.9985745656444013 + - 0.9690450100506981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999360447291822 + - -0.009660873972130153 + - 0.00587996304864021 + - 0.09185772588919247 + - - -0.009441209857828566 + - -0.9992961800868909 + - -0.03630438017882382 + - -0.03382159085319483 + - - 0.006226556655102149 + - 0.036246544357259124 + - -0.9993234801676473 + - 0.9689146515186519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9597700719805669 + - 0.0066131779038396685 + - -0.28070923534581044 + - 0.10008977060299325 + - - 0.015119154497845951 + - -0.9994894496907238 + - 0.02814695586033655 + - -0.0898865880439145 + - - -0.28037977833233213 + - -0.03125869215027456 + - -0.9593800467319331 + - 0.974121021130829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9750459021366022 + - -0.008047373891642803 + - 0.2218574508554258 + - 0.012878868896997912 + - - 0.01233948744931528 + - -0.9958333868340241 + - -0.09035265749365305 + - -0.09310181745214419 + - - 0.22166015829667668 + - 0.09083559566670597 + - -0.9708839625741932 + - 0.9722258588648265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965167431316619 + - -0.0037561270231521657 + - 0.08330829591374037 + - 0.05447925664909538 + - - -0.010090962103061187 + - -0.9970757190682097 + - 0.07575079490307687 + - -0.09341570704195273 + - - 0.08278014944477913 + - -0.07632759628338481 + - -0.9936405511569572 + - 0.9744968601659509 + - - 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: + - - 0.9996768391114332 + - -0.010920145011203275 + - -0.02295577873015365 + - 0.0239280554630034 + - - -0.01333625374734152 + - -0.9940742834286317 + - -0.10788171004317591 + - -0.034537931710732155 + - - -0.021641665373995637 + - 0.10815299098401142 + - -0.9938986713247248 + - 0.9693432815229963 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999921396235173 + - -0.011856029862129943 + - -0.004078713891725871 + - 0.09182767184626944 + - - -0.011674366007359339 + - -0.9990493549063663 + - 0.04200113855003834 + - -0.03371902023167095 + - - -0.004572803235269079 + - -0.04195022070360997 + - -0.9991092374978273 + - 0.9682687944038948 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9799510281317907 + - 0.012294360735505248 + - 0.19885882217681908 + - 0.012803212470109928 + - - 0.03134383340462965 + - -0.9951789900534054 + - -0.09293192058592153 + - -0.09331536186435219 + - - 0.19675758326160978 + - 0.09730172891778682 + - -0.9756120268727018 + - 0.9718744956404339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991782560482197 + - -0.0031077245988045056 + - 0.04041230862319251 + - 0.05449690704716374 + - - -0.00491442573011129 + - -0.9989890602220457 + - 0.04468451607008927 + - -0.0934481052695412 + - - 0.04023258704310965 + - -0.044846400128581466 + - -0.9981834196856442 + - 0.9750692661520138 + - - 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: + - - 0.9998354093260557 + - -0.013472864495322959 + - 0.012150562953589766 + - 0.023902294663171675 + - - -0.013032252668701666 + - -0.9992796977459814 + - -0.03564051154346165 + - -0.034486247234378944 + - - 0.01262199065827575 + - 0.03547629624116885 + - -0.9992908074013448 + - 0.9686996613483364 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994421429990278 + - -0.00972273103814068 + - -0.03195107664337694 + - 0.09179755776901799 + - - -0.009791105490527072 + - -0.9999500973393206 + - -0.001984208748166146 + - -0.03374952073198619 + - - -0.03193019027165892 + - 0.0022959382053758105 + - -0.9994874644621474 + - 0.9682288918558608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9727584733608391 + - 0.012332007841267844 + - -0.23149270849703407 + - 0.09996693167960051 + - - 0.014428319221564392 + - -0.9998687836074002 + - 0.007364724835245821 + - -0.08965479444938818 + - - -0.23137151101449488 + - -0.010504149183116141 + - -0.9728087616488703 + - 0.9725932569727328 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906163587621881 + - 0.006190865826918393 + - 0.13653169204641433 + - 0.012736847084998991 + - - 0.023468552706689308 + - -0.9918407698138849 + - -0.12530408759834263 + - -0.09307622943685682 + - - 0.1346419577494221 + - 0.1273324802056132 + - -0.9826789825258753 + - 0.9709742910279464 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998737535345006 + - -0.004185143539637019 + - 0.015328456099076654 + - 0.054462121258007264 + - - -0.00564146491449992 + - -0.9953428686561168 + - 0.09623277866210912 + - -0.09331728030994559 + - - 0.014854321473805263 + - -0.09630710456121423 + - -0.9952408204774299 + - 0.9740397151731557 + - - 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: + - - 0.9998206337913846 + - -0.012791523502657456 + - -0.013967002952490561 + - 0.02392237441554722 + - - -0.013514504855024215 + - -0.9985052375447749 + - -0.05295893460197224 + - -0.03453018682758129 + - - -0.013268700144228335 + - 0.05313819268787195 + - -0.9984990105525138 + - 0.9693300826046722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998551422744557 + - -0.008079266861361923 + - -0.014980651331328322 + - 0.09186852996070471 + - - -0.0086757270039415 + - -0.9991544920530495 + - -0.04018747032554971 + - -0.03381337146512373 + - - -0.014643299774334 + - 0.040311616901294804 + - -0.9990798503195446 + - 0.9687376090121057 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9595452616597877 + - 0.019718475438391683 + - -0.2808630850657222 + - 0.1000031218744556 + - - 0.008091163393060895 + - -0.9990637795482311 + - -0.04249820548858805 + - -0.0897703387037298 + - - -0.2814381351224392 + - 0.03850644259327273 + - -0.958806461168058 + - 0.9732664010061556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9896347872487223 + - 0.0037883923222036125 + - 0.14355708255181734 + - 0.012823341114498054 + - - 0.04086054860591554 + - -0.9657616178091116 + - -0.2561931168754358 + - -0.09337394747446733 + - - 0.13767136025622703 + - 0.25940344186294084 + - -0.9559060889621217 + - 0.9725191118479245 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907173271302038 + - -0.012669084074324367 + - 0.1353464888081791 + - 0.05448271244645764 + - - -0.0014046664259983032 + - -0.9965485746190236 + - -0.08299979118662651 + - -0.09343263750649725 + - - 0.13593088183417526 + - 0.08203921460807406 + - -0.9873157360390208 + - 0.9746806050284338 + - - 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: + - - 0.9998923147037091 + - -0.012273253228862642 + - 0.00804526268302197 + - 0.023911801533869244 + - - -0.011943955385569228 + - -0.9991372956726186 + - -0.039774443123118425 + - -0.034531948302079694 + - - 0.00852648381257743 + - 0.03967406774187471 + - -0.9991762944659002 + - 0.968700735329024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998741910558276 + - -0.009228832548338345 + - -0.012900802697851814 + - 0.09191126298091709 + - - -0.009546022545063619 + - -0.9996482071768485 + - -0.02474541051756177 + - -0.03378048950084939 + - - -0.012667893038043342 + - 0.02486544867699456 + - -0.999610541134931 + - 0.9689008099653607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9593336562693449 + - 0.0015635014858772943 + - -0.2822702453536223 + - 0.10000104674661493 + - - 0.015383861041542032 + - -0.9987880674624094 + - 0.046751824714771406 + - -0.08975457867427272 + - - -0.2818550563114754 + - -0.04919300517156727 + - -0.9581950612865033 + - 0.9732662157161844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981101123427866 + - 0.010944302855064866 + - 0.06046838739446095 + - 0.012846971134117813 + - - 0.0115317615321699 + - -0.9998895605410693 + - -0.009374710499672955 + - -0.09288972206592527 + - - 0.06035910962758771 + - 0.010054300373677468 + - -0.9981260886926866 + - 0.9695859047449273 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9808237707997628 + - -0.019937170818096657 + - 0.19387428879019605 + - 0.05450150590903842 + - - -0.0011090915761892226 + - -0.9953088578578209 + - -0.09674216963474089 + - -0.09342255283987635 + - - 0.19489356210508837 + - 0.09467199527595999 + - -0.9762446992227204 + - 0.974967790182182 + - - 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: + - - 0.9997740631397295 + - -0.012607721991348478 + - -0.017113387135949933 + - 0.023914002250354217 + - - -0.013383137601182895 + - -0.998852754610248 + - -0.04597897601586694 + - -0.03450521499776565 + - - -0.016514063734400244 + - 0.0461976184852502 + - -0.9987958078332466 + - 0.9692898397222393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999258065729424 + - -0.009366409393966333 + - -0.00778792170706021 + - 0.09185220538187124 + - - -0.009329930935746853 + - -0.999945395881053 + - 0.004707190777730669 + - -0.03378890872770677 + - - -0.007831585930376698 + - -0.00463418076345518 + - -0.9999585944580237 + - 0.9685631150628516 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9716274101533185 + - 0.022369100976891133 + - -0.23545657595454947 + - 0.10009810203339253 + - - 0.005820612776211443 + - -0.997477501527043 + - -0.07074428891633597 + - -0.08984589312114587 + - - -0.23644512324356423 + - 0.0673665886686736 + - -0.9693066833698621 + - 0.9740664935755823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985493966142203 + - 0.018417252733604526 + - 0.05059552671060082 + - 0.012717419086076305 + - - 0.020550030474074242 + - -0.9989078531049336 + - -0.04196185473507448 + - -0.09290048148753266 + - - 0.04976744687937291 + - 0.04294072434227687 + - -0.9978373090960619 + - 0.9692660284795225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964451678526806 + - -0.0026432053687683943 + - 0.0842023807764463 + - 0.05438483298232041 + - - -0.013664100788006759 + - -0.9913435241596955 + - 0.13058066264302487 + - -0.09322842163045206 + - - 0.08312833339300345 + - -0.13126702012316266 + - -0.987855581355538 + - 0.9729795094404329 + - - 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: + - - 0.9997819498103009 + - -0.012187785973799447 + - -0.01695614067439479 + - 0.023914261823419814 + - - -0.013013322895957503 + - -0.9986913291329675 + - -0.04945990842927777 + - -0.03455189828872067 + - - -0.016331143888857147 + - 0.049669779420527436 + - -0.9986321678934631 + - 0.9690973340427865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999294532828548 + - -0.010140472378011188 + - -0.006185408426449541 + - 0.09183504748494388 + - - -0.010102017293094725 + - -0.9999296469540395 + - 0.006216943700812259 + - -0.03377639031479617 + - - -0.006248016009999971 + - -0.006154020012954643 + - -0.9999615444273936 + - 0.9686979746462051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9729436885534266 + - -0.00727108319616447 + - -0.23092793302934858 + - 0.09984520808636071 + - - 0.016516751422614474 + - -0.9947584900533976 + - 0.10090958026435994 + - -0.08960013285437753 + - - -0.23045124392481894 + - -0.10199351849916834 + - -0.9677238998586656 + - 0.971722225195558 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9944466204348456 + - 0.019331134918184882 + - 0.10345156513310545 + - 0.012786801620638102 + - - 0.03847446432053445 + - -0.9817209480372299 + - -0.18639660882143316 + - -0.09334118470065218 + - - 0.09795731060498826 + - 0.18934172125460724 + - -0.977012834046401 + - 0.9722194637503594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999007385753875 + - -0.002473110290978493 + - 0.013870714541185783 + - 0.054444601187736044 + - - -0.0018314600369419745 + - -0.9989359473235887 + - -0.046082739706507274 + - -0.09333813992016542 + - - 0.013969923068059144 + - 0.04605276180874795 + - -0.9988413209210257 + - 0.9742449297232378 + - - 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: + - - 0.9999006863036579 + - -0.013376310028158409 + - -0.004437551070628487 + - 0.023919529175335155 + - - -0.013613974271722135 + - -0.998180659767023 + - -0.05873695745950894 + - -0.03452016809681986 + - - -0.003643793902340658 + - 0.05879153678125673 + - -0.9982636314966583 + - 0.969005353085969 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998261241171802 + - -0.009479450367043209 + - -0.016058068176327576 + - 0.09187368511772082 + - - -0.009634381666617477 + - -0.9999075198220981 + - -0.00959846306046589 + - -0.03379005295636172 + - - -0.015965594969144282 + - 0.009751503676866842 + - -0.9998249886621768 + - 0.9688375303265953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9954984001311686 + - 0.01685667831770974 + - 0.09326729186792691 + - 0.012776857707585666 + - - 0.0328878794146626 + - -0.9843505120434244 + - -0.17312555220837508 + - -0.09327213587652114 + - - 0.08888938476494491 + - 0.17541357369354701 + - -0.9804737403113701 + - 0.9714921363380498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9869047455639137 + - -0.005547367184421423 + - 0.16120871533744 + - 0.054365383892467915 + - - -0.01943828525698426 + - -0.996215300678179 + - 0.08471852076703651 + - -0.0932066290244497 + - - 0.16012862407981485 + - -0.08674273117678444 + - -0.9832774391484321 + - 0.9727049386566821 + - - 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: + - - 0.9998972699378138 + - -0.012180959605884159 + - -0.007554719980688757 + - 0.023915194158048735 + - - -0.012453763323092103 + - -0.9992309419849593 + - -0.0371810214887005 + - -0.0345070212327936 + - - -0.00709600944187685 + - 0.03727128657466255 + - -0.9992799897161306 + - 0.9688560677618021 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998180287780678 + - -0.008571892465398651 + - -0.01704206530619548 + - 0.0918615474199061 + - - -0.008941920836539087 + - -0.9997233136373344 + - -0.021756337507521 + - -0.033802260556840796 + - - -0.016850857013578212 + - 0.021904767279059118 + - -0.9996180419482025 + - 0.9685832792842377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9543423704801016 + - 0.000270940428708219 + - -0.29871485818034665 + - 0.0999784009232289 + - - 0.01872214760771447 + - -0.9980877924068076 + - 0.05890874160480314 + - -0.08979093408036538 + - - -0.2981276926006296 + - -0.06181169177259756 + - -0.9525225423394634 + - 0.9733497607544397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9863449700819794 + - 0.015460491245106704 + - 0.16396515850765103 + - 0.012703696879038622 + - - 0.016126683937514114 + - -0.9998662225427749 + - -0.0027325964250356884 + - -0.09304071003869435 + - - 0.16390097638256668 + - 0.005339497027115242 + - -0.9864623458157635 + - 0.9706747155617241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990154147458007 + - -0.0016787939440317135 + - 0.139971232482252 + - 0.05439671285563496 + - - -0.025034372918617695 + - -0.9859309773805457 + - 0.16526762542619727 + - -0.09327222091458784 + - - 0.13772452375767627 + - -0.16714451678812486 + - -0.9762656739143223 + - 0.9730235326625886 + - - 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: + - - 0.9995435893376046 + - -0.011230802891697776 + - -0.028044287840947937 + - 0.0239386105448901 + - - -0.013800465217347433 + - -0.9955531704691812 + - -0.09318493402126342 + - -0.034556568336738556 + - - -0.026873038047137345 + - 0.09352942764269577 + - -0.9952537796918673 + - 0.9695277491892271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9657384619512019 + - 0.0154142274966114 + - -0.25905911429403455 + - 0.09996744771052321 + - - 0.009193153305071838 + - -0.9996399435118988 + - -0.025208515780140883 + - -0.08974261427358685 + - - -0.2593544081762182 + - 0.021963263104804676 + - -0.965532446908623 + - 0.9731119586204073 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978436368165696 + - 0.015546149111022301 + - 0.0637682813983563 + - 0.012892802066483328 + - - 0.023393131061123843 + - -0.9919790310110945 + - -0.12421901405761827 + - -0.09318249851749892 + - - 0.06132567067582039 + - 0.12544289251331678 + - -0.9902036370535371 + - 0.9713618848014968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9917801868165349 + - -0.009958698703061198 + - 0.1275652200182347 + - 0.05456018218235357 + - - 0.0010915439855339864 + - -0.9962718128558941 + - -0.08626287405691614 + - -0.09356806383697494 + - - 0.12794869897692054 + - 0.08569305239617374 + - -0.9880717743165935 + - 0.9760362540530709 + - - 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: + - - 0.9999018434473176 + - -0.012062185139165418 + - -0.007127914163655662 + - 0.023923638786123903 + - - -0.01263298217633458 + - -0.996183599983365 + - -0.08636343488719597 + - -0.03453125428185751 + - - -0.006058979451059299 + - 0.08644500456273355 + - -0.9962381994052226 + - 0.9688678249661709 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998506145484732 + - -0.007672770959177311 + - -0.015487968648228035 + - 0.09188525652320358 + - - -0.00839268037663852 + - -0.9988612763122864 + - -0.04696502528357494 + - -0.033803934105445785 + - - -0.015109980249360881 + - 0.04708799496261496 + - -0.9987764560837754 + - 0.9690280739678397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9698997483907952 + - 0.003275640349843019 + - -0.24348254198560274 + - 0.10007139367116419 + - - 0.01751335408601764 + - -0.9982583840825904 + - 0.05633365812259526 + - -0.08969094297099774 + - - -0.24287396011126858 + - -0.05890219681059573 + - -0.9682679230000114 + - 0.9734805196301956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9944786784754506 + - 0.0183280036915168 + - 0.10332590352087467 + - 0.012810802113555066 + - - 0.03100849656233431 + - -0.9919854747099128 + - -0.12248792228416908 + - -0.09325593029478067 + - - 0.10025283636219504 + - 0.12501560800649128 + - -0.9870767277958196 + - 0.9712360385022001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9813874538258532 + - -0.008314429027032215 + - 0.19185811357136617 + - 0.05447595668409662 + - - -0.009442451542463565 + - -0.9999430883682734 + - 0.004965897037596542 + - -0.09341009598488852 + - - 0.19180590601458813 + - -0.006685079990114313 + - -0.981410110057691 + - 0.974329081609621 + - - 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: + - - 0.9999104936548112 + - -0.01311466714331452 + - 0.0026476753410852585 + - 0.023938043739478405 + - - -0.01296188929260619 + - -0.998603174545021 + - -0.05122196027655744 + - -0.03455772816564424 + - - 0.0033157359602274386 + - 0.05118305671144577 + - -0.9986837840881947 + - 0.9692497681405055 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999870378203863 + - -0.00654762502981813 + - -0.01470902433653076 + - 0.09188275497202925 + - - -0.007661354835968817 + - -0.9970028861955749 + - -0.07698407991118701 + - -0.0338089698187564 + - - -0.014160876828118101 + - 0.07708679215120805 + - -0.9969238165693989 + - 0.9689830558641702 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.796843528747559 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9627269084848292 + - 0.00200143583538245 + - -0.27046791664417463 + - 0.10004003554619174 + - - 0.01657996227805372 + - -0.9985287894933064 + - 0.0516271382500536 + - -0.08981255844295527 + - - -0.26996667299891236 + - -0.05418718305677717 + - -0.9613437182726422 + - 0.97368453376696 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906695681207447 + - 0.00271048518169898 + - 0.13625879813625638 + - 0.012829601408112588 + - - 0.013388384894668277 + - -0.9969016992534315 + - -0.07750969729996571 + - -0.09299828458212177 + - - 0.13562653851429482 + - 0.07861078358405979 + - -0.9876364648770973 + - 0.970544752471671 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976886607575369 + - -0.0029202908133798824 + - 0.06788820293245235 + - 0.054476651478537384 + - - -0.007155416840958359 + - -0.9980365172754055 + - 0.06222467512660162 + - -0.09343546455661868 + - - 0.06757319147165294 + - -0.06256662118369725 + - -0.9957506122056822 + - 0.9750689241462598 + - - 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: + - - 0.9997900931872965 + - -0.012664391203904935 + - -0.016105364322844935 + - 0.02393302180982247 + - - -0.013410490452235267 + - -0.9988004070862484 + - -0.047094644601862655 + - -0.03451289653705562 + - - -0.015489619439082997 + - 0.04730073994960015 + - -0.9987605877735932 + - 0.9688281726392912 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9709711646877857 + - 0.012230313428715056 + - -0.23888368880750394 + - 0.10001098803922888 + - - 0.01075235991423534 + - -0.999914146127907 + - -0.007489134100422264 + - -0.08976645688054442 + - - -0.23895477417519773 + - 0.004703169860291543 + - -0.971019307785456 + - 0.9733929497753566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969720170564219 + - 0.002593976202287315 + - 0.07771787756952336 + - 0.012839718395366108 + - - 0.01697331666721443 + - -0.9826034028717396 + - -0.18493906884753444 + - -0.0930546057048082 + - - 0.0758861234203192 + - 0.1856982066481542 + - -0.9796721249070509 + - 0.9716883746850303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990801225062405 + - -0.0016594464517892642 + - 0.13531510873627953 + - 0.05428572657396681 + - - -0.022728234966306302 + - -0.9877615475259798 + - 0.154306683472874 + - -0.09310169832652875 + - - 0.13340299753061727 + - -0.15596272460608976 + - -0.978713067647148 + - 0.9713488283359057 + - - 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: + - - 0.9999116735888656 + - -0.013242405108217416 + - -0.0011330170625016853 + - 0.023897156018982346 + - - -0.013264388682435988 + - -0.9996632179894673 + - -0.022304855790250752 + - -0.03449757649855292 + - - -0.0008372655464825388 + - 0.02231791446108878 + - -0.9997505737335248 + - 0.9686302952302764 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.967812556556709 + - -0.0029038362420676323 + - -0.25165536574101943 + - 0.09992618722366808 + - - 0.015606706916700228 + - -0.9973164857199285 + - 0.07152802255387769 + - -0.08963359053704997 + - - -0.2511877506376121 + - -0.0731532299104494 + - -0.9651700984195926 + - 0.9723373938763739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922892263019876 + - 0.006099671335919529 + - 0.1237937210628898 + - 0.012867726081770049 + - - 0.012497599567382403 + - -0.99862190178187 + - -0.05097163217530253 + - -0.093062655690012 + - - 0.12331221095275263 + - 0.05212572580938068 + - -0.9909979855372002 + - 0.9715124784896267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997241462754776 + - -0.006596725384873056 + - 0.07393205108010545 + - 0.05440161150743075 + - - -0.0106038938128531 + - -0.998487875535377 + - 0.05393996519145493 + - -0.093319476175945 + - - 0.07346442947930981 + - -0.05457513740748808 + - -0.9958034605173017 + - 0.9737825547174759 + - - 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: + - - 0.9998676329268992 + - -0.01301334509345459 + - -0.009765729600930563 + - 0.02392522115714149 + - - -0.013166522629025897 + - -0.9997886627376581 + - -0.015788367335018257 + - -0.03448417544253146 + - - -0.00955820626577911 + - 0.015914858174824676 + - -0.9998276641413043 + - 0.9688712709450533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995755697663777 + - -0.009600915487608478 + - -0.027504595034666127 + - 0.09185978086018873 + - - -0.009528764758682197 + - -0.9999508103456375 + - 0.002753094854481466 + - -0.03375660535487955 + - - -0.02752967432417022 + - -0.0024898415419210423 + - -0.9996178858547412 + - 0.9683959051567282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9938280504372944 + - 0.025746335523239197 + - 0.10790242059903696 + - 0.012766697741027276 + - - 0.027877068721941317 + - -0.9994441104692018 + - -0.01828494156122391 + - -0.09312873640060117 + - - 0.10737166853262012 + - 0.021180091018454184 + - -0.9939933241933622 + - 0.97034927662401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965432507745025 + - -0.00361940887752726 + - 0.08299668195274043 + - 0.05438300552041479 + - - -0.008451305356678504 + - -0.9982842488585526 + - 0.05794077941039066 + - -0.09332782345732264 + - - 0.08264456892957486 + - -0.05844192296881281 + - -0.9948640192841192 + - 0.9738322279886726 + - - 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: + - - 0.9998494436268975 + - -0.012896427953731885 + - -0.011609144026060165 + - 0.02393488197480845 + - - -0.013610137316325389 + - -0.9978789669861936 + - -0.06365792494888842 + - -0.03452623288712214 + - - -0.010763560805531444 + - 0.06380634288690856 + - -0.9979042521034692 + - 0.9689671024152763 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999420576515144 + - -0.010740802656280472 + - -0.0007186779211050836 + - 0.09185924483736188 + - - -0.010736613378912963 + - -0.9999266851372406 + - 0.005599060957108582 + - -0.03374843355016508 + - - -0.0007787636401327178 + - -0.005591020367384548 + - -0.99998406688229 + - 0.9683414878991765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9677439863802515 + - 0.007447286096742573 + - -0.2518255641404441 + - 0.09997995873192493 + - - 0.011838823200972425 + - -0.9998030477909883 + - 0.015928210604656323 + - -0.08978578241118487 + - - -0.2516573445979191 + - -0.018395748357798163 + - -0.9676415541678024 + - 0.973206627624849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9865357491638788 + - -0.002691528742492545 + - 0.16352361081719305 + - 0.012745550832645105 + - - 0.028869947508774557 + - -0.9812967967405303 + - -0.19032373167215752 + - -0.09322657254455427 + - - 0.16097745728053067 + - 0.19248208326959462 + - -0.9680066662310194 + - 0.9726511526684538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983648741892999 + - -0.006093806387889018 + - 0.05683699067236401 + - 0.054511706900685825 + - - -0.004201282747935809 + - -0.9994346485805018 + - -0.03335764440186553 + - -0.09348154189843351 + - - 0.05700813282554839 + - 0.0330643121881635 + - -0.9978260489941465 + - 0.9753638477968669 + - - 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: + - - 0.9998500854949101 + - -0.011500174716199402 + - -0.01294420786752715 + - 0.02394662203682003 + - - -0.012544638401434776 + - -0.9964091226034294 + - -0.08373465495266083 + - -0.03458326326212441 + - - -0.011934763642322866 + - 0.08388448232039586 + - -0.9964040119563153 + - 0.9695068421615397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999588913155661 + - -0.008550499265625563 + - -0.0030173898078225164 + - 0.09186350336441709 + - - -0.00860033500146485 + - -0.9998200446187653 + - -0.01690895077742722 + - -0.03378212359197759 + - - -0.002872266841084425 + - 0.016934206235882883 + - -0.9998524804901745 + - 0.968807218225197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9601629379526536 + - 0.0005842888720378452 + - -0.27944013882877067 + - 0.10000719990536763 + - - 0.016552733528408928 + - -0.9983607928625285 + - 0.054788085270804206 + - -0.08977130136806584 + - - -0.2789500664901626 + - -0.05723098707359011 + - -0.9585987035896286 + - 0.9733088244818034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9801733582035754 + - 0.0033030220314822535 + - 0.19811430517099196 + - 0.012929344204305915 + - - 0.025139296077728124 + - -0.993853925505017 + - -0.10780719155503886 + - -0.09321448637539571 + - - 0.19654059036403068 + - 0.11065019115992554 + - -0.9742321753748594 + - 0.9715886121870622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997238021276798 + - -0.0025246908605002253 + - 0.07422907015445895 + - 0.05445660332540511 + - - -0.016095377480754017 + - -0.9830182834996574 + - 0.1828004188428995 + - -0.09338080494476866 + - - 0.0725070185822636 + - -0.18349027287964437 + - -0.9803438437685347 + - 0.9743430885496377 + - - 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: + - - 0.9998520034159589 + - -0.013465138192878357 + - -0.010708002546691391 + - 0.02393398669147425 + - - -0.013843141602801558 + - -0.9992541933275659 + - -0.03604753178568779 + - -0.03450713583425692 + - - -0.010214631449937166 + - 0.03619042926965741 + - -0.9992927069350701 + - 0.9688031491333118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999848202191991 + - -0.009071519949253646 + - -0.014875486521580602 + - 0.09186101835917262 + - - -0.008779706523178875 + - -0.9997700098110548 + - 0.019566405795907713 + - -0.0337499619856385 + - - -0.015049562346137621 + - -0.019432833252348302 + - -0.9996978921979259 + - 0.9684525159348467 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9683783328192174 + - -0.008264825256819987 + - -0.2493493476826187 + - 0.09989774637216448 + - - 0.015663708594566887 + - -0.9954652737378707 + - 0.09382716565606457 + - -0.08959942270284942 + - - -0.2489940817757276 + - -0.09476592977151822 + - -0.9638575443472972 + - 0.9724374627371454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955602030925697 + - 0.0010038120410011259 + - 0.09412159358865467 + - 0.01286331672846852 + - - 0.01747625996943205 + - -0.9845281058283483 + - -0.1743530589680738 + - -0.09312336897172446 + - - 0.09249033655340631 + - 0.17522386023435887 + - -0.9801745438690023 + - 0.9720590933156736 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997299131951458 + - -0.0040745995308532484 + - 0.07333375108046344 + - 0.05435073023175579 + - - -0.005855780481275713 + - -0.9996926411490573 + - 0.024090103100178163 + - -0.09327293722949073 + - - 0.07321305378020584 + - -0.024454465258624523 + - -0.9970164631966172 + - 0.9730241583172851 + - - 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: + - - 0.9998921505212656 + - -0.013025287323905382 + - 0.0067844834798558695 + - 0.023934482921802912 + - - -0.012846876875001172 + - -0.9995869418908534 + - -0.02570804068479196 + - -0.034501142234099676 + - - 0.007116535710392205 + - 0.025618108662078636 + - -0.9996464712227325 + - 0.9689612453215719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998951493171419 + - -0.010176810642601692 + - 0.010301596827445005 + - 0.09193778197648422 + - - -0.009871278985981898 + - -0.9995222941610691 + - -0.029287221209502494 + - -0.03379452737785825 + - - 0.010594726198987315 + - 0.029182460488074845 + - -0.9995179517030349 + - 0.969206068099703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9685408052928763 + - -0.01061379310098545 + - -0.2486283489038128 + - 0.09992679341406747 + - - 0.017403128447323356 + - -0.993755137072435 + - 0.1102173246925904 + - -0.08965741800712596 + - - -0.248245522825433 + - -0.1110768875066069 + - -0.9623076875194191 + - 0.9724252049700859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9939362224486489 + - 0.0015740021950803283 + - 0.10994684270864642 + - 0.012966378452531305 + - - 0.03057405711163243 + - -0.9644237002860768 + - -0.2625874204112727 + - -0.09338043384176148 + - - 0.10562202770371619 + - 0.2643566697543335 + - -0.9586237731352973 + - 0.9729737901527102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954744997044662 + - -0.00985347561051684 + - 0.09451682102427919 + - 0.05439682817287632 + - - -0.012349816342641077 + - -0.9995892062921989 + - 0.025863114670019016 + - -0.09332046782602069 + - - 0.09422315253930805 + - -0.026913336517876547 + - -0.9951872536578379 + - 0.9734687313464584 + - - 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: + - - 0.9999128673655756 + - -0.013079607572974957 + - 0.0017836878902312216 + - 0.023902667898482523 + - - -0.013015113212743302 + - -0.9993922703378266 + - -0.03233723576721142 + - -0.03450588687419271 + - - 0.0022055622440221635 + - 0.032311203238841464 + - -0.9994754232298292 + - 0.9688647835645477 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998648095830917 + - -0.009150834872640625 + - -0.013661067985388402 + - 0.09185878446259603 + - - -0.009191483148339863 + - -0.9999535066803192 + - -0.0029156672080174043 + - -0.033753950973344986 + - - -0.013633752047823227 + - 0.0030408385139280097 + - -0.9999024322933874 + - 0.9685368932352747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9732183281797313 + - 0.021725226939907947 + - -0.228853883972849 + - 0.09998360397350084 + - - 0.004944789232450182 + - -0.9972723694146308 + - -0.07364353509694316 + - -0.0897874963015117 + - - -0.2298295776319823 + - 0.07053960388701905 + - -0.9706711747697914 + - 0.9729998576871305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9926179322024588 + - -0.002092040565588614 + - 0.12126526310690568 + - 0.01287320902351385 + - - 0.0160862151379228 + - -0.9887467703440297 + - -0.14873149571219763 + - -0.09306712107584297 + - - 0.12021178957428257 + - 0.14958424883831495 + - -0.9814141216361347 + - 0.9715898145088517 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962796971746526 + - -0.0061192366333098006 + - 0.08596115367192451 + - 0.05442284166911249 + - - -0.007548581865819104 + - -0.999838445776765 + - 0.016312610413994517 + - -0.09339355155723257 + - - 0.08584744556128442 + - -0.01690080736915532 + - -0.9961649355407335 + - 0.9742926635031 + - - 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: + - - 0.9998600178051131 + - -0.013203716187520576 + - -0.010276510769629005 + - 0.02391682526178568 + - - -0.013669139994153343 + - -0.9988191156929064 + - -0.04662111901553806 + - -0.034506379205943884 + - - -0.009648803375503688 + - 0.04675506395333166 + - -0.9988597822458071 + - 0.9689221717907134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9765813257454822 + - 0.001978597773978779 + - -0.2151394881374531 + - 0.10001556637268189 + - - 0.015051222683589893 + - -0.9981360904659978 + - 0.059142248900292585 + - -0.08970633801168101 + - - -0.21462146887235095 + - -0.06099532818260736 + - -0.974790846817394 + - 0.9731986224050897 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948002845211077 + - 0.00970558638543364 + - 0.10138143572488009 + - 0.012738386272249375 + - - 0.02197337854901462 + - -0.992457799745838 + - -0.12060135305539518 + - -0.0930413879185212 + - - 0.09944628978430925 + - 0.12220195299816308 + - -0.9875105660860396 + - 0.9711397858993399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9864659247396721 + - -0.0024078686475533535 + - 0.16394871605499006 + - 0.054418356260994845 + - - -0.020482688167447888 + - -0.9938694649361913 + - 0.10864596703459932 + - -0.09328333181983299 + - - 0.16268201748484284 + - -0.11053365476642978 + - -0.980467680421459 + - 0.9732697079958249 + - - 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: + - - 0.9999106591811159 + - -0.012082012935107508 + - -0.0057182706670924986 + - 0.023946281019075394 + - - -0.012501252764202296 + - -0.9967108373718792 + - -0.08007012766801869 + - -0.03451636882617219 + - - -0.004732054026716108 + - 0.08013445968422811 + - -0.9967728307070799 + - 0.9691245737927101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996321650334233 + - -0.009790541980658068 + - -0.02529189432042708 + - 0.09183926491310435 + - - -0.009695809261289351 + - -0.9999455231121962 + - 0.0038655000510696784 + - -0.033786488449160684 + - - -0.025328361837264075 + - -0.003618852801800043 + - -0.9996726354117329 + - 0.9683351465006326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9695398529486006 + - -0.0032592414332648905 + - -0.24491192476007714 + - 0.09989860075779976 + - - 0.01675311218079896 + - -0.9966873133872745 + - 0.07958475083276857 + - -0.08968969294181528 + - - -0.2443599942229979 + - -0.08126362456927443 + - -0.966273468819878 + - 0.9723100564436669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9940632888392862 + - 0.0013653317072721376 + - 0.10879482364226277 + - 0.012833296766889634 + - - 0.017236494260151756 + - -0.9892704119505297 + - -0.14507568819361003 + - -0.09304557245736303 + - - 0.10742942356562142 + - 0.1460896570896069 + - -0.9834209327870745 + - 0.9710085501693666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950216099947086 + - -0.0059841865542999174 + - 0.09947957154522415 + - 0.05443547667118591 + - - -0.016895185839601548 + - -0.9938757999037412 + - 0.10920369527238513 + - -0.09327982150456715 + - - 0.09821684345866223 + - -0.11034076253580069 + - -0.9890290024989332 + - 0.973478179774516 + - - 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: + - - 0.9997776113789141 + - -0.013950911293473912 + - 0.015814545821953314 + - 0.023933083429868985 + - - -0.01359955674617205 + - -0.9996630178685674 + - -0.022111145655887725 + - -0.03449630943545823 + - - 0.016117687234236965 + - 0.02189115757537409 + - -0.9996304303982694 + - 0.9686399465166712 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998329922783967 + - -0.009375230071193901 + - 0.0156873392498429 + - 0.09194330558261624 + - - -0.0090030447918395 + - -0.9996802342918285 + - -0.023629946058143992 + - -0.03379758770009394 + - - 0.015903859157563354 + - 0.023484765856760095 + - -0.9995976855898324 + - 0.9691879789365088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9748453500281004 + - 0.00602282607155539 + - -0.2228009629573047 + - 0.09990004056136295 + - - 0.0137125209110087 + - -0.9993618464678231 + - 0.03298282272165939 + - -0.08958990170591476 + - - -0.22246013193121958 + - -0.035208314224555746 + - -0.9743058371531034 + - 0.9721633150150113 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9965026126537258 + - 0.013726160642763772 + - 0.08242654601709146 + - 0.012727722603549237 + - - 0.024288609682757485 + - -0.9914062898331304 + - -0.12854427999326143 + - -0.09307950544701171 + - - 0.07995377673366852 + - 0.13009673705868405 + - -0.9882723473783461 + - 0.9712874248628198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9879877605334549 + - -0.005295563118408553 + - 0.15444138709344513 + - 0.05433972736770649 + - - -0.01629852285767997 + - -0.9974092885511221 + - 0.07006475051409582 + - -0.09318099438370493 + - - 0.1536702417149986 + - -0.07174028243047108 + - -0.9855144791874194 + - 0.9724409442836959 + - - 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: + - - 0.9998292473885219 + - -0.01436403130629245 + - 0.011625432083748118 + - 0.023923623290628894 + - - -0.01406363771528566 + - -0.999575350322593 + - -0.025521228843429212 + - -0.03448966947340429 + - - 0.011987083077846107 + - 0.025353375161846572 + - -0.999606680753579 + - 0.9687936816380527 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998958713149486 + - -0.01008835134486579 + - 0.010318512221346762 + - 0.09189723419986029 + - - -0.009940974933824209 + - -0.9998492502708878 + - -0.014235650673869019 + - -0.03377216256899468 + - - 0.01046057095404532 + - 0.014131592262936733 + - -0.9998454253310505 + - 0.9687677707100326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9750387706485326 + - 0.0119114438112022 + - -0.22171493688637844 + - 0.10000864250441008 + - - 0.008554895976829506 + - -0.9998338970161237 + - -0.01609323250240694 + - -0.08975181714700914 + - - -0.22186980300848475 + - 0.013794777413335587 + - -0.9749787149620716 + - 0.9730802982881768 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948375876812642 + - 0.018401000011212226 + - 0.09979768201271229 + - 0.012948882652592532 + - - 0.019957901271375485 + - -0.999693854389619 + - -0.014624625549698962 + - -0.09309527744491104 + - - 0.09949802165553394 + - 0.016540879487326136 + - -0.9949002678622719 + - 0.9706068949724802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936311153035606 + - -0.007247997179562779 + - 0.11244853595083959 + - 0.05449371387905351 + - - -0.002339352603945254 + - -0.9990409514707285 + - -0.043723045569313466 + - -0.09345258553454165 + - - 0.11265759685878546 + - 0.04318152175811892 + - -0.9926951304648658 + - 0.9748900544034942 + - - 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: + - - 0.9999027082835771 + - -0.012982713276240097 + - 0.00510128642155116 + - 0.023907620514772066 + - - -0.01273718446879395 + - -0.9988818564398768 + - -0.04552802441391447 + - -0.0345251757421606 + - - 0.005686659737990067 + - 0.04545861888809445 + - -0.9989500367234649 + - 0.9685306572477009 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998975608583887 + - -0.011298665375548703 + - -0.008786805459105335 + - 0.09183518069209066 + - - -0.01107105705505243 + - -0.9996126381680218 + - 0.025534394656073517 + - -0.03374327410926986 + - - -0.009071906366831629 + - -0.025434499710033982 + - -0.9996353268764427 + - 0.9685389222223972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9679764288892599 + - 0.027959577498781973 + - -0.249479247916305 + - 0.10003083604591134 + - - 0.004199286816471118 + - -0.9954428180338669 + - -0.09526784355189251 + - -0.08980735043722687 + - - -0.2510059742417072 + - 0.09116939207258355 + - -0.9636825944490686 + - 0.9736170181133739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922528825496768 + - -0.007413761783770607 + - 0.12401311708069773 + - 0.01289471265264802 + - - 0.024654859324627437 + - -0.966612332163584 + - -0.25505438090917276 + - -0.09323595262629693 + - - 0.12176352074221644 + - 0.2561359706200831 + - -0.9589410876435367 + - 0.9729158188647866 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9806953309626906 + - -0.011618349291105917 + - 0.19519652094166198 + - 0.05443624979744143 + - - -0.008496769631580067 + - -0.9998224013468654 + - -0.01682173209913595 + - -0.09331386609395631 + - - 0.19535729506165536 + - 0.014838454257000649 + - -0.9806198792302019 + - 0.9736791284905609 + - - 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: + - - 0.99985713162449 + - -0.012975680999241089 + - 0.010832730138485416 + - 0.023931787912695276 + - - -0.012021060143338771 + - -0.9963961485995864 + - -0.0839655236924092 + - -0.03454416464730488 + - - 0.011883200439172459 + - 0.08382330677392913 + - -0.9964097765421641 + - 0.9692373718617537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999700902873556 + - -0.007394727330461555 + - -0.002266393259346241 + - 0.09191130984745546 + - - -0.007473524479384082 + - -0.9992875580678273 + - -0.03699354974445106 + - -0.03379103974427174 + - - -0.0019912213724074075 + - 0.03700938122351213 + - -0.999312934339839 + - 0.9690420017056842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9597814091296686 + - 0.00626332949350366 + - -0.28067849471009265 + - 0.10007538383637452 + - - 0.015052381277730335 + - -0.9994611597138366 + - 0.029168751110434203 + - -0.08984188717791818 + - - -0.28034456033056454 + - -0.03222050476216086 + - -0.9593585182641232 + - 0.9741513230344506 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9845614800449946 + - 0.0020489419458760913 + - 0.175027123179558 + - 0.012952308663223697 + - - 0.030929282907799567 + - -0.98623389545467 + - -0.16243793557884523 + - -0.09328398920613712 + - - 0.17228485560379075 + - 0.1653435976783202 + - -0.971071276084496 + - 0.9720968664696245 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972793353201724 + - -0.002758150132272483 + - 0.0736635591809337 + - 0.05454669255245971 + - - -0.01222127219783653 + - -0.9916568502848943 + - 0.12832510194389044 + - -0.09350153438840478 + - - 0.07269503318123918 + - -0.12887623477930807 + - -0.9889925926213441 + - 0.9756220409690519 + - - 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: + - - 0.9999167922797271 + - -0.012706498532399121 + - -0.0022256262191104824 + - 0.023917679712777255 + - - -0.012783811755675577 + - -0.9991539024440109 + - -0.03909032345605677 + - -0.034514106430896946 + - - -0.0017270419845805559 + - 0.03911552282598087 + - -0.9992332026108988 + - 0.9689040077982228 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997652323841747 + - -0.00873758511943201 + - -0.019827625225874303 + - 0.09182886295502855 + - - -0.008996219669688508 + - -0.9998751215643933 + - -0.01299266363163482 + - -0.03376312480463809 + - - -0.019711624678644738 + - 0.013167987047031026 + - -0.9997189885010976 + - 0.9683896185095231 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9582289512956701 + - 0.007562001130345687 + - -0.28590224384867136 + - 0.10000613016635738 + - - 0.015752447917746194 + - -0.9995284280018354 + - 0.026358717737759003 + - -0.08971759112269216 + - - -0.2855680957029324 + - -0.029761346661144356 + - -0.9578961973833681 + - 0.973261317514601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9916053220085307 + - 0.01459994431829369 + - 0.12847461613198538 + - 0.012887444843307711 + - - 0.022713462115743956 + - -0.9978228853144591 + - -0.061915976786640736 + - -0.09313427769514929 + - - 0.12729094234498753 + - 0.06431431542533819 + - -0.9897780987818908 + - 0.9704693680269514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932740941499547 + - -0.0012079764051678883 + - 0.11578045898851631 + - 0.05437168771174393 + - - -0.018374227134036393 + - -0.988919131557749 + - 0.1473137434738995 + - -0.09326264292867582 + - - 0.11431955942800774 + - -0.14845030155601432 + - -0.9822899502184241 + - 0.9730214932230183 + - - 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: + - - 0.9999287522813795 + - -0.011693826866539058 + - -0.0023968258633429093 + - 0.02392851179994066 + - - -0.01186251931149107 + - -0.9958430146915486 + - -0.09031041316278977 + - -0.034554984846496085 + - - -0.0013307879576708015 + - 0.09033241114497444 + - -0.9959107813956771 + - 0.9689626275006306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997284200913582 + - -0.009364745514024608 + - -0.021339812630250587 + - 0.0918838814728608 + - - -0.009566376646158108 + - -0.999910375591457 + - -0.009366174374578136 + - -0.03380086176255778 + - - -0.02125018822270728 + - 0.009567775394976585 + - -0.9997284067057866 + - 0.9687677085866915 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9678307036616001 + - 0.0077112171204716164 + - -0.2514841270943614 + - 0.09996783027197864 + - - 0.009897643551457109 + - -0.9999234102917323 + - 0.0074303568339934385 + - -0.08977901444725017 + - - -0.2514075689036037 + - -0.009680427731929975 + - -0.9678329006687605 + - 0.972929128861384 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9842204762050871 + - 0.012580568064088951 + - 0.17649867853844223 + - 0.012930298286647372 + - - 0.015432146686772867 + - -0.9997714821721303 + - -0.014792980902415608 + - -0.09312517694825836 + - - 0.17627224134068717 + - 0.01728330820549506 + - -0.9841897094514878 + - 0.9707113068633813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998821740736474 + - -0.0033654205315605972 + - 0.04841285136000111 + - 0.05441857945764818 + - - -0.008201460365890714 + - -0.9949492973448256 + - 0.10004314949512998 + - -0.09329072592329603 + - - 0.04783164517373969 + - -0.10032232880911383 + - -0.9938045904815946 + - 0.9736407162448593 + - - 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: + - - 0.999515445860771 + - -0.011239489562150033 + - -0.029026666362612717 + - 0.023909203102601452 + - - -0.013188277059537103 + - -0.9976088001585759 + - -0.06784357887352023 + - -0.03453233670384265 + - - -0.028194730606001535 + - 0.06819351670466185 + - -0.9972736341874812 + - 0.968850463299246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997180146892736 + - -0.010641245104365607 + - -0.021228636516889783 + - 0.09182045906385519 + - - -0.010257546197818723 + - -0.9997835207727332 + - 0.018102329609142258 + - -0.03377542123051038 + - - -0.02141667228439157 + - -0.017879471298313854 + - -0.9996107495692294 + - 0.9685572126824922 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9798823445204101 + - 0.017544304523296937 + - -0.19880339100724143 + - 0.09996856460127877 + - - 0.0062417050032999655 + - -0.9983353195009959 + - -0.05733786668072909 + - -0.08975349253626519 + - - -0.1994783998728586 + - 0.05494349111258864 + - -0.9783606598634911 + - 0.9729848464658424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9797209620088824 + - -0.008975293155154478 + - 0.2001656331970328 + - 0.012845301852511856 + - - 0.02033009709944613 + - -0.9893877179414806 + - -0.14387018710794516 + - -0.09315617288387265 + - - 0.1993326961447046 + - 0.14502202487666174 + - -0.96914141824006 + - 0.9718887303221663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999389288040443 + - 0.0014826604621726203 + - -0.010951729551737668 + - 0.05449700232495574 + - - 0.0008355108534327146 + - -0.9982658401980833 + - -0.05886097361775029 + - -0.09346318136846118 + - - -0.011020008340935602 + - 0.058848228618792006 + - -0.9982061136882487 + - 0.9751281270462165 + - - 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: + - - 0.999876116311684 + - -0.01344792625096816 + - 0.008179566554056132 + - 0.023934031919217568 + - - -0.012980041035733096 + - -0.9984135285809772 + - -0.05479000347867316 + - -0.034513603094654226 + - - 0.008903401831569612 + - 0.05467704478143322 + - -0.9984643960651751 + - 0.9689801532751748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999163697567586 + - -0.007928573580670019 + - -0.010217201840088102 + - 0.09190947278867825 + - - -0.0081669966338158 + - -0.999690266514069 + - -0.02350896005811682 + - -0.033800891941071165 + - - -0.010027644710919895 + - 0.023590437851103825 + - -0.9996714148076586 + - 0.9691514942941122 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9721529108901603 + - 0.00713249255119832 + - -0.23423886397819443 + - 0.099984384791446 + - - 0.011881801355460839 + - -0.999751332243969 + - 0.018870518619235985 + - -0.08978551508597919 + - - -0.23404602249202472 + - -0.021128209257214953 + - -0.9719959146669529 + - 0.9730576928629512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9873857951372794 + - 0.014859619164662335 + - 0.15763401688532716 + - 0.012796248889988792 + - - 0.035607095108453654 + - -0.990923653782337 + - -0.12962425372051767 + - -0.09331655187359554 + - - 0.15427710892760452 + - 0.13360203626047323 + - -0.9789530476830826 + - 0.9717999995426705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996412154510705 + - -0.013589873520508066 + - -0.023081501450355865 + - 0.05431024928868687 + - - -0.005613077169139405 + - -0.9488815541907256 + - 0.31558246066802587 + - -0.09312789009495831 + - - -0.026190336695038344 + - -0.31533967630840465 + - -0.9486173911591074 + - 0.9721076685704093 + - - 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: + - - 0.9999113921343382 + - -0.013310287137494157 + - -0.00021008638058462638 + - 0.02392369406564764 + - - -0.013306414048486195 + - -0.9989165733424152 + - -0.04459393284986189 + - -0.03453680641727064 + - - 0.00038369928342228926 + - 0.0445927769730166 + - -0.9990051736686328 + - 0.969149696771552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999389033042687 + - -0.008924257908054428 + - 0.006522827565322242 + - 0.09186809838184526 + - - -0.008884991836353388 + - -0.9999423814048622 + - -0.006024183798670274 + - -0.03375650579074636 + - - 0.0065762130990664625 + - 0.005965860471277868 + - -0.9999605801880953 + - 0.968488237424229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9643756777843897 + - 0.0187962330213024 + - -0.26386787171254455 + - 0.09995595037944484 + - - 0.008254811063846991 + - -0.9991249741019862 + - -0.04100175874283898 + - -0.08977497819257547 + - - -0.2644076591027559 + - 0.037362919451170894 + - -0.9636869834432166 + - 0.9730694475229967 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9911305052177868 + - 0.006560264307103525 + - 0.1327301192606846 + - 0.012913932942734758 + - - 0.026907395811063245 + - -0.9879999958288637 + - -0.15209207833688063 + - -0.09321488519328786 + - - 0.13013959304301434 + - 0.15431452029665257 + - -0.9794134546493694 + - 0.9713530425623239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910839116168546 + - -0.0018743423916706917 + - 0.1332259996203208 + - 0.05441192588143934 + - - -0.023508109182180978 + - -0.9866746966223068 + - 0.16099817343049902 + - -0.09331106613744175 + - - 0.1311489570561413 + - -0.16269459083164742 + - -0.9779214800673972 + - 0.9735645187652786 + - - 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: + - - 0.9999023363981926 + - -0.013562176177225247 + - 0.0033741729021482133 + - 0.023935664819812855 + - - -0.013411515490384503 + - -0.99905861358495 + - -0.041255519315222415 + - -0.03450931948909876 + - - 0.0039305111228520664 + - 0.041206237380467255 + - -0.9991429312582146 + - 0.9686862546019417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998709125515953 + - -0.010505697313292655 + - -0.012156831709015457 + - 0.09183148834157154 + - - -0.010418440342618811 + - -0.9999196691728899 + - 0.0072188158312991016 + - -0.03378393187459886 + - - -0.012231693834753265 + - -0.007091228746867303 + - -0.9999000450749029 + - 0.9683484524689336 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.976766198163184 + - 0.016781121552463033 + - -0.21364968543220705 + - 0.09991712048032754 + - - 0.007060751686105582 + - -0.9989082337933973 + - -0.046178850628647995 + - -0.0897123000298583 + - - -0.21419136283115323 + - 0.04359741298743868 + - -0.9758182851685739 + - 0.9724612303696212 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9934089603946351 + - 0.003394916535221754 + - 0.1145736093058488 + - 0.012855522981156222 + - - 0.010573295991725597 + - -0.9980137013620954 + - -0.062103601388331306 + - -0.09291319245505346 + - - 0.11413519535849477 + - 0.06290569477597609 + - -0.9914716489871152 + - 0.9700444286493061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949649674684189 + - -0.005042708388530888 + - 0.10009637657116437 + - 0.05430170041593126 + - - -0.007898518649594512 + - -0.9995723677816063 + - 0.028154839204223306 + - -0.09312118892270929 + - - 0.09991159549176516 + - -0.028803691770012782 + - -0.9945793183184076 + - 0.9715385785068809 + - - 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: + - - 0.9997956989989812 + - -0.012996795337503265 + - -0.015480425513964145 + - 0.02391151561398545 + - - -0.013940067234879826 + - -0.997949433818344 + - -0.062470809720498455 + - -0.03453213128782258 + - - -0.014636761548422129 + - 0.06267384504402732 + - -0.9979267279508917 + - 0.9692225567032067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999131807565053 + - -0.012269334894571814 + - -0.004805660272346301 + - 0.09185484035137158 + - - -0.012187133675607356 + - -0.999784991353829 + - 0.01677631772461519 + - -0.03373878682381719 + - - -0.00501046127429823 + - -0.016716293993263073 + - -0.9998477188016933 + - 0.9684115792975685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9580499376258584 + - -0.013392163074859813 + - 0.2862882585494299 + - 0.01290500229581089 + - - 0.014522576035427405 + - -0.9953560072667699 + - -0.09516046229001099 + - -0.09312896381764635 + - - 0.28623314238638425 + - 0.09532611796422708 + - -0.9534062719709188 + - 0.9721606342937935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971556663841292 + - -0.0036004166277792526 + - 0.07528355728928872 + - 0.054505118030477875 + - - -0.004156065174911589 + - -0.9999652598918528 + - 0.00722538107515813 + - -0.09342781596122393 + - - 0.07525492754820175 + - -0.007517713051572055 + - -0.9971359886546013 + - 0.9750715504522993 + - - 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: + - - 0.9999032330871603 + - -0.013331628141298348 + - -0.003973934189962026 + - 0.0239361653028103 + - - -0.013519977088270704 + - -0.9985610680657152 + - -0.0518941573107324 + - -0.034530700972602 + - - -0.0032763823611786196 + - 0.05194286317253361 + - -0.9986446837008962 + - 0.9691681823572273 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998476654672671 + - -0.007315555315745906 + - -0.01584703474086441 + - 0.09188136504813138 + - - -0.007595838568610847 + - -0.999814499838157 + - -0.017699411001961554 + - -0.03380229429175385 + - - -0.01571461409311427 + - 0.017817086288139695 + - -0.9997177613407227 + - 0.9687651784551001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9744017624694091 + - -0.00774326091052484 + - -0.22468032225137283 + - 0.09985631687612992 + - - 0.012689517753009057 + - -0.995918987280892 + - 0.08935517283627106 + - -0.08958282812581381 + - - -0.22445529941550782 + - -0.08991892283538178 + - -0.9703269582364599 + - 0.9717076573366735 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9932320277451611 + - 0.02352927008849861 + - 0.11373879070193262 + - 0.012679113460050314 + - - 0.01009404749543673 + - -0.993046910516826 + - 0.11728573535663807 + - -0.09290548014716421 + - - 0.11570760245720856 + - -0.11534386399843712 + - -0.986563502148501 + - 0.9695705915976736 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982248749079051 + - -0.0023047683630219996 + - 0.05951291589134344 + - 0.0542643574547797 + - - -0.009737264457824385 + - -0.9921211148979575 + - 0.12490347895279726 + - -0.09313838457261789 + - - 0.05875614687822625 + - -0.12526125265390847 + - -0.9903824179515697 + - 0.9716606602995357 + - - 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: + - - 0.9999143806514322 + - -0.012800291369349771 + - 0.00271733459890924 + - 0.023928778451708134 + - - -0.012664505845533355 + - -0.998898552102174 + - -0.045180669537639 + - -0.0345258084164216 + - - 0.0032926673307716653 + - 0.045142387498233176 + - -0.9989751364237295 + - 0.9691363182062497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998731980101477 + - -0.008771381538089528 + - -0.013291003230500933 + - 0.09189124375952046 + - - -0.008962615643623795 + - -0.9998561793407668 + - -0.014397644074935276 + - -0.03380707196415238 + - - -0.013162804480223583 + - 0.014514940578490532 + - -0.9998080101090497 + - 0.9689405672504079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9689495135744748 + - 0.0269284667693616 + - -0.24578791227649904 + - 0.09998009550204809 + - - 0.007698241199465675 + - -0.9968554142873186 + - -0.07886710396923959 + - -0.08966160841713175 + - - -0.24713878130763584 + - 0.07452610739540462 + - -0.9661098706101013 + - 0.9730493265965339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977997953814465 + - 0.015864403856364315 + - 0.06437304581131491 + - 0.01272783521428869 + - - 0.022395460909691103 + - -0.9945282289839514 + - -0.10203942906880803 + - -0.09300925133140454 + - - 0.06240201653300935 + - 0.10325658547680133 + - -0.9926953540176798 + - 0.9703255610081665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883753519144055 + - -0.012813310299619685 + - 0.1514925173308589 + - 0.054448236243872995 + - - -0.0017425299201099436 + - -0.9973314379333705 + - -0.07298607058359213 + - -0.09340063481747221 + - - 0.15202344331566908 + - 0.07187365295378573 + - -0.985760138519268 + - 0.9744552217787533 + - - 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: + - - 0.9999158567113401 + - -0.012906504383148356 + - -0.0013044699439738888 + - 0.023930105034645488 + - - -0.01295936789323 + - -0.9983406974876252 + - -0.05610620753294506 + - -0.03449938328493497 + - - -0.0005781704202727487 + - 0.05611839167803862 + - -0.9984239539566523 + - 0.9686225689646895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999228931554842 + - -0.008264945797718871 + - -0.009268139755462207 + - 0.09189931070413611 + - - -0.008615926490444901 + - -0.999221766505054 + - -0.03849191023098438 + - -0.033764912170827194 + - - -0.008942793426958922 + - 0.03856879585208332 + - -0.999215929833108 + - 0.9689556463586562 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9598183024228376 + - 0.0035499380971407337 + - -0.28059975814966215 + - 0.10001109169966138 + - - 0.016740101778771596 + - -0.9988635771706396 + - 0.044624244467677675 + - -0.08975201321986104 + - - -0.28012246487309583 + - -0.04752843508239212 + - -0.9587869693169807 + - 0.9732806996022616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986861954442761 + - 0.016672969633041237 + - 0.04845508345522516 + - 0.01273673976720893 + - - 0.01967432820190459 + - -0.9978735537896872 + - -0.06213929076634456 + - -0.09296526374181639 + - - 0.04731599981867542 + - 0.06301097309799505 + - -0.9968905724453427 + - 0.9703462193214398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9784819865089566 + - -0.0005270423125654875 + - 0.2063315882357495 + - 0.05443747912842456 + - - -0.026581221666776268 + - -0.9919858007178383 + - 0.12352169780605536 + - -0.09326455904287295 + - - 0.2046129046081596 + - -0.12634830192998053 + - -0.9706542463036063 + - 0.9732421588659927 + - - 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: + - - 0.9998888560007629 + - -0.013047905633941733 + - -0.00721303015752278 + - 0.023928327784672538 + - - -0.013326973516043053 + - -0.9991068000563202 + - -0.040099798729212086 + - -0.03452002841477881 + - - -0.0066833690896335035 + - 0.04019146973909245 + - -0.9991696444237204 + - 0.9690081990958501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9549862376434091 + - 0.013253573425883555 + - -0.2963538909869938 + - 0.10009394983385517 + - - 0.014634364663014987 + - -0.9998899315441118 + - 0.00244134545324572 + - -0.08988126857249608 + - - -0.2962889152205937 + - -0.006668402219190029 + - -0.9550750814094396 + - 0.9743362838698911 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977050765838859 + - 0.01687691113599596 + - 0.06557247920621882 + - 0.01273293138456822 + - - 0.023458438014426944 + - -0.9946164357296238 + - -0.1009348674265862 + - -0.093004973433899 + - - 0.06351599676196219 + - 0.10224145757473793 + - -0.9927297731549747 + - 0.9702793379192898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860605728266643 + - -0.009093469064394547 + - 0.1661380616749988 + - 0.05453906502419238 + - - -0.006734878960570232 + - -0.9998684652764809 + - -0.014754441739379467 + - -0.0934506769162671 + - - 0.16625037781050986 + - 0.013429853537145292 + - -0.9859921150353248 + - 0.9751832251620993 + - - 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: + - - 0.9998814184602061 + - -0.011540804345513163 + - -0.010196021433133449 + - 0.023927466978275393 + - - -0.012040260496166357 + - -0.9986583513924512 + - -0.05036396848239829 + - -0.03453017997614604 + - - -0.009601101248856197 + - 0.05048075899954494 + - -0.9986788832380702 + - 0.9688321858145195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999036772011095 + - -0.010034484843742057 + - -0.009588818155542049 + - 0.09186627928939449 + - - -0.010081700921495724 + - -0.9999372290093024 + - -0.004888491355008691 + - -0.03377115027922689 + - - -0.009539162763516204 + - 0.004984692078673808 + - -0.9999420769317853 + - 0.9686245035395006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9654024615213077 + - 0.016054023251636934 + - -0.2602697747070066 + - 0.10003250907617116 + - - 0.009131941686778482 + - -0.9995722560289053 + - -0.02778331546655608 + - -0.08980451721278379 + - - -0.26060447987252505 + - 0.024445312735180906 + - -0.9651361208428841 + - 0.9736108585529174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9921737602291679 + - 0.011720972722279689 + - 0.1243135081604456 + - 0.012930776769039653 + - - 0.020426174043709486 + - -0.9974085919478795 + - -0.0689845788744528 + - -0.09315158149890734 + - - 0.1231827947671658 + - 0.07098393837336081 + - -0.9898420477865942 + - 0.9707219331517499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975202391065006 + - -0.0039003819718394384 + - 0.07027203991192808 + - 0.054436448223561765 + - - -8.183464586513419e-05 + - -0.998526804230365 + - -0.054260616809855174 + - -0.09331990455205277 + - - 0.07038015257159223 + - 0.05412031276673252 + - -0.996051015696501 + - 0.9739507238604406 + - - 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: + - - 0.9996182815538782 + - -0.014401750513627833 + - 0.023577123773155722 + - 0.023919562597763046 + - - -0.013526412473905163 + - -0.9992283657167735 + - -0.036874236433745246 + - -0.034508702046245315 + - - 0.024089984409651804 + - 0.03654124695640781 + - -0.9990417458354849 + - 0.9686387902739041 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998185562796353 + - -0.0084644294180452 + - -0.017064816246668595 + - 0.09186339729976184 + - - -0.009136046663035706 + - -0.9991710333285858 + - -0.03967088111521858 + - -0.03377790121094277 + - - -0.01671487870959486 + - 0.039819588040484584 + - -0.9990670714411573 + - 0.9688761985575702 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9522060000921446 + - 0.015801741698774043 + - -0.3050476001344775 + - 0.10004094498930825 + - - 0.010400368086484885 + - -0.9997591847894998 + - -0.019323684242407473 + - -0.0897968598465389 + - - -0.30527948789950576 + - 0.015227520754208999 + - -0.9521410383338675 + - 0.9735508250655268 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9870420326828486 + - 0.011401546459901338 + - 0.16005633525616272 + - 0.01291302644096616 + - - 0.014778908211755943 + - -0.9996922113894385 + - -0.019926524016073508 + - -0.09317212621016108 + - - 0.15977987854976902 + - 0.02203377465658966 + - -0.9869067347956463 + - 0.9711710583324884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929193901082263 + - -0.0022647853999719064 + - 0.11876849537735208 + - 0.05444880474400896 + - - -0.012029637122000928 + - -0.9965954010512603 + - 0.08156527713550274 + - -0.09331320131640049 + - - 0.11817940843404577 + - -0.08241648712830743 + - -0.9895661423430013 + - 0.9738418027223967 + - - 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: + - - 0.9996338448130817 + - -0.012561452000400113 + - -0.023966356165620043 + - 0.023926000210651596 + - - -0.01444126200695016 + - -0.9966944799283719 + - -0.07994725531223046 + - -0.03454489964271043 + - - -0.022882881284102482 + - 0.08026408663875761 + - -0.9965109382942987 + - 0.9694557899904277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999403216443085 + - -0.008560068445928718 + - -0.006788105632502958 + - 0.09189651853497516 + - - -0.00861854337730742 + - -0.9999255986403969 + - -0.008632374742606011 + - -0.03378631002180208 + - - -0.006713706869567159 + - 0.008690363159519132 + - -0.9999397000460701 + - 0.968791753916989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9731756018726994 + - 0.010788874687925299 + - -0.22981046125596094 + - 0.09997164782579532 + - - 0.00999556127723016 + - -0.9999393892280265 + - -0.004615909989825648 + - -0.08969898392453848 + - - -0.22984633274094762 + - 0.0021950064349062952 + - -0.9732244578062595 + - 0.9728509379656493 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9796993564326729 + - 0.004046930241265859 + - 0.20043151788336297 + - 0.01281874711617661 + - - 0.04306792906741238 + - -0.9807007175779983 + - -0.19071249573072893 + - -0.09335719833717535 + - - 0.1957915332471015 + - 0.1954730797261385 + - -0.960966154768797 + - 0.9721402191491255 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969196704981985 + - -0.0018359757983404416 + - 0.078407906276288 + - 0.0544887451210635 + - - -0.0064338360787106275 + - -0.9982708928287196 + - 0.05842799230046307 + - -0.09348886996003418 + - - 0.07816505822345134 + - -0.05875247844830547 + - -0.9952077019140807 + - 0.9755006107133004 + - - 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: + - - 0.9998241084082532 + - -0.012279128566183089 + - -0.014176573891345435 + - 0.023924238587335 + - - -0.012878926340619034 + - -0.9989910603707419 + - -0.04302318625640774 + - -0.034538223958265946 + - - -0.01363398334877008 + - 0.04319819789060406 + - -0.9989734882353233 + - 0.9692479607452762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989196093201401 + - -0.008654615625480436 + - -0.04565864369507666 + - 0.09179916696921604 + - - -0.009093544791781493 + - -0.9999143351564227 + - -0.009414339690542697 + - -0.03376217352947142 + - - -0.045573254863117224 + - 0.009819367447257171 + - -0.9989127381629073 + - 0.9682434884004847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9733425550798933 + - 0.004483562516358016 + - -0.22931238112606753 + - 0.09995562281391052 + - - 0.012071202876957635 + - -0.9994246389324097 + - 0.031696642660161416 + - -0.08969584545023923 + - - -0.22903832983072567 + - -0.03361976742906685 + - -0.972836653661018 + - 0.9725945434178823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996950577803345 + - 0.02286582454896614 + - 0.009324458014784083 + - 0.012716992897879354 + - - 0.023476001882342074 + - -0.9971534507894392 + - -0.07165104963875218 + - -0.0929212954525877 + - - 0.007659555156394215 + - 0.07184810120254087 + - -0.9973861747429612 + - 0.9696991028484053 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982923589366027 + - -0.004228382802222208 + - 0.05826222504909296 + - 0.054300356466974564 + - - -0.008730059013437723 + - -0.9969751252729896 + - 0.0772294351690385 + - -0.09314367336527243 + - - 0.057759433501508466 + - -0.07760618767717363 + - -0.9953095636412825 + - 0.9717966496506283 + - - 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: + - - 0.9997246039280394 + - -0.013318270666866269 + - -0.019322007332800664 + - 0.02390964958381782 + - - -0.013538827840694054 + - -0.9998441618121405 + - -0.011329264357334603 + - -0.03447417292106782 + - - -0.019168110017024648 + - 0.011587741653247807 + - -0.9997491224310993 + - 0.9687470665611657 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999535069560788 + - -0.0073156777417349205 + - -0.006282100398628936 + - 0.091852636218677 + - - -0.007531376147676701 + - -0.9993579768344895 + - -0.035027310924446 + - -0.03377641089157216 + - - -0.006021818625762156 + - 0.03507299525924029 + - -0.9993666107610276 + - 0.968519350629091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9864355772869292 + - 0.010275309245519908 + - -0.1638269510261109 + - 0.09985423690573839 + - - 0.004141495159534433 + - -0.9992790669741681 + - -0.03773849924254783 + - -0.08961278862981338 + - - -0.1640966175167738 + - 0.036548109761589086 + - -0.9857669784449106 + - 0.9717611698807911 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998669323772794 + - 0.011427201561826625 + - 0.011642018850457353 + - 0.012842043215457778 + - - 0.012102210033772026 + - -0.998145236808112 + - -0.0596625741112266 + - -0.09286263837358691 + - - 0.010938649402347846 + - 0.0597955291116696 + - -0.9981507103877194 + - 0.9698450692813845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947738533497409 + - -0.0031904784359164384 + - 0.10205293498502771 + - 0.05426546581145279 + - - -0.015632555197547134 + - -0.9924864033141618 + - 0.12135222476128987 + - -0.09305054719927308 + - - 0.10089897873469275 + - -0.12231336837757728 + - -0.9873493991523098 + - 0.9709853159414454 + - - 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: + - - 0.9998898133331132 + - -0.013645843402705074 + - 0.005843984129085697 + - 0.023900914072930896 + - - -0.013523154362507372 + - -0.999697514340396 + - -0.020542738807705366 + - -0.034497597111653316 + - - 0.006122539404524315 + - 0.02046144617231775 + - -0.9997718958501371 + - 0.9686233838225813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998369875614006 + - -0.009687792682976218 + - -0.015236304574118748 + - 0.0918528671492618 + - - -0.009738671249614413 + - -0.9999472356988076 + - -0.003268654249974242 + - -0.03378324448663758 + - - -0.015203834596429055 + - 0.003416502779980354 + - -0.9998785780895195 + - 0.9686566346914028 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9818358689052111 + - 0.005131881087734905 + - -0.18966283327961342 + - 0.09980476111503167 + - - 0.008992802833672493 + - -0.9997693788585588 + - 0.01950175874035593 + - -0.08960537831750764 + - - -0.1895190123136562 + - -0.02085312670257642 + - -0.9816555867912041 + - 0.9713235814851613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9961412931964964 + - 0.012685962912190915 + - 0.08684233031075536 + - 0.012755658033344419 + - - 0.02087938240902927 + - -0.9953437171114478 + - -0.09410067054481651 + - -0.09295864164026843 + - - 0.08524421023758355 + - 0.09555077787102047 + - -0.9917678526092756 + - 0.9703541243193003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996992503104814 + - -0.005546338291220098 + - 0.0772993330136595 + - 0.054335457994780664 + - - -0.012127992835955819 + - -0.9963124454681339 + - 0.08493775835915159 + - -0.09314842873022104 + - - 0.076543193966337 + - -0.0856197940716162 + - -0.9933833048328151 + - 0.9719372699344105 + - - 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: + - - 0.9999230951698929 + - -0.012024326332028532 + - 0.003036333664502881 + - 0.02393475431967952 + - - -0.011609410523126772 + - -0.9936591350694485 + - -0.11183355882892068 + - -0.03456361884694035 + - - 0.004361803889083233 + - 0.11178970824408227 + - -0.9937223132231341 + - 0.9694957443575364 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999710655532865 + - -0.007933671774857654 + - -0.02270819381232465 + - 0.09180906443705757 + - - -0.008572522678670837 + - -0.9995662360275778 + - -0.02817537308689124 + - -0.03376126330166146 + - - -0.022474809653764517 + - 0.028361887205026894 + - -0.9993450286488633 + - 0.9682625619490233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9738886431410392 + - 0.010310995217470725 + - -0.22679196224410383 + - 0.09995359132212223 + - - 0.011084597463315096 + - -0.9999362788235432 + - 0.00213775386830368 + - -0.08973237845756694 + - - -0.22675546842354652 + - -0.004595831823563025 + - -0.9739408790423921 + - 0.9728577478707816 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998949972923016 + - 0.010598018305740038 + - 0.009883137043437597 + - 0.012813103354690636 + - - 0.010438739631005035 + - -0.9998170050524084 + - 0.016030880292404563 + - -0.09280504378507207 + - - 0.01005122404208832 + - -0.015926029512233084 + - -0.9998226515133734 + - 0.9695178863521465 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975629862857254 + - -0.002948022612980907 + - 0.06970937924970387 + - 0.05440080668830791 + - - -0.018782013327101558 + - -0.9735726460477245 + - 0.22760390779381068 + - -0.09322017091280925 + - - 0.06719616334349952 + - -0.2283585164391866 + - -0.9712554059574692 + - 0.9728439675210768 + - - 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: + - - 0.9998499666210687 + - -0.01412000073801661 + - 0.010033435453831738 + - 0.02392921161198055 + - - -0.013948613339004174 + - -0.9997590195918132 + - -0.01695107461888344 + - -0.03452327235200487 + - - 0.010270366778589368 + - 0.016808578880274497 + - -0.9998059767986279 + - 0.9689175497750782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999002542775195 + - -0.007236822263123345 + - -0.012128886976298395 + - 0.09189572478262793 + - - -0.007725749124038261 + - -0.9991390521406529 + - -0.040761100180820645 + - -0.03382024157131704 + - - -0.01182346379976192 + - 0.04085073917336671 + - -0.9990953021672988 + - 0.9691220273356662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9656816538297444 + - -0.006690577722616588 + - -0.25964240721882725 + - 0.10005667588154801 + - - 0.01809260341548125 + - -0.9955069386768838 + - 0.0929440301893008 + - -0.08979971509875703 + - - -0.2590976672189462 + - -0.09445195189045681 + - -0.9612217369711233 + - 0.9738818140914132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.992350652210881 + - 0.00190751185939253 + - 0.12343639842098997 + - 0.012760311713914462 + - - 0.029315137530850903 + - -0.9749216100021572 + - -0.22060933131295754 + - -0.09322493991281029 + - - 0.11991999736568706 + - 0.222540368808244 + - -0.9675200145126227 + - 0.9724803801833233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.984621213224775 + - 0.0005767654637593433 + - 0.17470184260439822 + - 0.054380932586658305 + - - -0.03158448134255214 + - -0.9829287179553031 + - 0.18125549910848865 + - -0.09322336749945932 + - - 0.17182400008757245 + - -0.1839858765241103 + - -0.9677942499485941 + - 0.9730780254549842 + - - 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: + - - 0.9998888741660396 + - -0.012480877771788941 + - -0.008152730157170844 + - 0.023924241733062988 + - - -0.012797286424822392 + - -0.9991183066225177 + - -0.039985482764554284 + - -0.034509496571554006 + - - -0.007646488025952488 + - 0.040085372167401365 + - -0.9991670001351478 + - 0.9687848272105752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999542680307358 + - -0.009305605630850573 + - -0.0022062526959607106 + - 0.09191280191660209 + - - -0.009329495051441332 + - -0.9998951246360887 + - -0.01107701453759738 + - -0.03376096779974764 + - - -0.0021029429855522613 + - 0.011097091187518202 + - -0.9999362140646652 + - 0.9689237031053206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9631362211772454 + - 0.015201806942048332 + - -0.2685842968643416 + - 0.1000192431499041 + - - 0.009183702772277707 + - -0.9996781397646044 + - -0.023649027044902668 + - -0.0897414269963876 + - - -0.2688573582028332 + - 0.020310636190842724 + - -0.9629658348029367 + - 0.9733203564878681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996971429056649 + - 0.022264409875543095 + - 0.010484203314722385 + - 0.012900006131531508 + - - 0.02292389513170591 + - -0.9974445473329195 + - -0.06766734831378139 + - -0.0930131005147269 + - - 0.00895083785135039 + - 0.06788719355461591 + - -0.9976528511727102 + - 0.9695660436566498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9879205195068099 + - -0.016882849571428573 + - 0.1540390097596815 + - 0.05450955505459524 + - - 0.0007572514566885867 + - -0.9935095333001817 + - -0.11374635735656571 + - -0.09351891539801505 + - - 0.15495958733691206 + - 0.11248900671623305 + - -0.9814956697104528 + - 0.975153727609331 + - - 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: + - - 0.999795020995797 + - -0.013899174386456119 + - 0.014721716726953035 + - 0.023950106698343732 + - - -0.013397605266387435 + - -0.9993442967136336 + - -0.033637490974492354 + - -0.034550514037524564 + - - 0.015179597001891532 + - 0.033433360245537225 + - -0.9993256677667957 + - 0.969048904382629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995863126605087 + - -0.010237027608040392 + - -0.026877626523186773 + - 0.09184459113887024 + - - -0.009935169248903739 + - -0.999886336649843 + - 0.011340467051809579 + - -0.033770469116478345 + - - -0.026990664196409317 + - -0.011068741875649641 + - -0.9995744029333323 + - 0.9684482865424673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9694966202717923 + - 0.014143352897594181 + - -0.24469627878328332 + - 0.10006157043729677 + - - 0.009933382701169391 + - -0.9997807984954686 + - -0.018430487456264463 + - -0.08983425077001825 + - - -0.2449033098789894 + - 0.01543763351610367 + - -0.9694245964910001 + - 0.9738701777408549 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976591471343276 + - 0.013567164156507203 + - 0.06702356448262588 + - 0.012925973334510439 + - - 0.025048895507273843 + - -0.9845027419220602 + - -0.17357103439748156 + - -0.09311128912445382 + - - 0.06363001629004976 + - 0.17484359640746477 + - -0.9825380083346559 + - 0.9706720750365858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906939942981257 + - -0.007615018575611934 + - 0.1358948900942134 + - 0.0544033847975191 + - - -0.003628152810264677 + - -0.9995563799296344 + - -0.02956145884680001 + - -0.09331230218886118 + - - 0.13605971545174794 + - 0.02879331231482004 + - -0.9902821310097097 + - 0.973456408174847 + - - 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: + - - 0.9999079279245119 + - -0.012299176889157796 + - -0.0057328807381964875 + - 0.023931043609734852 + - - -0.012567281364132378 + - -0.9987025928513332 + - -0.04934768962311535 + - -0.03452619452059262 + - - -0.005118506893998344 + - 0.04941519280417514 + - -0.9987652074473272 + - 0.9691888136166396 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9705363190037448 + - 0.0017609782805884594 + - -0.2409484435520524 + - 0.10000313635871202 + - - 0.012479629388083963 + - -0.9989985665938226 + - 0.04296653108902416 + - -0.08977750205613536 + - - -0.24063148660347286 + - -0.04470752620066675 + - -0.9695863678682881 + - 0.9733440532127574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9836620866172485 + - 0.005186192999412188 + - 0.17995000070567835 + - 0.012741247308965068 + - - 0.02340512852597442 + - -0.9947852629214478 + - -0.09926973674282168 + - -0.09311474694699819 + - - 0.17849677675096381 + - 0.10185962927715449 + - -0.9786539309751112 + - 0.9714874845465442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900386149095202 + - -0.0026087071151333716 + - 0.14077192772433822 + - 0.05433010988083554 + - - -0.025714722380756665 + - -0.9863617026827562 + - 0.16257104457330604 + - -0.09319240950973255 + - - 0.138427938079419 + - -0.16457152283418505 + - -0.9766032561030702 + - 0.9722563328359453 + - - 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: + - - 0.9999001945901207 + - -0.01249529543836466 + - -0.006593060787430782 + - 0.023908895649019535 + - - -0.012747306211124371 + - -0.9991312369269824 + - -0.03967716699965234 + - -0.034512809948494004 + - - -0.006091555055862511 + - 0.03975725076846303 + - -0.9991907995815089 + - 0.9687546809020677 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999423465612209 + - -0.008884515388642033 + - -0.006030666625525299 + - 0.09187641950069383 + - - -0.008972382982132448 + - -0.9998516494378932 + - -0.014702906513536373 + - -0.03378234124797866 + - - -0.0058991437735642464 + - 0.014756168291017597 + - -0.9998737198267117 + - 0.9687936004251252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9606560178929349 + - 0.02148241196424138 + - -0.27690886815392496 + - 0.10000143116448158 + - - 0.011960479823312374 + - -0.9992791341517749 + - -0.03602997323444653 + - -0.08970869666441647 + - - -0.2774832647358851 + - 0.03130044768174115 + - -0.9602204537325983 + - 0.9732294635593031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951591540023936 + - 0.001993288926466757 + - 0.09825622119996262 + - 0.012838743672726801 + - - 0.019406142025746233 + - -0.9840939948131985 + - -0.1765854213242931 + - -0.09310129398036315 + - - 0.09634137147101927 + - 0.17763737267775936 + - -0.9793688293851438 + - 0.9717324996566199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870001377103652 + - -0.01815308074750646 + - 0.15969093217554514 + - 0.054507011029011766 + - - 0.00561366654451679 + - -0.9891006861767438 + - -0.14713367851250328 + - -0.09349275447261132 + - - 0.16062134013775076 + - 0.1461174125970899 + - -0.9761406081237908 + - 0.9751628365571294 + - - 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: + - - 0.99986550987842 + - -0.012555096082864921 + - -0.010551384644543242 + - 0.023905927016447757 + - - -0.01326319579132152 + - -0.9974615440375697 + - -0.06996110207528859 + - -0.03451808074667109 + - - -0.009646232060662036 + - 0.07009163807857473 + - -0.9974939160107668 + - 0.9686082322399018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998628336430524 + - -0.010878258329052006 + - 0.012489091040266034 + - 0.0918723423528461 + - - -0.010950652757218002 + - -0.9999235480315494 + - 0.005742934457953322 + - -0.03378157333353861 + - - 0.012425663100071416 + - -0.005878910419790772 + - -0.9999055161908046 + - 0.9688211538536207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9663380602614573 + - 0.005922148060927764 + - -0.2572074677229816 + - 0.10003833274706814 + - - 0.012808127087032061 + - -0.9996027673490709 + - 0.025104967408897335 + - -0.0897499495606324 + - - -0.25695662118467893 + - -0.0275542314431706 + - -0.9660300508570786 + - 0.9733550458857687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960418190546044 + - 0.011367388034352596 + - 0.08815598212073354 + - 0.012721720493775941 + - - 0.017952821918584775 + - -0.9970763361632707 + - -0.07427298330072296 + - -0.09303450803646554 + - - 0.08705395384216742 + - 0.07556164604153584 + - -0.9933338043014246 + - 0.971107386567134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9844350197525 + - -0.00729227596566491 + - 0.17559759279709833 + - 0.05446735937865746 + - - -0.018621719351216762 + - -0.9978424128150379 + - 0.06295832554847577 + - -0.09336135011243944 + - - 0.17475961619693345 + - -0.06524830954671487 + - -0.9824468100859184 + - 0.9743719632508939 + - - 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: + - - 0.9995187592028864 + - -0.00981997813167462 + - -0.02942478599779328 + - 0.0238419211664092 + - - -0.011744679694327662 + - -0.9977525610587731 + - -0.06596885173730074 + - -0.03447592630984694 + - - -0.028710842906472578 + - 0.06628268952112423 + - -0.9973877343187287 + - 0.9688543331123253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994728103096698 + - -0.006260653163986794 + - -0.03185758424066698 + - 0.09188497838677115 + - - -0.00742851531882319 + - -0.9992996891733741 + - -0.036673537846191734 + - -0.03379699552858625 + - - -0.031605673728761746 + - 0.03689085848768378 + - -0.9988193760376262 + - 0.9687681436233682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9688803649212642 + - 0.011228974136124446 + - -0.24727464206806188 + - 0.10003379958091999 + - - 0.012409334758537475 + - -0.9999178311391714 + - 0.0032154907536036826 + - -0.08967750478725342 + - - -0.2472182171299041 + - -0.0061839396654726 + - -0.9689400972244496 + - 0.9732899558393109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9858812095666019 + - 0.017155986941328964 + - 0.16656504055642374 + - 0.012743411395121447 + - - 0.01273480758977143 + - -0.9995386101483957 + - 0.02757519715730679 + - -0.09312545571551506 + - - 0.1669612688594143 + - -0.025064694984814603 + - -0.985644812174331 + - 0.9719885003673426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996602020763681 + - -0.003819964260454523 + - 0.025785427234848075 + - 0.0543740178437543 + - - -0.009357323217401844 + - -0.9758590671555051 + - 0.2182006451699753 + - -0.09324492227313498 + - - 0.02432942430144756 + - -0.21836778362074669 + - -0.9755632169109923 + - 0.9732057171069697 + - - 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: + - - 0.9996461821093966 + - -0.011505067959816127 + - -0.023982160147643636 + - 0.02394830399569083 + - - -0.013915472456965526 + - -0.9945947779772251 + - -0.10289600209305176 + - -0.034576727615366495 + - - -0.022668705750585938 + - 0.10319331873563274 + - -0.9944029710071863 + - 0.9695493509848356 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999539679705483 + - -0.008983201515875179 + - 0.0033710577688579554 + - 0.09186349165704166 + - - -0.008937991674423482 + - -0.9998729969174766 + - -0.013194784579237296 + - -0.033770152565675254 + - - 0.0034891610429637955 + - 0.013164046710252881 + - -0.9999072625145929 + - 0.9685622900583224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9787054725041116 + - -0.02008275138603738 + - 0.20428480410267993 + - 0.012926512710892324 + - - 0.02732993524418551 + - -0.973593615295216 + - -0.22664630351263162 + - -0.09324110811698332 + - - 0.20344206234221165 + - 0.22740306803813778 + - -0.9523125389895852 + - 0.9737228861063218 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985331325502447 + - -0.003090601068939383 + - 0.05405581730422952 + - 0.05446160147005283 + - - -0.0035858311484370494 + - -0.9999524657149921 + - 0.009066869662877432 + - -0.0934110888776326 + - - 0.05402522572253139 + - -0.009247404800341513 + - -0.9984967503653126 + - 0.9746417552894335 + - - 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: + - - 0.9998360359510774 + - -0.013651449290132303 + - 0.01189702256511419 + - 0.023920997551319864 + - - -0.012953269438289835 + - -0.9982954040769584 + - -0.05690781149966576 + - -0.034544472705702496 + - - 0.012653617051853456 + - 0.056744375325677616 + - -0.9983085504213632 + - 0.969058306340187 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999602956481801 + - -0.00859354940941154 + - -0.0023575486743925515 + - 0.09188474300950768 + - - -0.008630507748563975 + - -0.999832461968399 + - -0.016141943198152334 + - -0.033789250348897196 + - - -0.002218437108891003 + - 0.016161649134862503 + - -0.9998669309633338 + - 0.9686137017554695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9796130499855297 + - -0.00030933824310104205 + - -0.20089344590578237 + - 0.09992795675146972 + - - 0.009385989080294753 + - -0.9988363103052561 + - 0.04730674819481621 + - -0.08965649779792885 + - - -0.20067430205941353 + - -0.04822789157359581 + - -0.978470180929053 + - 0.9724282910542084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960059314296319 + - 0.020760789623315352 + - 0.08683993419624328 + - 0.012804628030084753 + - - 0.031113154326492296 + - -0.9923328371098998 + - -0.11961401264598037 + - -0.09324524824049371 + - - 0.08369083692285131 + - 0.1218381303518456 + - -0.9890153253653451 + - 0.9712699387354877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906912247350093 + - -0.007684738443426709 + - 0.13591115490681158 + - 0.054420250977489995 + - - -0.006758920865597534 + - -0.9999507157422406 + - -0.007272075034961555 + - -0.09325422236299608 + - - 0.13596034062100534 + - 0.006285768181983841 + - -0.9906943397923414 + - 0.9733728477614689 + - - 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: + - - 0.9998874773049305 + - -0.013564329385579523 + - -0.006406379406613731 + - 0.023919954333936736 + - - -0.013738042270406491 + - -0.9995163575510854 + - -0.027898336552333935 + - -0.03450894225948235 + - - -0.006024858783283229 + - 0.027983208467405433 + - -0.9995902366072364 + - 0.9690616569155598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998857692804713 + - -0.009301306039324922 + - -0.011913609711707155 + - 0.09185450007738657 + - - -0.009385974143859019 + - -0.9999309515947485 + - -0.0070707518830467235 + - -0.03375836120941183 + - - -0.011847019868763421 + - 0.007181765018685625 + - -0.999904030580658 + - 0.9686683298375962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.2059396505355835 + shoulder_marker_pose: + - - 0.9546263977062495 + - 0.024776733989020493 + - -0.296773574051375 + - 0.10008917470210983 + - - 0.006030750758388513 + - -0.9979370752108069 + - -0.06391575678180486 + - -0.08986732934987668 + - - -0.2977449761921766 + - 0.059225901196503165 + - -0.9528064975532978 + - 0.9742170186271292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9924291226391431 + - 0.011659658608722794 + - 0.12226401309800332 + - 0.012903318803474563 + - - 0.021503177181766562 + - -0.9966026877111919 + - -0.0795028063524712 + - -0.0930149381409615 + - - 0.12092166848332124 + - 0.08152996509233287 + - -0.9893082506899723 + - 0.9699176901291302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99555880246777 + - -0.0018763240271591928 + - 0.09412305900832699 + - 0.054398671394394 + - - -0.010526347400478198 + - -0.9957504278373833 + - 0.09148924238440485 + - -0.09330599529094576 + - - 0.09355141281319243 + - -0.09207369260441899 + - -0.9913478543331006 + - 0.9735189737026311 + - - 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: + - - 0.9998130089496639 + - -0.013874260799776944 + - -0.013470412847393635 + - 0.02391229634509782 + - - -0.014204299932511997 + - -0.9995934323437216 + - -0.024722618767529184 + - -0.03447031696055643 + - - -0.01312192815277901 + - 0.024909333643377923 + - -0.9996035914796404 + - 0.9688859736816566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998956502793616 + - -0.008345763996333012 + - 0.011791385657769509 + - 0.09192545606494083 + - - -0.007987341243230594 + - -0.9995142589825482 + - -0.030123885380744155 + - -0.033811550026284526 + - - 0.01203706493614321 + - 0.03002656014074099 + - -0.9994766204138235 + - 0.9689181543055058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9595221914687357 + - 0.007302430572652039 + - -0.28153834301346314 + - 0.09997590052329056 + - - 0.014681718889898263 + - -0.9996014959622193 + - 0.024110089185455246 + - -0.08976175477325778 + - - -0.28125008659460504 + - -0.027267632420586104 + - -0.959247030233976 + - 0.9733507194818278 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9814875052794834 + - -0.012495365768731205 + - 0.1911181383714315 + - 0.012909691551506196 + - - 0.015248758278873651 + - -0.9896036755777151 + - -0.1430106312622577 + - -0.09321040390531546 + - - 0.19091818234837793 + - 0.1432774620007717 + - -0.9710931039459654 + - 0.973179756552282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955380202164623 + - -0.0024631365524811506 + - 0.0943291220239566 + - 0.0543453858424692 + - - -0.020720468048738436 + - -0.9809669377455742 + - 0.19306612663518377 + - -0.09319953101763861 + - - 0.0920582017385082 + - -0.19415921304021458 + - -0.9766409204432699 + - 0.972453637216341 + - - 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: + - - 0.9997461313586476 + - -0.012197051236132083 + - -0.018944782251607922 + - 0.023896647171300547 + - - -0.01340207111268564 + - -0.9978056641675224 + - -0.0648401191015342 + - -0.034530312055407165 + - - -0.018112352782236406 + - 0.06507755754754316 + - -0.9977158183472582 + - 0.96909373681985 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999519067993012 + - -0.009798764562607462 + - 0.0004102456438590974 + - 0.09187134035629457 + - - -0.0098000568237009 + - -0.9999466109128556 + - 0.003276310447203983 + - -0.033746684306529266 + - - 0.0003781199465125038 + - -0.0032801733095695887 + - -0.9999945487293245 + - 0.9685528354800446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9564548716814352 + - -0.0017562395274330614 + - -0.29187496305708 + - 0.10005456475235533 + - - 0.016158394877923806 + - -0.9981298094217247 + - 0.05895582938709627 + - -0.0897531009215046 + - - -0.2914326418090784 + - -0.06110482113936347 + - -0.9546377407800865 + - 0.9738484493073682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.976841451694996 + - -0.008786913620901492 + - 0.2137839292356455 + - 0.012875279539485899 + - - 0.014891505631769714 + - -0.9939415468533568 + - -0.1088964852452816 + - -0.09307366173101873 + - - 0.21344559332633606 + - 0.10955816531767808 + - -0.9707924531545314 + - 0.9719742240336182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999822498103015 + - -0.003554161177493198 + - 0.004782050047024135 + - 0.05452545033015668 + - - -0.003927180506982805 + - -0.9967548312553185 + - 0.08040139067483262 + - -0.09350133230085564 + - - 0.004480771986323076 + - -0.08041874350862421 + - -0.9967510965004758 + - 0.9756704665878133 + - - 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: + - - 0.999855697061733 + - -0.012035931620092873 + - -0.01198838618131866 + - 0.023941726920924056 + - - -0.013046915845085789 + - -0.9960200868441866 + - -0.08816895479606246 + - -0.03454089452156492 + - - -0.010879477934498191 + - 0.0883126432224475 + - -0.9960333900060466 + - 0.9693690369776713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999132052033621 + - -0.009688928592305048 + - -0.008927862155757244 + - 0.09186544444749964 + - - -0.009930245940232535 + - -0.999575390542715 + - -0.027393956212023507 + - -0.03375047412299714 + - - -0.008658653215453541 + - 0.02748023442609214 + - -0.9995848460437876 + - 0.9687722242858698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9624844316004363 + - 0.014607420502995787 + - -0.27094342987611564 + - 0.1000173502728526 + - - 0.013739311908822105 + - -0.9998926017548496 + - -0.005100614099244745 + - -0.08968657271582679 + - - -0.2709888378421832 + - 0.0011866853694107267 + - -0.9625817583679719 + - 0.9732374532317574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963845502819612 + - 0.003721787583895092 + - 0.08487624082506455 + - 0.012851381226033218 + - - 0.017936387016807928 + - -0.985736783768962 + - -0.16733582744172595 + - -0.09311589818741414 + - - 0.08304284424438553 + - 0.1682532062755541 + - -0.9822396574145231 + - 0.9715261775190132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935210112919705 + - -0.007293406168667601 + - 0.11341431279974917 + - 0.05446514937184607 + - - -0.013584385613314048 + - -0.998405185164696 + - 0.05479553543636777 + - -0.0933949701705427 + - - 0.11283379187499326 + - -0.05598117954016592 + - -0.9920356056858054 + - 0.9744896283516408 + - - 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: + - - 0.9999072911155062 + - -0.012479026346685655 + - -0.0054482176433178035 + - 0.02392314785073884 + - - -0.012858563115153975 + - -0.9970010032136722 + - -0.0763128884628676 + - -0.034561044391741076 + - - -0.004479567910394467 + - 0.0763758698305374 + - -0.9970690347107196 + - 0.9693779802478555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999950324031975 + - -0.00951475874231602 + - 0.002969652239514419 + - 0.09187893548837575 + - - -0.009475317772901615 + - -0.9998702853586119 + - -0.013024239324833094 + - -0.033782327866619465 + - - 0.003093189527117095 + - 0.012995453934492435 + - -0.9999107711969032 + - 0.9686850699497037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9632454277016675 + - 0.01095051705515321 + - -0.26839957561079764 + - 0.09998484705612132 + - - 0.012928346790815238 + - -0.9999007293194859 + - 0.005602620424041544 + - -0.0897288912646655 + - - -0.2683115798117701 + - -0.008866661298610024 + - -0.9632913777545853 + - 0.972990984049405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962484575128876 + - 0.003129359145749979 + - 0.08648247229658207 + - 0.012857192913949643 + - - 0.01873536877489798 + - -0.9834443638087004 + - -0.18023920009190414 + - -0.0931194942804102 + - - 0.08448666675908542 + - 0.18118330608595756 + - -0.9798135601917856 + - 0.9719917855734761 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962866687619797 + - -0.004651585205908131 + - 0.08597230020320266 + - 0.0543784756072317 + - - -0.01746284847780114 + - -0.9887020887683059 + - 0.14887319633913668 + - -0.09322589801282907 + - - 0.0843084964294749 + - -0.14982170210040316 + - -0.9851119403446189 + - 0.9728790138085938 + - - 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: + - - 0.9999234638443795 + - -0.011464615075625332 + - -0.004650704745066874 + - 0.023922482830060578 + - - -0.01176204015773927 + - -0.9974795916238046 + - -0.0699722709745568 + - -0.03452351122793127 + - - -0.0038367779171815486 + - 0.07002161734190962 + - -0.9975380956334643 + - 0.968910267036863 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997682152326692 + - -0.007144709729734846 + - -0.02030933118940823 + - 0.09189294858590849 + - - -0.008093260635726317 + - -0.9988614744848543 + - -0.047013337705657327 + - -0.033802722368420184 + - - -0.019950311846320613 + - 0.04716680944076894 + - -0.9986877776084044 + - 0.9688772865386098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9785368280006087 + - 0.0068390912345842846 + - -0.2059584984349812 + - 0.09992155800147601 + - - 0.008461917760640616 + - -0.9999396992199164 + - 0.00699956225747399 + - -0.08972572244150032 + - - -0.20589820833197964 + - -0.008592133324683218 + - -0.9785356932941243 + - 0.9727019443064538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9866506444112741 + - 0.004386817791412972 + - 0.16279208123395378 + - 0.01285119661097258 + - - 0.003658133450207901 + - -0.9999819054295641 + - 0.004775654208401641 + - -0.09294979613247557 + - - 0.1628100855060206 + - -0.004116387144414005 + - -0.986648838956596 + - 0.9704656775138936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962084814824872 + - -0.0018030054106753625 + - 0.08697936878275286 + - 0.054321269981747904 + - - -0.009785478632316501 + - -0.9957629111430804 + - 0.09143560138039918 + - -0.09315951051601751 + - - 0.0864459705844843 + - -0.09194005635928147 + - -0.992005100897349 + - 0.9722365984055337 + - - 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: + - - 0.9998019569447675 + - -0.013338212651839782 + - 0.014769528518799407 + - 0.023942958786992038 + - - -0.012975849108381825 + - -0.9996189293682827 + - -0.02436438771084443 + - -0.03450097404406133 + - - 0.0150888776696557 + - 0.024167915339601418 + - -0.999594036416188 + - 0.9688916817830411 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998285183150086 + - -0.011273990728518677 + - -0.014691191138492241 + - 0.09182966019336894 + - - -0.011135105095712375 + - -0.9998928604661286 + - 0.009501422176273304 + - -0.03373247830703199 + - - -0.014796736076644685 + - -0.009336204899080394 + - -0.9998469342252152 + - 0.9684532760388794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9789806684343956 + - 0.01564960707060462 + - 0.20335176574173064 + - 0.012728934434391147 + - - 0.007084183877306947 + - -0.9990593545460847 + - 0.04278107563810884 + - -0.09308532700946048 + - - 0.2038299908515342 + - -0.040441264724248756 + - -0.9781706594132576 + - 0.9711023984705571 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996088030430132 + - -0.004220316156270496 + - 0.0276483238272326 + - 0.05434439300986606 + - - -0.008326715606563676 + - -0.9886296300476431 + - 0.15014033568321386 + - -0.09321635648820066 + - - 0.026700312472362656 + - -0.15031182097028115 + - -0.9882780225171846 + - 0.9728095493647946 + - - 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: + - - 0.9998734058192401 + - -0.012970097658786095 + - 0.009216772870944122 + - 0.023934718427591692 + - - -0.012366067474130441 + - -0.9979483425733088 + - -0.06281867501318689 + - -0.03453459240195183 + - - 0.010012627560149897 + - 0.06269674729927135 + - -0.9979823972232347 + - 0.9690646993507719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999482965052447 + - -0.010049230215350263 + - -0.0015547631131289988 + - 0.09185324992560284 + - - -0.010042941035120557 + - -0.9999415624772606 + - 0.0040013705027369065 + - -0.033774343175269596 + - - -0.0015948829499831355 + - -0.00398554922362937 + - -0.9999907858304307 + - 0.9685960374101249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9663399311456555 + - -0.011277046507539277 + - -0.25702133315247666 + - 0.09990838987000558 + - - 0.021692449934715138 + - -0.9919095549165702 + - 0.12507946466563635 + - -0.0896316899749934 + - - -0.25635244311150907 + - -0.12644470367429034 + - -0.9582771842340201 + - 0.972323871826587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922923023631457 + - 0.01986519930661495 + - 0.12231664043520804 + - 0.012900610909445397 + - - 0.011627367287766449 + - -0.9976381357821171 + - 0.06769752110039434 + - -0.09298849624223933 + - - 0.12337256988813552 + - -0.06575350857324211 + - -0.9901796226490963 + - 0.9695838097506796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956190782647959 + - -0.0019744181425528206 + - 0.0934812958198407 + - 0.05440961178875554 + - - -0.015523164770315045 + - -0.9893929705649929 + - 0.14443192566774662 + - -0.09325356937961692 + - - 0.09220456794905478 + - -0.14525030626328536 + - -0.9850891666137388 + - 0.9732335698382777 + - - 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: + - - 0.9994731378397713 + - -0.01102905062957657 + - -0.030525510297646732 + - 0.023943254598705308 + - - -0.01314484950676751 + - -0.9974601523244585 + - -0.07000326746883662 + - -0.03455011882419838 + - - -0.029675910570122935 + - 0.07036763863509476 + - -0.997079603524591 + - 0.9692330952414322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998762516339859 + - -0.007824774692184403 + - -0.013647502313127707 + - 0.09187871190435597 + - - -0.00813417544360338 + - -0.9997077598132869 + - -0.02276466909385657 + - -0.0337209745989819 + - - -0.013465385557901985 + - 0.02287286318143532 + - -0.9996476957016711 + - 0.9686116624980607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9720393533150216 + - 0.025575632440362723 + - -0.23342104153694046 + - 0.10010200285771456 + - - 0.005677827479383172 + - -0.9963201730391275 + - -0.08552119661463435 + - -0.08980063866594581 + - - -0.2347493511855336 + - 0.0818046442481113 + - -0.9686076307243364 + - 0.9739796352216341 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9927965432885718 + - -0.002367450724132178 + - 0.11978905964791516 + - 0.012863508945966549 + - - 0.020710934060007236 + - -0.9813628064642865 + - -0.1910447573185478 + - -0.09315732073982512 + - - 0.11800881680885121 + - 0.19214951799473656 + - -0.9742445698538776 + - 0.9723804793538159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958877138375757 + - -0.011545268710209227 + - 0.08985748826767882 + - 0.054478770614426866 + - - 0.0015551201381148808 + - -0.9895220706096578 + - -0.1443733125537123 + - -0.09346910689581318 + - - 0.0905827965384322 + - 0.14391934736783982 + - -0.985434918411405 + - 0.9751860310808136 + - - 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: + - - 0.9998912141294584 + - -0.013298286058029575 + - -0.006380869426384842 + - 0.02390828760919183 + - - -0.013536219336191148 + - -0.99915454067976 + - -0.03881977080176157 + - -0.034484610239634686 + - - -0.005859238244028098 + - 0.03890192060731181 + - -0.9992258553001233 + - 0.9688253156687942 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999545816445402 + - -0.00921335414666443 + - -0.002439006654504104 + - 0.09184591263393932 + - - -0.009249504042462206 + - -0.9998409259817842 + - -0.01525022645264837 + - -0.03376052396743966 + - - -0.0022981129347900376 + - 0.01527209341435293 + - -0.9998807338076289 + - 0.9684510527277841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9544714300558506 + - 0.016265398929911815 + - -0.297858567116661 + - 0.09999642099413299 + - - 0.010596907651534128 + - -0.9997308966134485 + - -0.020635888754675962 + - -0.08978452574395493 + - - -0.2981140633304045 + - 0.016539986521195472 + - -0.9543869414920315 + - 0.9733705887372525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9917544451430971 + - 0.007393060624650159 + - 0.12793929495470857 + - 0.012712748539600206 + - - 0.02274401013391535 + - -0.9926402370964722 + - -0.11894565860126154 + - -0.09306350261734633 + - - 0.12611831961271935 + - 0.12087473826925026 + - -0.9846235154140919 + - 0.9709447253531791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992554336484609 + - -0.01182995080632896 + - 0.12122681794684417 + - 0.05451739397258792 + - - -0.0017539447632339287 + - -0.9965572641946856 + - -0.08288873782710866 + - -0.09349947158950633 + - - 0.12179003573102765 + - 0.08205895103353118 + - -0.9891579832119395 + - 0.9750836791380229 + - - 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: + - - 0.9998650528848185 + - -0.012986721644941922 + - -0.010060868777391003 + - 0.0239223204293844 + - - -0.013292967662608672 + - -0.9994311315885253 + - -0.03099532581536853 + - -0.03448834963556307 + - - -0.00965261779829308 + - 0.031124881888881243 + - -0.9994688933113643 + - 0.9690506802774068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998270637492829 + - -0.009990613340638749 + - -0.01568535111386512 + - 0.09185630570780047 + - - -0.010069570570368305 + - -0.9999369845201709 + - -0.004962936352341477 + - -0.03375872407759071 + - - -0.015634779915807938 + - 0.0051200228306982265 + - -0.9998646603531894 + - 0.9685405426775022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9720852946333858 + - 0.01352136760150208 + - -0.23423781201101723 + - 0.09991403350628797 + - - 0.008652362399422703 + - -0.9997248705439472 + - -0.02180183113403972 + - -0.08971290214250277 + - - -0.23446815686236083 + - 0.01916652900431316 + - -0.9719348371076604 + - 0.972403631182882 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969455792183824 + - 0.011333953862030285 + - 0.077272592597747 + - 0.01285610848263389 + - - 0.010443577449251801 + - -0.9998744512836928 + - 0.011916935856021627 + - -0.09296268880268992 + - - 0.07739795712410953 + - -0.01107353421399074 + - -0.9969387810056477 + - 0.9706272243103258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910202207290489 + - -0.007660146703218755 + - 0.1334924876486768 + - 0.05442475031724102 + - - -0.004990383891550675 + - -0.9997810225309443 + - -0.02032247661077081 + - -0.09332834954969046 + - - 0.1336189289538047 + - 0.01947380649656204 + - -0.9908414367020454 + - 0.9735066568309146 + - - 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: + - - 0.9998633778430549 + - -0.013204734032431224 + - -0.009942869173886992 + - 0.02391076583734735 + - - -0.013529501471991955 + - -0.9993525802649739 + - -0.03333726005026249 + - -0.034510046564571406 + - - -0.00949622231182732 + - 0.03346722750501171 + - -0.9993947000284386 + - 0.9689111488978157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998642553159124 + - -0.008582454552588055 + - 0.014064580171787428 + - 0.09190385060570129 + - - -0.008107387186629046 + - -0.9994060553343378 + - -0.033493384929936795 + - -0.03377764588876721 + - - 0.014343682043393136 + - 0.033374811383910394 + - -0.9993399725571507 + - 0.9688968131100612 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9671203358701619 + - 0.030198018492542153 + - -0.2525199707458981 + - 0.10004290553626938 + - - 0.006695432076508452 + - -0.9956044334145435 + - -0.09341832451191913 + - -0.08976710376549882 + - - -0.2542310506914803 + - 0.08865603106630394 + - -0.9630714828193576 + - 0.973607513564458 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9821666790499005 + - 0.004265542182937466 + - 0.18796387874795364 + - 0.01296995756659755 + - - 0.030285659247906438 + - -0.9902761785565856 + - -0.13577875027884737 + - -0.09325058975136413 + - - 0.18555698156633596 + - 0.1390499742295966 + - -0.9727454503922079 + - 0.9719761891810583 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999649557569746 + - -0.0017965050894608284 + - -0.00817678588536444 + - 0.054516125324529874 + - - -0.0019920646231354954 + - -0.9997106584416168 + - -0.02397146380107071 + - -0.09346095263770454 + - - -0.008131355144673353 + - 0.023986912425160784 + - -0.9996792030925814 + - 0.975258087137762 + - - 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: + - - 0.9999133417682642 + - -0.012958499362012637 + - -0.002320829185293101 + - 0.023926109865266654 + - - -0.013081641188908703 + - -0.997814063921059 + - -0.06477626498298485 + - -0.03451376967997983 + - - -0.0014763528125883389 + - 0.06480101184106572 + - -0.997897113557679 + - 0.9689043871504416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9638516500608743 + - 0.015520408057995434 + - -0.2659870553403745 + - 0.10004730326943485 + - - 0.009369628329528364 + - -0.9996589080002253 + - -0.02437781205857183 + - -0.08977883710773484 + - - -0.26627468287446443 + - 0.021004394528523335 + - -0.9636683084290948 + - 0.9737401936733029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9935076306951106 + - -0.0006595747847260563 + - 0.11376358253716866 + - 0.012896184364558043 + - - 0.019720904290322784 + - -0.9838457799120719 + - -0.17792854544220607 + - -0.09313510724990748 + - - 0.1120431777689287 + - 0.17901688833825322 + - -0.9774452823586238 + - 0.9719024026731821 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931284105005723 + - -0.006910943916465839 + - 0.11682550710692502 + - 0.05446226349889975 + - - 0.0013123082916517243 + - -0.9975344556045966 + - -0.07016614374888124 + - -0.09348207793771443 + - - 0.11702238291692058 + - 0.06983730189393393 + - -0.990670739025142 + - 0.9752165725197155 + - - 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: + - - 0.9998130835799007 + - -0.01372818624703572 + - 0.013613772615151697 + - 0.023924857016209323 + - - -0.013111808646176346 + - -0.9989288558719703 + - -0.0443759099100245 + - -0.034510328573914485 + - - 0.014208391058681137 + - 0.04418911414232305 + - -0.9989221410174272 + - 0.968737086998105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998268570474179 + - -0.008983844361141463 + - -0.016295596557871297 + - 0.09187186373869832 + - - -0.00899937184243462 + - -0.9999591178088097 + - -0.0008797826254996449 + - -0.03376322732853611 + - - -0.016287026527998138 + - 0.001026280430156817 + - -0.9998668308906715 + - 0.9686446536664515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9667869238554103 + - -0.0061474375949234755 + - -0.2555097901709627 + - 0.0999915496160844 + - - 0.017803057027765988 + - -0.9956626687373042 + - 0.09131758452442063 + - -0.08975245811702817 + - - -0.25496292872231247 + - -0.09283350200183721 + - -0.9624842055241298 + - 0.9734295563507185 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9893657846060541 + - -0.004030655842458347 + - 0.14539290926426457 + - 0.0128918986976656 + - - 0.01570840440530637 + - -0.9908080976245589 + - -0.1343598143517719 + - -0.09310102943618379 + - - 0.1445980300069346 + - 0.13521489376205165 + - -0.9802083157283616 + - 0.9720866243747017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999391035987624 + - -0.01099234965675451 + - 0.0009784391279683406 + - 0.05429746899925153 + - - -0.010812139774128808 + - -0.9580550060578289 + - 0.28638034674369384 + - -0.09311563038790056 + - - -0.002210594401556355 + - -0.28637348623180403 + - -0.9581155147767072 + - 0.971984883712633 + - - 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: + - - 0.9998536360152811 + - -0.014313276227891776 + - 0.009372121992691329 + - 0.02393067590788025 + - - -0.01360904693943399 + - -0.997360480476431 + - -0.0713222673869999 + - -0.03453759578134511 + - - 0.010368239408024036 + - 0.07118428272762531 + - -0.9974092928703497 + - 0.9692230730880693 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999802317795613 + - -0.009121568776964736 + - 0.0176669837144654 + - 0.09189297799274104 + - - -0.008759570374395183 + - -0.9997522937850528 + - -0.020460229675683464 + - -0.03378513142386978 + - - 0.0178492368849792 + - 0.02030142986522876 + - -0.9996345615714032 + - 0.9687478816903847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9559331579526441 + - 0.013132984792793958 + - -0.2932905082629123 + - 0.10007409662797007 + - - 0.0135781384064064 + - -0.9999076785577022 + - -0.0005181879619705191 + - -0.08985301284300636 + - - -0.2932702366148015 + - -0.0034869860595795796 + - -0.9560232263099675 + - 0.974214833732056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9832937413884778 + - -0.020376152346098728 + - 0.18088181379513515 + - 0.012923380036265173 + - - 0.02871934064591143 + - -0.9639019300917587 + - -0.26470411526503873 + - -0.09322176249587974 + - - 0.17974598081490853 + - 0.2654767062869196 + - -0.9472135455112198 + - 0.9733929108471271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960009090807384 + - -0.004588870933598639 + - 0.08922517231083195 + - 0.05448992664766611 + - - -0.010984746609891086 + - -0.9973927001473629 + - 0.07132416865740035 + - -0.09347129616948752 + - - 0.08866523812779935 + - -0.072019052731257 + - -0.9934544436416968 + - 0.9753803135860223 + - - 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: + - - 0.9998955013096448 + - -0.013415709254152475 + - -0.00538564814503793 + - 0.023931319763612208 + - - -0.013615299817701265 + - -0.9991498271369492 + - -0.03891332089501559 + - -0.034505654579280676 + - - -0.004859019613894014 + - 0.038982581718152026 + - -0.9992280761923072 + - 0.9688420110395769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999377846515402 + - -0.009797595543646842 + - 0.005332349175858729 + - 0.09187338817159164 + - - -0.009813301621843146 + - -0.9999475636907895 + - 0.0029272820385567496 + - -0.03376542563573038 + - - 0.005303389241692564 + - -0.002979427867500369 + - -0.9999814983649115 + - 0.9685880945003558 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9553716994660703 + - 0.0030601981882013114 + - -0.2953905060193398 + - 0.09999506163151685 + - - 0.01804155860773665 + - -0.9986841450303191 + - 0.048005006281259775 + - -0.08976957873800726 + - - -0.29485491012075127 + - -0.05119192956032343 + - -0.9541697796123991 + - 0.9734309731898239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9780069575529016 + - -0.010166180620256076 + - 0.20832436187280964 + - 0.012886087590256758 + - - 0.02040931207908638 + - -0.9893534427639457 + - -0.14409450118442144 + - -0.09315489930141696 + - - 0.20757131535589277 + - 0.14517718161861767 + - -0.9673870657491241 + - 0.9724541916938202 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962003186831981 + - -0.004854852608162758 + - 0.08695605477278527 + - 0.054496830869340575 + - - 0.0014284314103143536 + - -0.9973999571147508 + - -0.07205057342726934 + - -0.09345845128536825 + - - 0.087079760215567 + - 0.07190101496950735 + - -0.9936032203083649 + - 0.97522183736431 + - - 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: + - - 0.9999083906619226 + - -0.01353055752142992 + - 0.00036646560992361764 + - 0.023945103435697085 + - - -0.013505605856104481 + - -0.9991318519062913 + - -0.039409911402646436 + - -0.03450036423654022 + - - 0.0008993855366509171 + - 0.039401351746661706 + - -0.9992230604755838 + - 0.9689302565254906 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999476836049835 + - -0.009920758546371613 + - -0.002491706823100371 + - 0.0918810249240067 + - - -0.009941654466205593 + - -0.999914294046338 + - -0.008518689352732745 + - -0.03376568321238632 + - - -0.0024069814087908426 + - 0.008543015373881895 + - -0.9999606108886587 + - 0.9688007897767087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9672614225038489 + - 0.02715646067517815 + - -0.25232492381734334 + - 0.10010454304641488 + - - 0.00924417023615069 + - -0.9973686320948368 + - -0.07190519473528806 + - -0.08975991943954237 + - - -0.25361365470430747 + - 0.06721858639447972 + - -0.9649672407862625 + - 0.9738124046708334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.979346619397355 + - -0.011386967774984297 + - 0.2018676200876796 + - 0.012772387474621697 + - - 0.03593602013167643 + - -0.9727134114696426 + - -0.2292099945556173 + - -0.09336968307779844 + - - 0.19896934822245366 + - 0.23173035215953441 + - -0.9522143888620623 + - 0.9735657780816326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999007373179262 + - -0.003971660667827576 + - 0.013518188584534987 + - 0.054394259602994696 + - - -0.005699098681736384 + - -0.9914645297136309 + - 0.13025208863563184 + - -0.09327833567080002 + - - 0.012885487390209626 + - -0.13031620095470978 + - -0.9913887491713068 + - 0.9737486271307858 + - - 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: + - - 0.9999213086662054 + - -0.012536716215385029 + - -0.0004552162101567471 + - 0.023886167589492507 + - - -0.012542443090741495 + - -0.9997903052372167 + - -0.016187423358554887 + - -0.034466254435478974 + - - -0.0002521836207970456 + - 0.016191859072029982 + - -0.999868871454259 + - 0.9688277025902182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999358297560632 + - -0.0072296754649073414 + - -0.035081688804667825 + - 0.09185821366428085 + - - -0.008270334668139747 + - -0.9995273124403113 + - -0.029610019424609543 + - -0.03372682681040955 + - - -0.03485103529584745 + - 0.02988115591005317 + - -0.9989457051613402 + - 0.9685624802604516 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9621525329727746 + - -0.0013442633369786135 + - -0.272508158135045 + - 0.10002300448453917 + - - 0.02055671521568803 + - -0.9967806170943054 + - 0.07749724410995212 + - -0.08980390886912656 + - - -0.27173502673305644 + - -0.08016604231953367 + - -0.9590273619168582 + - 0.9737912096843054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988572013479029 + - 0.026184071476236588 + - -0.039983568079429224 + - 0.012706306784173201 + - - 0.019563397805238573 + - -0.9872755056883322 + - -0.1578111191715005 + - -0.09308138423179238 + - - -0.04360693501897381 + - 0.15684855838921466 + - -0.9866594979776335 + - 0.9713285877663145 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9588572787993633 + - -0.016668725301652202 + - 0.28339878703039295 + - 0.05447290550358035 + - - -0.01005020834786646 + - -0.9996421090949869 + - -0.02479207607869256 + - -0.09340471532448849 + - - 0.28371061348783627 + - 0.020923845749413857 + - -0.9586816366622504 + - 0.9741143087772954 + - - 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: + - - 0.9998711219391531 + - -0.013252565445822834 + - 0.009061402829778497 + - 0.023928746574403623 + - - -0.01305632030857214 + - -0.9996860826433097 + - -0.021383841312402528 + - -0.03451223702137989 + - - 0.009341949054629971 + - 0.02126277682661014 + - -0.9997302747788939 + - 0.9688405834435776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999163369494848 + - -0.008817207798850785 + - -0.009464457097808658 + - 0.09186442572692388 + - - -0.008861916523351658 + - -0.9999497228457045 + - -0.004692357225472321 + - -0.0337637346189158 + - - -0.009422607763115402 + - 0.004775837877292355 + - -0.9999442013610119 + - 0.9686663150580486 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9805863884924497 + - 0.014553858644138228 + - -0.19554672050919464 + - 0.09996150703063097 + - - 0.008996775328527353 + - -0.9995308634578607 + - -0.029276458612208393 + - -0.08964052260813427 + - - -0.1958810678371512 + - 0.026948806907742547 + - -0.9802572973812679 + - 0.972556353518333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991497885140311 + - 0.015530693318447442 + - 0.038190282499807694 + - 0.01271526431072881 + - - 0.02120920227405819 + - -0.9879823164127696 + - -0.1531049058474486 + - -0.09307511143132322 + - - 0.035353498430351564 + - 0.15378471972438076 + - -0.9874717161154687 + - 0.9708934439275769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9957630253761496 + - -0.007502030744839109 + - 0.09164996905859332 + - 0.054490809320268105 + - - 0.0008665488394052714 + - -0.9958568157902273 + - -0.09093102626308903 + - -0.09340269150650989 + - - 0.09195241370864904 + - 0.0906251729866109 + - -0.9916308948567006 + - 0.9744721217851215 + - - 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: + - - 0.9999024177858121 + - -0.013459345087704107 + - -0.003741782449242471 + - 0.02394115605840233 + - - -0.013637247601440751 + - -0.9985287919986671 + - -0.052481206422289525 + - -0.034508359210169245 + - - -0.003029914841107272 + - 0.052527112803694626 + - -0.9986149017697277 + - 0.9690707814077744 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999610186589465 + - -0.007621742098881282 + - -0.004457601366237704 + - 0.09184574331287111 + - - -0.00779871532530688 + - -0.9991232724917845 + - -0.04113230366247082 + - -0.033801349574099505 + - - -0.004140193454051042 + - 0.04116546383420243 + - -0.999143765123657 + - 0.9687103723427287 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9655937641098054 + - 0.006028531376610412 + - -0.2599852678935844 + - 0.09992420222190515 + - - 0.01495894248573221 + - -0.9993635252940309 + - 0.03238478580436888 + - -0.08967709107339393 + - - -0.25962456114929916 + - -0.03515965189428815 + - -0.9650693685568441 + - 0.9725412797931028 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9928976607118026 + - 0.008385137541516877 + - 0.11867571285414656 + - 0.01273010916253184 + - - 0.02060623308984132 + - -0.9945575892021111 + - -0.10213023508409422 + - -0.09304059234887119 + - - 0.11717345480473439 + - 0.10385033090411924 + - -0.987666689860617 + - 0.9711054366783363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9885369486742501 + - -0.005591819134373703 + - 0.15087555356840124 + - 0.05442562162989212 + - - -0.020096161148774543 + - -0.9952951905158988 + - 0.0947820027378754 + - -0.0933494660421336 + - - 0.14963570901654974 + - -0.09672753121365493 + - -0.9839984447611821 + - 0.9740445278917476 + - - 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: + - - 0.999911683504002 + - -0.013077212203526749 + - 0.002368905480734814 + - 0.023909821282076558 + - - -0.013004098895360864 + - -0.9995057662148432 + - -0.028620215149426094 + - -0.034526497421568984 + - - 0.0027420073144320276 + - 0.02858688203116415 + - -0.9995875507286115 + - 0.9689096368656022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997828113708777 + - -0.006138494012483165 + - -0.01991604826773416 + - 0.09188986131198851 + - - -0.006959250828690486 + - -0.999118136456003 + - -0.04140674139059998 + - -0.03377938333639796 + - - -0.019644309996723716 + - 0.041536349092612404 + - -0.9989438586771582 + - 0.9687511738861728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9668826130621772 + - -0.000647708275636965 + - -0.2552206751657198 + - 0.09998765524309122 + - - 0.015632775162355044 + - -0.9979688331407057 + - 0.06175616908861372 + - -0.08973143828683024 + - - -0.2547422793703068 + - -0.06370077357275863 + - -0.9649085876638536 + - 0.9730481422142434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9934331593375799 + - 0.008913953109069362 + - 0.11406620607578734 + - 0.012922732373313513 + - - 0.02496715039390595 + - -0.9898234184986726 + - -0.1400936886258955 + - -0.09324453343855994 + - - 0.11165661346182211 + - 0.14202162381683497 + - -0.9835459618333382 + - 0.9717401533165285 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9853297323728132 + - -0.003391322848485777 + - 0.17062771589474418 + - 0.05443628910470254 + - - -0.011715890850993083 + - -0.9987879908353399 + - 0.0478046782718274 + - -0.09331716779090801 + - - 0.17025879244164693 + - -0.04910242654332521 + - -0.9841752360752987 + - 0.9736856781946787 + - - 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: + - - 0.9998885539073517 + - -0.012949577674796667 + - -0.007428876301944722 + - 0.023931744346468258 + - - -0.013204517920055493 + - -0.9992873436064118 + - -0.035361640439049345 + - -0.03452050488679764 + - - -0.006965663756177262 + - 0.035455794252647686 + - -0.9993469698669979 + - 0.9689378513267164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999452086955838 + - -0.007265539159891356 + - -0.0075360166839902355 + - 0.09188988062970257 + - - -0.007447848983185239 + - -0.9996732446233326 + - -0.024452679398834543 + - -0.03379421024523369 + - - -0.007355892350283586 + - 0.024507466718830934 + - -0.999672583860714 + - 0.968762599774537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9785573869814483 + - 0.006515594926901492 + - -0.20587128844690425 + - 0.09992193270614957 + - - 0.009297427371618682 + - -0.9998780457613159 + - 0.012547965922915056 + - -0.08967941617996872 + - - -0.2057644241075444 + - -0.014192978097696667 + - -0.9784986260309261 + - 0.9724150203401124 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922726060478843 + - 0.017167274986137165 + - 0.12288352190790497 + - 0.012718532480109944 + - - 0.016748705119744096 + - -0.9998498791002839 + - 0.004438483970888442 + - -0.09298441014235673 + - - 0.12294127119788564 + - -0.002346046184184122 + - -0.992411174817953 + - 0.970308897603048 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998276638645522 + - -0.004798121774878655 + - 0.01793378372194346 + - 0.054322646176001216 + - - -0.007288200494704793 + - -0.9899147534837409 + - 0.1414767223566272 + - -0.09312945173077247 + - - 0.017074094549960585 + - -0.14158304581643463 + - -0.9897791250741961 + - 0.9721432358036819 + - - 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: + - - 0.9998897946495442 + - -0.01326877835148598 + - -0.00665868431084077 + - 0.023931455941478132 + - - -0.013477500011088816 + - -0.9993858399842637 + - -0.03234655827748673 + - -0.03450221631108785 + - - -0.0062253955009622455 + - 0.032432735931568916 + - -0.9994545322779069 + - 0.9687928051945305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999182854025938 + - -0.010249987146960222 + - -0.007639390095040201 + - 0.09182542944684816 + - - -0.010289735537675806 + - -0.9999336315505016 + - -0.0051820687751935515 + - -0.033762110423387316 + - - -0.007585766942224081 + - 0.005260252628276958 + - -0.9999573920333734 + - 0.968460076208842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9674164323917331 + - -0.006073232408953692 + - -0.2531176844603276 + - 0.09989297306532703 + - - 0.016503246233875356 + - -0.9960737924746449 + - 0.08697495506709621 + - -0.0897043151609228 + - - -0.2526521110186796 + - -0.08831826421123867 + - -0.963517926664844 + - 0.9724916486290003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9801593735398938 + - 0.0035902547820964442 + - 0.19817848655311346 + - 0.012739975882715016 + - - 0.020921255828702932 + - -0.9961247427011556 + - -0.08542715044473091 + - -0.09314691450405699 + - - 0.1971037886912195 + - 0.08787836508012857 + - -0.976436116412339 + - 0.971330537981631 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918195550148368 + - 0.0022810214499469576 + - 0.12762745484932297 + - 0.05432644087854244 + - - -0.025761166753013674 + - -0.9756905528616026 + - 0.21763342423475665 + - -0.09308728517349535 + - - 0.12502132849115993 + - -0.21914091812750766 + - -0.9676502081974355 + - 0.9716206580637301 + - - 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: + - - 0.9998727308348605 + - -0.01223050338668656 + - -0.01024387230234048 + - 0.02392997736393336 + - - -0.012840873642055129 + - -0.9980056021371597 + - -0.06180558281380562 + - -0.03451941534819017 + - - -0.009467528555393095 + - 0.06192925713871965 + - -0.9980356371459385 + - 0.9693505289172613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999943239744201 + - -0.010427638644984109 + - -0.0021866966321710964 + - 0.09185610356617094 + - - -0.010399406443070745 + - -0.9998671970315302 + - 0.01254753545296449 + - -0.03374526207414735 + - - -0.002317247397955841 + - -0.012524082904596893 + - -0.9999188855661721 + - 0.9685093998077706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9707212026456155 + - 0.009516167090833824 + - -0.2400203935046965 + - 0.10007136351077103 + - - 0.009795856776924584 + - -0.9999520190584171 + - -2.7766910297892652e-05 + - -0.08979655869336987 + - - -0.24000914133477502 + - -0.0023242514697549635 + - -0.9707678455381852 + - 0.9737530707749534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933230968410516 + - 0.003284926721851407 + - 0.11531883861076189 + - 0.012870174898712308 + - - 0.008356290022023956 + - -0.9990175629268914 + - -0.04352104526183663 + - -0.09304318380804219 + - - 0.11506258166393932 + - 0.04419409711768163 + - -0.9923746692055286 + - 0.9719997879677803 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997645766172798 + - -0.003814858562917566 + - 0.0684716882487631 + - 0.05438443875070302 + - - -0.014140650995312887 + - -0.9884384574117293 + - 0.15096177628442842 + - -0.09323865862019848 + - - 0.06710415208405232 + - -0.15157461121067073 + - -0.986165386742718 + - 0.9732349073074572 + - - 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: + - - 0.9998919559814095 + - -0.012661496379224792 + - -0.007467454258985401 + - 0.023929477419269225 + - - -0.013324512287774704 + - -0.9952253160124126 + - -0.09669037046307452 + - -0.034532938754399015 + - - -0.00620755474918286 + - 0.09677942383292293 + - -0.9952864961339541 + - 0.9695080730076033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998399144334758 + - -0.00984978197186107 + - -0.014937446259877918 + - 0.09184503117026555 + - - -0.010005259767912104 + - -0.9998961753321661 + - -0.010369828016077356 + - -0.03378193111491067 + - - -0.014833754839437639 + - 0.010517620986383949 + - -0.9998346560137584 + - 0.968694668638036 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9680901556191491 + - 0.007359419165576949 + - -0.25049409083416907 + - 0.09998725935912633 + - - 0.010746846289727668 + - -0.9998683375007519 + - 0.012157835264054537 + - -0.08979995092583679 + - - -0.25037163555026865 + - -0.014461902123450433 + - -0.968041784996317 + - 0.9733334922247148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9745733902210637 + - 0.0053282839760709095 + - 0.22400517061642256 + - 0.012911438380396186 + - - 0.025141061378568343 + - -0.9960046665558737 + - -0.08568915469113932 + - -0.09333448676542912 + - - 0.2226536191167377 + - 0.08914209773610497 + - -0.9708136032758429 + - 0.972011317514893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956107496806282 + - -0.005348959820217953 + - 0.09343780685150434 + - 0.0544329746350971 + - - -0.011545248620880594 + - -0.9977594051990416 + - 0.06590050509014911 + - -0.09329351015112526 + - - 0.09287595143340062 + - -0.06669001398782584 + - -0.9934417444821031 + - 0.9736638267926372 + - - 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: + - - 0.999886320523728 + - -0.012880775191113619 + - -0.007837835160099865 + - 0.023939334451891607 + - - -0.013160076186919452 + - -0.9992399213383948 + - -0.03669321460968762 + - -0.034492606961250054 + - - -0.0073592407404148245 + - 0.03679218985211548 + - -0.9992958402503285 + - 0.9689290130928817 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999598635453868 + - -0.00890680321512205 + - 0.0009696157891045879 + - 0.09188794173515961 + - - -0.008888663193239416 + - -0.9998102541955042 + - -0.017333414901833214 + - -0.03373835847848537 + - - 0.0011238171241533246 + - 0.017324100611836517 + - -0.9998492949305225 + - 0.9687899808550879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.19613298773765564 + shoulder_marker_pose: + - - 0.9666674777547047 + - 0.015115574636292858 + - -0.2555885499289279 + - 0.10004567488002114 + - - 0.009966855173904207 + - -0.9997207150832798 + - -0.021427870433585135 + - -0.08977016284030073 + - - -0.255841062476882 + - 0.018166211404438547 + - -0.966548156851954 + - 0.9735916173960033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.985169077379802 + - 0.0056267853207722235 + - 0.17149410561760928 + - 0.012738767581978495 + - - 0.018415869024159703 + - -0.9971563951126894 + - -0.07307516304430738 + - -0.09298230304206523 + - - 0.17059526588599924 + - 0.0751496039432082 + - -0.982471267918032 + - 0.9708462088834005 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975623249750103 + - -0.004266419336169671 + - 0.06965059552150292 + - 0.05441740626545837 + - - -0.01443114061145139 + - -0.9891649493024542 + - 0.146097382769598 + - -0.09332784870738706 + - - 0.06827261508910117 + - -0.1467463823660463 + - -0.9868152559072921 + - 0.973887162254209 + - - 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: + - - 0.9999220672211567 + - -0.012401932711158662 + - 0.001432323007008035 + - 0.023933792457700265 + - - -0.012284979546067895 + - -0.9978777668757522 + - -0.06394561480363053 + - -0.034532329564025584 + - - 0.002222332495646238 + - 0.06392303528532958 + - -0.9979523569781219 + - 0.9688957462464348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999308284050021 + - -0.011279286317538648 + - -0.0033340824004552227 + - 0.09184417245494612 + - - -0.01125161034914925 + - -0.9999030243399212 + - 0.008206289077901462 + - -0.03375614951150913 + - - -0.0034263201597278217 + - -0.008168207639755051 + - -0.9999607695875459 + - 0.9685710997301924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9703322118159041 + - 0.003726666296069004 + - -0.24174679040428448 + - 0.09997732873915612 + - - 0.008725221997831822 + - -0.9997696406516767 + - 0.019609592864349747 + - -0.08971896686165298 + - - -0.24161802336238053 + - -0.021137114030414565 + - -0.9701412027106782 + - 0.9730929391631298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9944703137178278 + - 0.01333532932203889 + - 0.10416796112931165 + - 0.012895486056372044 + - - 0.025702945521022855 + - -0.9926446113763221 + - -0.11830483547638099 + - -0.0931601176864403 + - - 0.10182413135160223 + - 0.12032807028047535 + - -0.9874983553287916 + - 0.970883422313461 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984269933973635 + - -0.0032262148706819612 + - 0.055974372645961994 + - 0.054335764684831714 + - - -0.011301681544223362 + - -0.9894311502588438 + - 0.14456234257832462 + - -0.09315567534820543 + - - 0.05491639873274456 + - -0.1449675495932387 + - -0.9879112301796942 + - 0.972398046384444 + - - 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: + - - 0.9998850058344779 + - -0.011456367984865363 + - -0.009936133049705042 + - 0.023922120047712676 + - - -0.011992268009264081 + - -0.9983773944829898 + - -0.055666540159688534 + - -0.034539823843115575 + - - -0.009282274256887168 + - 0.055779295602863134 + - -0.9983999747429223 + - 0.9686358040679806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999425889288618 + - -0.008187140484959136 + - 0.00691300057318962 + - 0.09191900847900845 + - - -0.007825677102763605 + - -0.9986788078680054 + - -0.05078776913020372 + - -0.03380878079979319 + - - 0.007319673772010496 + - 0.050730754439680226 + - -0.9986855425657529 + - 0.9690421842716523 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9552692677227012 + - 0.01898454600765161 + - -0.2951274523954314 + - 0.10006522180158396 + - - 0.008988147664517589 + - -0.9993401751686566 + - -0.03519129857564388 + - -0.08985455947910538 + - - -0.2956008108008081 + - 0.030964516898583243 + - -0.9548095932420991 + - 0.9741688821689721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9725558425697041 + - -0.012063387373716055 + - 0.2323566391747924 + - 0.012958962988104065 + - - 0.03555999066231474 + - -0.9792159060621148 + - -0.19967898331834452 + - -0.0934296845203054 + - - 0.22993612188525117 + - 0.2024615617840169 + - -0.9519131766355311 + - 0.9736281930009232 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9798364821730192 + - -0.006479401831486942 + - 0.19969598282065845 + - 0.05451863996454085 + - - -0.01733934039938715 + - -0.9984608174151919 + - 0.052681527702818504 + - -0.0934011043063782 + - - 0.1990472694545614 + - -0.05508187940234771 + - -0.9784406834776394 + - 0.9748686184954216 + - - 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: + - - 0.9998965437937717 + - -0.0136006101390367 + - 0.00468242598618081 + - 0.02396255190472446 + - - -0.013395687260452932 + - -0.9990562075334372 + - -0.04131887887788712 + - -0.034535730196917 + - - 0.005239968710810036 + - 0.04125187986930171 + - -0.9991350384883707 + - 0.969187794099941 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999804395754796 + - -0.009540994020508373 + - -0.017324539315321026 + - 0.09182403839638906 + - - -0.009780984443704472 + - -0.9998566438626503 + - -0.013821145648250646 + - -0.033754440895961864 + - - -0.01719018826829688 + - 0.013987893223025764 + - -0.9997543879726073 + - 0.9683101655068906 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9760025290638232 + - -0.013207653917068695 + - -0.21735827828501872 + - 0.09993683251198124 + - - 0.020997472713499842 + - -0.9877996627622213 + - 0.1543079142056159 + - -0.08954856073845696 + - - -0.21674447951601103 + - -0.1551688890365876 + - -0.9638176417115868 + - 0.9721140766277643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960177613099861 + - 0.018547979786310623 + - 0.08720430953163999 + - 0.012699756579056245 + - - 0.01284018816881737 + - -0.9977657348365635 + - 0.06556422769958446 + - -0.0927888545754185 + - - 0.08822555595082882 + - -0.06418341555184025 + - -0.9940305530743349 + - 0.9687935245892099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976529733372008 + - -0.002240966075811056 + - 0.06843626861898201 + - 0.054272606075400874 + - - -0.01913547012518018 + - -0.9687675409127657 + - 0.24723123883708992 + - -0.09301801898833692 + - - 0.06574479884014199 + - -0.24796054070129975 + - -0.9665366996035843 + - 0.9710324443283948 + - - 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/data/testrig_collected_data_202204261813.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204261813.yaml new file mode 100644 index 0000000..af94e24 --- /dev/null +++ b/stretch_camera_testrig/data/testrig_collected_data_202204261813.yaml @@ -0,0 +1,51976 @@ +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: + - - 0.9998078180412834 + - -0.01399927840825748 + - -0.013723963989166494 + - 0.09181687894655295 + - - -0.01343994646040788 + - -0.9991079218283176 + - 0.04003409021123977 + - -0.033446858798138884 + - - -0.014272169515151246 + - -0.03984194704012857 + - -0.9991040608632228 + - 0.9681866311239883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9813696578457175 + - 0.022262512239576607 + - -0.19083494231550469 + - 0.09985140499900935 + - - 0.004232368215018647 + - -0.9955280258839426 + - -0.09437180054928367 + - -0.08933156253644689 + - - -0.19208248675782963 + - 0.09180593787116374 + - -0.9770752212867366 + - 0.9719843511227926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998154456843262 + - 0.015223490247273205 + - -0.011718358065159497 + - 0.01283548891733313 + - - 0.012493281835102208 + - -0.9786018012638683 + - -0.20538362269689833 + - -0.09290288532748112 + - - -0.014594261887495928 + - 0.2051993175130082 + - -0.978611387432292 + - 0.971834533055802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9785120146949906 + - 0.0005984313905682444 + - 0.20618893999781196 + - 0.054286368756953446 + - - -0.0320948210564965 + - -0.9873649954187782 + - 0.15517824681000833 + - -0.09290581940536012 + - - 0.20367660533036674 + - -0.1584613760559562 + - -0.966129304358144 + - 0.9709465808702522 + - - 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: + - - 0.9990877058246578 + - -0.013561905366734503 + - -0.0404948242723151 + - 0.023873286571342293 + - - -0.015535029228775737 + - -0.9986870136227997 + - -0.0488150764419764 + - -0.03428846508797224 + - - -0.03977962967252241 + - 0.04939963101075405 + - -0.9979866018735518 + - 0.9687599983513782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9776112914911761 + - 0.029346759365104003 + - -0.20836249773824797 + - 0.0999919823158525 + - - 0.0009832851937642603 + - -0.9908528816413364 + - -0.13494295125454747 + - -0.0894332746762991 + - - -0.21041671962841366 + - 0.1317168730946272 + - -0.968697821533109 + - 0.9731284198203116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994699298190446 + - 0.031734271435676704 + - -0.007266044588403909 + - 0.012651685889744267 + - - 0.02868510937913113 + - -0.9639802293172492 + - -0.2644225443969767 + - -0.09286660249737877 + - - -0.01539558012616489 + - 0.26407395460724753 + - -0.9643795531898571 + - 0.9719988605333958 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9943798526043254 + - -0.006569523324049638 + - 0.10566716660294714 + - 0.054324294260980795 + - - -0.010944316054241288 + - -0.9991043182069481 + - 0.04087521604021017 + - -0.09303558903507277 + - - 0.1053039917605458 + - -0.04180194616909296 + - -0.9935611036145541 + - 0.9720560305211824 + - - 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: + - - 0.9982088695977633 + - -0.011736877647116409 + - -0.058662580572731424 + - 0.023860656360726054 + - - -0.016456739510858468 + - -0.9966079142132526 + - -0.0806339943955486 + - -0.034291607874920374 + - - -0.05751720074053793 + - 0.08145496320425312 + - -0.995016010217105 + - 0.9690139690180031 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9858517304811871 + - 0.020866806910336523 + - -0.16631578961907226 + - 0.09984529719409259 + - - 0.006083647547112414 + - -0.9960215791728629 + - -0.08890446026222985 + - -0.08931620924039385 + - - -0.16750926762352966 + - 0.08663480935145311 + - -0.9820565437228478 + - 0.9719116324786572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997359244069508 + - 0.021384137438032955 + - -0.008414280492763916 + - 0.01273523735948449 + - - 0.02066035256448389 + - -0.996714402146669 + - -0.07831698656945248 + - -0.09264890751049498 + - - -0.010061375755373317 + - 0.07812246296322135 + - -0.9968929980185786 + - 0.9706511202423557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9788116928152452 + - -0.010532343499704352 + - 0.20449141729803355 + - 0.05423777550698532 + - - -0.01539675828635839 + - -0.9996347311462195 + - 0.02221135116321914 + - -0.09287020981976485 + - - 0.20418278537238566 + - -0.02488923515555706 + - -0.9786163273371974 + - 0.9703996440872775 + - - 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: + - - 0.9990844572977396 + - -0.013712788147815642 + - -0.04052414869302241 + - 0.023913667291388538 + - - -0.016332892861920547 + - -0.9977484438753103 + - -0.06504828479797393 + - -0.03429598975130976 + - - -0.0395409129490214 + - 0.06565060689445627 + - -0.9970589320684851 + - 0.9686486378113792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995588056510782 + - -0.01050398841683465 + - -0.027782373417852696 + - 0.09186594250652913 + - - -0.01103085125439275 + - -0.999760920577482 + - -0.018879142106291543 + - -0.033533183851421074 + - - -0.02757742493405551 + - 0.019177275964148085 + - -0.9994356996428544 + - 0.968494309973153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9778823309325952 + - 0.014914714054561807 + - -0.20862334038765862 + - 0.09992870248064331 + - - 0.007674766693770435 + - -0.9993412714509713 + - -0.03547000325560473 + - -0.08933007159486472 + - - -0.20901493919342323 + - 0.033084353997427166 + - -0.9773526388742924 + - 0.9725261464636826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997399668971034 + - 0.020541706011328223 + - -0.009901358630132577 + - 0.012690596277265853 + - - 0.019532927785749034 + - -0.995473943491554 + - -0.09300587380102526 + - -0.09284022683606763 + - - -0.011767043838409555 + - 0.09278828667197 + - -0.9956163269732907 + - 0.9704900850703513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9799785308318073 + - -0.010322015426898845 + - 0.1988354473082186 + - 0.054382907934252434 + - - -0.016515876026351035 + - -0.9994278123729934 + - 0.029517345653263496 + - -0.0931002626037466 + - - 0.19841699762826445 + - -0.03221030662472639 + - -0.979588276368866 + - 0.9730818418715552 + - - 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: null + base_right_marker_pose: + - - 0.9992773165652957 + - -0.01175944937498785 + - -0.0361463683993125 + - 0.09183713521833342 + - - -0.011459239715206968 + - -0.999898201012084 + - 0.008501378591006341 + - -0.03347057379595143 + - - -0.036242660266751145 + - -0.008081024885204569 + - -0.9993103454951289 + - 0.9684436987775733 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.983002148359986 + - 0.030017093534824055 + - -0.1811235777456201 + - 0.09992519976927668 + - - 0.0026135873050668525 + - -0.9887317781426085 + - -0.14967511500698616 + - -0.08936376694768892 + - - -0.1835754490149782 + - 0.14665757732445112 + - -0.9720039143605709 + - 0.9725248527779291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906846233086722 + - 0.010039227489764456 + - 0.13580571067213226 + - 0.0127450872414933 + - - 0.017437426292311698 + - -0.9984211034020191 + - -0.053396970380311874 + - -0.0926401639330054 + - - 0.1350552231646534 + - 0.05526765955696391 + - -0.9892954930166427 + - 0.9702731338922213 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972417601354272 + - -0.006158470191497074 + - 0.07396583729598213 + - 0.05430603136878555 + - - -0.008115164276517085 + - -0.9996242348035826 + - 0.026182690887639037 + - -0.09305306212761569 + - - 0.0737767981872377 + - -0.026710717666377993 + - -0.9969170083868503 + - 0.9722748039219845 + - - 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: null + base_right_marker_pose: + - - 0.9996043924866753 + - -0.013790874543446503 + - -0.02451265592855699 + - 0.09183229069233305 + - - -0.013145065638396862 + - -0.999567279982336 + - 0.02631463543498891 + - -0.03346329427332061 + - - -0.02486495064759106 + - -0.025982004696348107 + - -0.9993531256073859 + - 0.9682027809665129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9905257085128137 + - 0.017110115119533635 + - -0.1362573474561453 + - 0.09983964492278843 + - - 0.003928811811147128 + - -0.9953324641348393 + - -0.09642536117132963 + - -0.08927823805914759 + - - -0.13727121043008614 + - 0.09497646971679397 + - -0.9859696166653381 + - 0.9716334262747559 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967540681421355 + - 0.007740121498472107 + - 0.08013375169859482 + - 0.012812936030979102 + - - 0.0228104579251788 + - -0.9817303104874108 + - -0.18890548027925577 + - -0.09277881131863741 + - - 0.07720758156649388 + - 0.19012019353419965 + - -0.9787202365125451 + - 0.9717631018893398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983522380606614 + - -0.0026983076855741327 + - 0.057319524552306364 + - 0.054267487157190264 + - - -0.0038964935657795708 + - -0.9997760187143324 + - 0.020802157138399245 + - -0.09297868116103689 + - - 0.057250555431020214 + - -0.02099122529422206 + - -0.9981391397813668 + - 0.9717207867223203 + - - 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: + - - 0.9992478707733491 + - -0.011394584913061471 + - -0.037065566090203464 + - 0.023837380514458693 + - - -0.013299857889519035 + - -0.9985808605556615 + - -0.05156916435267233 + - -0.03423571978954712 + - - -0.03642535566122598 + - 0.052023344438563 + - -0.9979813450653172 + - 0.9690406074999371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9811401473629178 + - 0.02695460360141696 + - -0.19140914444551155 + - 0.09990543248367678 + - - 0.003983657090882426 + - -0.9928389914408515 + - -0.1193937500495574 + - -0.08936575101316432 + - - -0.19325667312891032 + - 0.116379493122304 + - -0.9742215722676963 + - 0.9724705830729963 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990362248176841 + - 0.014502551332091499 + - 0.04142822114078785 + - 0.012751492027924185 + - - 0.02446042747868894 + - -0.9676465085158545 + - -0.2511213293303377 + - -0.09280416186137605 + - - 0.036445973571709804 + - 0.2518926568241643 + - -0.9670686534308068 + - 0.9718026933618746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9833352971593956 + - -0.008500539743127544 + - 0.18160240687975082 + - 0.054387102902615045 + - - -0.007830084200747014 + - -0.9999596265385394 + - -0.004408522917426421 + - -0.09314851008013164 + - - 0.18163254978624366 + - 0.0029130940561147476 + - -0.9833621564516134 + - 0.9732909002102502 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9849259310727492 + - 0.021863468499828266 + - -0.17158933255198347 + - 0.09989779774335111 + - - 0.003533772063483131 + - -0.9943161365964911 + - -0.10640927101917479 + - -0.08928605805296265 + - - -0.1729405179692761 + - 0.10419889274356932 + - -0.9794050071321533 + - 0.9721767981292568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996124419829335 + - 0.02781598419685014 + - -0.0011121403135413237 + - 0.012646477618660272 + - - 0.027435073255696014 + - -0.9911244711181028 + - -0.1300753608732899 + - -0.09269370590673828 + - - -0.004720443662518774 + - 0.129994437473388 + - -0.99150348644753 + - 0.9705279990944676 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9904765905530636 + - -0.006571483583270259 + - 0.13752432210301455 + - 0.05433865946259381 + - - -0.012023558330248419 + - -0.9991726608666677 + - 0.03885135546801908 + - -0.09303250912160003 + - - 0.13715523180490782 + - -0.04013488981096213 + - -0.9897361431252292 + - 0.9722493505386456 + - - 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: null + base_right_marker_pose: + - - 0.9996353341390337 + - -0.013306041324114537 + - -0.02349782979390458 + - 0.09185732098996188 + - - -0.01271914892906025 + - -0.9996077405846365 + - 0.024951717652272328 + - -0.033480902581679725 + - - -0.023820621135116078 + - -0.02464374621601369 + - -0.9994124592885454 + - 0.9685626930814883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9834082689016499 + - 0.029007097066253054 + - -0.17907195474347493 + - 0.09995916671842628 + - - 0.001321349116335675 + - -0.9882521849027691 + - -0.15282628396783104 + - -0.08939474161997638 + - - -0.18140129738337846 + - 0.15005401479031594 + - -0.9718936988955814 + - 0.972661447210808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948209013076006 + - 0.013343490590221945 + - 0.10076371162477982 + - 0.012599774433972588 + - - 0.035343389824420555 + - -0.9748956304289478 + - -0.2198393835650573 + - -0.09283801039411238 + - - 0.09530067742283985 + - 0.22226214484120774 + - -0.970318153933716 + - 0.9717990317105216 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9804104210418216 + - -0.010732082501273143 + - 0.1966728977713601 + - 0.05447067432675972 + - - -0.01415723405762266 + - -0.9997714750710934 + - 0.016017813771174727 + - -0.09330926556639155 + - - 0.19645604861249671 + - -0.01848837579010694 + - -0.9803383094239501 + - 0.9748261430847207 + - - 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: + - - 0.9995375569639421 + - -0.013287515231038981 + - -0.02735167558924285 + - 0.02385652073516386 + - - -0.014452262555702871 + - -0.9989775611276005 + - -0.04283648527333137 + - -0.034312704789300284 + - - -0.02675451972238158 + - 0.04321196943598166 + - -0.9987076255701108 + - 0.968648498941608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998666009221837 + - -0.012281803703700989 + - -0.01076743507537439 + - 0.09185169058634338 + - - -0.012244824405834404 + - -0.9999189262620761 + - 0.003493591013301223 + - -0.03353995505878628 + - - -0.01080946971821135 + - -0.0033612796196825995 + - -0.9999359265291604 + - 0.9684533266001054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9845041401057754 + - 0.02433981977946171 + - -0.1736639608200023 + - 0.09992712063002679 + - - 0.000517321902515501 + - -0.9907195045913134 + - -0.13592128457453398 + - -0.08937484717726714 + - - -0.17536057279969502 + - 0.13372522722151417 + - -0.9753800454755659 + - 0.9724409975720798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993927410444657 + - 0.02338195773015166 + - 0.025834728570953903 + - 0.012668437455454656 + - - 0.027504187031789685 + - -0.9845566572551833 + - -0.17289218707107576 + - -0.09281766987559258 + - - 0.021393196192943983 + - 0.17349775994866598 + - -0.9846018781464136 + - 0.9714060626289442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872173508336658 + - -0.005394962089967443 + - 0.15928840697617203 + - 0.05434403728108216 + - - -0.0198863590989919 + - -0.995786230677521 + - 0.08952270949228647 + - -0.0930760286007247 + - - 0.15813423074952726 + - -0.09154603856586144 + - -0.9831647307995506 + - 0.9724172416776881 + - - 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: + - - 0.9987882502383513 + - -0.011987432094218129 + - -0.04773188303009847 + - 0.02384258165133939 + - - -0.014511714944049986 + - -0.998494669916293 + - -0.05289427453078035 + - -0.03425286467004908 + - - -0.04702596426651057 + - 0.053522851386500626 + - -0.9974587024354769 + - 0.9691670820022169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998652652088095 + - -0.010157910570282067 + - -0.012894505875116011 + - 0.09183300288141821 + - - -0.010194599412942935 + - -0.9999441616009291 + - -0.002782772542768881 + - -0.033479127063867346 + - - -0.012865518711924252 + - 0.002913851928516047 + - -0.9999129901622501 + - 0.9684005322553305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9783192502002263 + - 0.03443755221376933 + - -0.20421924415977818 + - 0.09998076991557504 + - - -0.0007646255893896808 + - -0.9854708024091711 + - -0.16984320106125436 + - -0.08946753772784334 + - - -0.20710108651423156 + - 0.166317024373783 + - -0.9640787246734969 + - 0.9733116637881721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994333936577549 + - 0.025223466791344257 + - 0.02228605763182433 + - 0.012642892805979977 + - - 0.025287868183563617 + - -0.9996767966886854 + - -0.00261263946618156 + - -0.09261592328553597 + - - 0.02221295487938858 + - 0.003174726015814897 + - -0.9997482211788383 + - 0.9696652179904071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960630404435676 + - -0.0055588053269996825 + - 0.08847326797203933 + - 0.05437480953181426 + - - -0.009108160770542707 + - -0.9991675533985176 + - 0.03976482922130254 + - -0.09319973893693015 + - - 0.08817857375629132 + - -0.040414105445474476 + - -0.9952845016432986 + - 0.9735461176837394 + - - 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: + - - 0.9990777827233904 + - -0.011291774096045926 + - -0.041425594821048864 + - 0.02385747131893075 + - - -0.014501091535745653 + - -0.9968472335197036 + - -0.07800840575466812 + - -0.034278646674697676 + - - -0.04041413629889633 + - 0.07853718139758313 + - -0.996091666828579 + - 0.9688098922166057 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998616301562118 + - -0.012196044070539083 + - -0.011312694214571388 + - 0.09190178475060104 + - - -0.012134426138267413 + - -0.9999112514548427 + - 0.00549953782652518 + - -0.0334888267223007 + - - -0.011378762835117932 + - -0.005361503803963694 + - -0.9999208858871298 + - 0.9689148855990495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9881765880897402 + - 0.029084560280169335 + - -0.1505361056511996 + - 0.09987163552590854 + - - 0.0023356802465227342 + - -0.984584177271904 + - -0.1748958045911717 + - -0.08935366419500572 + - - -0.15330223530368345 + - 0.172476335243756 + - -0.9730109652166192 + - 0.9721764273545674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977660231504861 + - 0.019326946976460053 + - 0.06394866821938279 + - 0.01269093789031364 + - - 0.027410075610000317 + - -0.9913895076372268 + - -0.12804503856796118 + - -0.09274935446225635 + - - 0.06092331902906853 + - 0.12951182674715733 + - -0.9897045195062495 + - 0.971004118005037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9867850910473175 + - -0.010035676480415534 + - 0.16172343455516205 + - 0.054252807641106536 + - - -0.01142688626933075 + - -0.9999052592536928 + - 0.007674554514296182 + - -0.0929666451412986 + - - 0.16163109341004014 + - -0.00942113126888475 + - -0.9868062788251244 + - 0.9712522710449188 + - - 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: null + base_right_marker_pose: + - - 0.9986310694468811 + - -0.010232507298473487 + - -0.051296032300416024 + - 0.09185118007962777 + - - -0.010286249196220575 + - -0.9999467879609335 + - -0.0007837882916176284 + - -0.03349871255676698 + - - -0.05128528261452684 + - 0.001310359110897515 + - -0.9986831843713748 + - 0.9683128377501701 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9821707890720637 + - 0.02155949120915193 + - -0.18675044694019383 + - 0.09991466275091343 + - - 0.004375077703574232 + - -0.9957544186019245 + - -0.09194561724101362 + - -0.08934765444760441 + - - -0.18793988344320994 + - 0.08948925172078374 + - -0.9780952274895358 + - 0.9724110285786398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994216667217626 + - 0.01822396025451184 + - 0.028709220813809794 + - 0.01275509606520458 + - - 0.022768895656914222 + - -0.9857069126044886 + - -0.16692351492312726 + - -0.09273794628360409 + - - 0.025256869910158495 + - 0.16748065475262783 + - -0.9855517849438316 + - 0.9714757239279713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997553793248403 + - -0.003633470207597825 + - 0.06980850571365232 + - 0.054346191265193675 + - - -0.01050685865829188 + - -0.9950966511517314 + - 0.09834765268039587 + - -0.09308378082836247 + - - 0.06910886699156055 + - -0.09884054209108527 + - -0.9927006153631027 + - 0.9730280557932377 + - - 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: + - - 0.9992671709999208 + - -0.01430743692354302 + - -0.03550236908283694 + - 0.023893487744424055 + - - -0.0155783883378659 + - -0.9992381000018145 + - -0.035784540259164485 + - -0.034256700195859774 + - - -0.03496333477530114 + - 0.03631138600279474 + - -0.9987287161526635 + - 0.9688548735775769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998259510320152 + - -0.013338031752581634 + - -0.01304471356119368 + - 0.09186689912454292 + - - -0.013232179930033281 + - -0.9998790936708022 + - 0.008167463152919515 + - -0.033496660456103805 + - - -0.013152074255633242 + - -0.007993431617409235 + - -0.9998815569825018 + - 0.9685018228183381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9849226175145673 + - 0.020877344861900574 + - -0.17173110952815376 + - 0.09988558409571816 + - - 0.0035543212057322186 + - -0.9949238485457369 + - -0.10056789942971871 + - -0.08930908881441942 + - - -0.1729589671252114 + - 0.09844121121998047 + - -0.9799972059268961 + - 0.9720095170792643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9944752202378634 + - 0.01067424297247087 + - 0.1044274718156944 + - 0.01276550733019033 + - - 0.026307484196910376 + - -0.9884121482641115 + - -0.14949696130407766 + - -0.09277256299296237 + - - 0.10162161486653468 + - 0.15141824758227865 + - -0.9832322013090443 + - 0.9716183647316246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997386795448905 + - -0.004777225207536666 + - 0.022355105482980912 + - 0.054361344315600246 + - - -0.003271979519142144 + - -0.9977548644384816 + - -0.0668918876947904 + - -0.09310315745911638 + - - 0.022624472852754852 + - 0.0668012620289663 + - -0.9975097616662563 + - 0.9730018254764479 + - - 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: + - - 0.9992490602115708 + - -0.013320957979924115 + - -0.036384993400986755 + - 0.02387341659934867 + - - -0.014705386161326373 + - -0.9991676023301099 + - -0.038050677677878855 + - -0.034251742155612254 + - - -0.03584783513880615 + - 0.038557159288472656 + - -0.9986131774533443 + - 0.968798597383109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.09806649386882782 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9864490541643293 + - 0.022736028076823823 + - -0.16248488103694514 + - 0.0999859147801418 + - - 0.0035658102621660484 + - -0.9930887238637889 + - -0.117311855887484 + - -0.08940799834470262 + - - -0.1640291088053415 + - 0.1151427790262223 + - -0.9797125047189325 + - 0.9727683303923507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996874793456809 + - 0.02152702874226102 + - 0.012709471783226024 + - 0.012711018201005054 + - - 0.02299680359864692 + - -0.9912634841383058 + - -0.1298762951359208 + - -0.09264139156057064 + - - 0.009802584543068768 + - 0.13012798333762576 + - -0.9914487466776886 + - 0.9705716250385972 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9807097515281149 + - -0.012876383966309937 + - 0.1950450768248594 + - 0.05432148284522582 + - - -0.006697252942065534 + - -0.9994555555703044 + - -0.032306953472653346 + - -0.0929969084280321 + - - 0.19535488235693815 + - 0.030377478098195545 + - -0.9802620459671487 + - 0.9715300409341796 + - - 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: null + base_right_marker_pose: + - - 0.9995879871755834 + - -0.013400009723492829 + - -0.025382979211980343 + - 0.09182811513070128 + - - -0.012666097667700514 + - -0.9995033004061183 + - 0.028856930660579514 + - -0.03344527132876191 + - - -0.025757054647956162 + - -0.0285235379412779 + - -0.9992612180602103 + - 0.9681337091854789 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9791440035160874 + - 0.015106859011674289 + - -0.2026050423589936 + - 0.09995075533514074 + - - 0.00605367374635161 + - -0.9989582848168957 + - -0.045229395638894304 + - -0.08940598687111859 + - - -0.20307725971329463 + - 0.04305958669667294 + - -0.9782154663369681 + - 0.9728603400794339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996474630822448 + - 0.01561679686697911 + - 0.021472429039289646 + - 0.012827004679256926 + - - 0.019414673711006546 + - -0.9816052926552683 + - -0.18993188219953963 + - -0.09280969956012097 + - - 0.018111322368258184 + - 0.1902818044027861 + - -0.981562435566527 + - 0.9717007655583639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9834162654706506 + - -0.005591048072805062 + - 0.18127655388716507 + - 0.05432950998853673 + - - -0.01168873738957674 + - -0.9994005617584466 + - 0.03258666253453703 + - -0.09300153654489579 + - - 0.18098569619170513 + - -0.03416514800714131 + - -0.9828921204464175 + - 0.9718016272763836 + - - 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: + - - 0.9996692090139435 + - -0.01461133633740761 + - -0.021165571097227873 + - 0.023913490521461123 + - - -0.015657812222559332 + - -0.9986188974993312 + - -0.05015107649516089 + - -0.034272280787063146 + - - -0.020403565027703553 + - 0.050465893508938875 + - -0.9985173449302245 + - 0.9687544935516101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9887717765825066 + - 0.01030592995190089 + - -0.149077703368747 + - 0.09987121373034152 + - - 0.005817181276039581 + - -0.9995173841254907 + - -0.0305149018176118 + - -0.08928278428408001 + - - -0.1493202405431873 + - 0.02930506165772912 + - -0.9883545310896096 + - 0.9718244917551375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9965875120202654 + - 0.0035958843537396822 + - 0.08246454087043713 + - 0.012823219197884154 + - - 0.02233502252074067 + - -0.9735292056418036 + - -0.2274687506701464 + - -0.0929496707572806 + - - 0.0794636876457132 + - 0.22853436367022303 + - -0.9702873630876531 + - 0.9733777735817516 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989880601408426 + - -0.003911827744240987 + - 0.044805728425454126 + - 0.054305282863517094 + - - -0.006121935407433623 + - -0.998765452431972 + - 0.04929597280940709 + - -0.09308275315062833 + - - 0.04455757626827756 + - -0.04952038602492896 + - -0.9977787098174821 + - 0.9721595915736531 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9902317220518707 + - 0.021252358645574412 + - -0.1378023000322801 + - 0.09987851581224247 + - - 0.0032038510542750937 + - -0.9915227570457281 + - -0.12989363956275804 + - -0.08930546475314763 + - - -0.13939466266901573 + - 0.12818330434357492 + - -0.9819053765546625 + - 0.9720285954851221 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997210022964447 + - 0.022804590614448936 + - -0.006153715487372301 + - 0.01281549065170774 + - - 0.02095326837248588 + - -0.9764742108176795 + - -0.21461378369643438 + - -0.09280381125215807 + - - -0.010903123951543485 + - 0.21442496649153694 + - -0.9766796074625496 + - 0.9717914387696913 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9907418679462909 + - -0.003289133567511338 + - 0.135719315864284 + - 0.05428586574503297 + - - -0.025648709401852723 + - -0.9862376078691834 + - 0.16333255808469738 + - -0.09293073177401279 + - - 0.13331427082016964 + - -0.1653014289861004 + - -0.9771912518902534 + - 0.9713722201124685 + - - 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: + - - 0.9986687152285536 + - -0.010808114580650926 + - -0.05043790125453012 + - 0.023870357960894123 + - - -0.014949826321928669 + - -0.996481035017515 + - -0.0824745387581322 + - -0.03429985472968706 + - - -0.04936901778134115 + - 0.08311877952444925 + - -0.9953160144264092 + - 0.9690413833539926 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994539968716681 + - -0.009527404032417372 + - -0.03163758381499131 + - 0.09187622418755902 + - - -0.009933648548078844 + - -0.9998699022857771 + - -0.012708309468786186 + - -0.033531247110825786 + - - -0.03151239063877531 + - 0.013015647330588931 + - -0.9994186120744378 + - 0.9687826768083716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9914810238096098 + - 0.010065338182345292 + - -0.12986172797526963 + - 0.09978567914040948 + - - 0.003514439867575805 + - -0.9987140287816689 + - -0.050576055867433245 + - -0.08924334866759906 + - - -0.13020379463696552 + - 0.04968880841762617 + - -0.9902413817752579 + - 0.9710415593290191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982926799918342 + - 0.0239894084344982 + - 0.053256298760654706 + - 0.012640626495772718 + - - 0.031542218038492595 + - -0.9888034077374717 + - -0.14585235455067508 + - -0.0928282496574104 + - - 0.04916109799357087 + - 0.14728315969494432 + - -0.9878718830467544 + - 0.9714182736863424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967313178996784 + - -0.002157577937861658 + - 0.0807590538293528 + - 0.054349080486375406 + - - -0.009895556270437738 + - -0.9953765370219421 + - 0.09553861791079862 + - -0.09310492612557046 + - - 0.08017953531961164 + - -0.09602548830205981 + - -0.9921443179861904 + - 0.9729732296419634 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9900407481459014 + - 0.018760943937454772 + - -0.13952542418240357 + - 0.09989099159939871 + - - 0.00404058980692515 + - -0.9944591133298573 + - -0.10504639712625218 + - -0.08933804681156209 + - - -0.14072309918672252 + - 0.10343644859414784 + - -0.9846308498404436 + - 0.9722070129809732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9900605517300853 + - 0.015010870928954917 + - 0.1398383983813936 + - 0.012698557686934972 + - - 0.029143615699923242 + - -0.9946034062045356 + - -0.0995726570413372 + - -0.09283480050947812 + - - 0.13758907504542023 + - 0.10265835631009697 + - -0.9851550681531592 + - 0.9718129471929753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989423010147293 + - -0.002889419542971021 + - 0.04589041836922737 + - 0.05442347962372177 + - - -0.0016159026387011044 + - -0.9996131956420287 + - -0.027764148771289326 + - -0.09326448493345701 + - - 0.04595289002946673 + - 0.027660628211173093 + - -0.9985605747999987 + - 0.9744805454980626 + - - 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: + - - 0.9992000998504246 + - -0.010790399129196574 + - -0.0385062039875941 + - 0.02385727542901579 + - - -0.013804029938403616 + - -0.9967888083548985 + - -0.07887661437892163 + - -0.03429706029878082 + - - -0.03753144303595627 + - 0.07934506175594094 + - -0.996140427830627 + - 0.9692003577964934 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9654992710566109 + - 0.018547683186217363 + - -0.2597443763348434 + - 0.0999549506735661 + - - 0.008517606661753305 + - -0.9991758292797701 + - -0.03968768776132526 + - -0.08938146971801463 + - - -0.26026641728411426 + - 0.0361060331732593 + - -0.9648615166968698 + - 0.9731282650825973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990127041457321 + - 0.014183221226769231 + - 0.04210051295488625 + - 0.012730039018257451 + - - 0.02302025957409866 + - -0.9757840008281058 + - -0.21752161128733044 + - -0.09298639450989976 + - - 0.03799584983354289 + - 0.21827601783871697 + - -0.9751471147636642 + - 0.9719985720045667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9878813221720754 + - -0.006018304636210934 + - 0.15509440129436614 + - 0.05445541225306368 + - - -0.008738928256970457 + - -0.9998195701516113 + - 0.016865890867848104 + - -0.09321697703892179 + - - 0.1549649135658509 + - -0.018016857416108967 + - -0.9877556724273343 + - 0.974426066385274 + - - 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: + - - 0.9993660420469999 + - -0.012842971587137951 + - -0.03320500089032067 + - 0.023867143791323795 + - - -0.014189368666324118 + - -0.9990732775238633 + - -0.04063555037866639 + - -0.03426413957867257 + - - -0.032652347850734544 + - 0.04108094714752767 + - -0.9986221407325682 + - 0.9689086140522793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9823521169878672 + - 0.0181890169302548 + - -0.18615444639483295 + - 0.09992997806846439 + - - 0.004242160347339562 + - -0.9971710016124252 + - -0.07504663629277834 + - -0.08937811154828583 + - - -0.18699284030423005 + - 0.07293252502405219 + - -0.9796502051592564 + - 0.9727152340842475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999228448300095 + - 0.024552618847893014 + - 0.030654151684467664 + - 0.012620964666322768 + - - 0.026617439119802074 + - -0.9972701378485468 + - -0.06887513404883354 + - -0.09270209285209824 + - - 0.028879405161600775 + - 0.06963792833830747 + - -0.9971542202158409 + - 0.9704010200221554 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9793043787440513 + - -0.013788821183370152 + - 0.20192276291468625 + - 0.0544102625991827 + - - -0.007304281239392807 + - -0.9994344570388924 + - -0.03282397841442401 + - -0.09322337144659203 + - - 0.20226117088631573 + - 0.03066976514008156 + - -0.9788512574737539 + - 0.9739087285649646 + - - 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: + - - 0.9993455844336734 + - -0.014842373864257869 + - -0.032986464057147225 + - 0.02390248031799595 + - - -0.01578088258530784 + - -0.9994727587533712 + - -0.028375486863742534 + - -0.034256426629476845 + - - -0.03254791264810385 + - 0.02887747301962712 + - -0.9990529139811626 + - 0.9687682727504142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9825884570633262 + - 0.015374400366383897 + - -0.18515818064370287 + - 0.09997794807056597 + - - 0.005040581539791427 + - -0.9984094691528332 + - -0.056152688659573555 + - -0.08936917285619149 + - - -0.1857269947628849 + - 0.05424167880267369 + - -0.9811031157309691 + - 0.9728402248712122 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975613011740811 + - 0.024639185868191374 + - 0.06530207438992076 + - 0.01260755854690355 + - - 0.029881987283614 + - -0.9963013353355861 + - -0.08056498026134071 + - -0.0926834510155988 + - - 0.06307548839173548 + - 0.08231986229508043 + - -0.9946079242776338 + - 0.9709840525967828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987188147872277 + - -0.0017418705097891208 + - 0.050573657936935704 + - 0.054332586825797134 + - - -0.004142803473292198 + - -0.9988670149027076 + - 0.047408055420322476 + - -0.09308535818091286 + - - 0.050433780042514476 + - -0.047556833646509894 + - -0.9975944974808862 + - 0.9725130630529013 + - - 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: + - - 0.99923430241086 + - -0.01238918584370733 + - -0.037112221162470774 + - 0.023882860741794545 + - - -0.015707789551118248 + - -0.9957718278798005 + - -0.09050818829442482 + - -0.03430996609384963 + - - -0.03583398153847604 + - 0.091021837352645 + - -0.995203974515802 + - 0.9692523257840482 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9729438867601441 + - 0.028296670403923568 + - -0.22930218415906023 + - 0.10002811305013362 + - - 0.002424529729595431 + - -0.993667488655185 + - -0.11233451671364879 + - -0.08943377122114785 + - - -0.23102881827091215 + - 0.10873923134614501 + - -0.9668513146780099 + - 0.973424691250693 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986152030649088 + - 0.017510940352780467 + - 0.049608902180880966 + - 0.01268961064637454 + - - 0.026557402887142416 + - -0.9818027176395129 + - -0.18803757068085553 + - -0.09278808119160872 + - - 0.04541344029602747 + - 0.1890946604313012 + - -0.9809081653431431 + - 0.9717711710518524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9786976422600475 + - -0.009095381625487158 + - 0.20510533651690002 + - 0.05447160531172357 + - - -0.01840008710926281 + - -0.9988837985650726 + - 0.04350395106864619 + - -0.09330107071916728 + - - 0.20448071260878273 + - -0.04635117039836612 + - -0.9777725743615978 + - 0.9746578164508511 + - - 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: null + base_right_marker_pose: + - - 0.9997840458865299 + - -0.011686094647117668 + - -0.01718420154268274 + - 0.09189141846106126 + - - -0.011381492400404153 + - -0.9997782435205144 + - 0.01771794044958554 + - -0.033480428670994065 + - - -0.017387444363691707 + - -0.017518532328198177 + - -0.9996953424936849 + - 0.9686225634123224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.980335620985061 + - 0.026785641060330816 + - -0.19551112413574295 + - 0.09996391994240295 + - - 0.003244502084252235 + - -0.9927990231941854 + - -0.11974795510110627 + - -0.08938460449988261 + - - -0.1973107788086096 + - 0.11675884967598131 + - -0.9733631529846821 + - 0.9727729266296798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993782868986326 + - 0.014409001166460812 + - 0.03217794836435849 + - 0.012734475318111074 + - - 0.019842115187999092 + - -0.9842790587719642 + - -0.17550220775774691 + - -0.09289735790765984 + - - 0.029143269212985805 + - 0.17603157429382413 + - -0.983953024646613 + - 0.9714957839765954 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913956424849735 + - -0.0033495164163526254 + - 0.13085664217602141 + - 0.0543816013557986 + - - -0.010529581241730587 + - -0.9984736897646592 + - 0.05421640680292763 + - -0.09314307510067321 + - - 0.1304753155990838 + - -0.05512777510042761 + - -0.9899177341738029 + - 0.9735238680720576 + - - 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: + - - 0.9992106355594604 + - -0.010935806156858347 + - -0.03819049526464406 + - 0.023854676187596357 + - - -0.013970323411489094 + - -0.9966875494656539 + - -0.08011715673892551 + - -0.03430761524949925 + - - -0.037187845442262196 + - 0.08058744867441069 + - -0.9960535765045537 + - 0.9696131254825386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999381205283744 + - -0.013181792203435388 + - -0.03261053326636261 + - 0.0918458700983737 + - - -0.01198364357260194 + - -0.9992556600663778 + - 0.03666767121092576 + - -0.03348857333732559 + - - -0.03306960556668205 + - -0.03625418844234646 + - -0.9987952918431539 + - 0.9684527059668466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.845876693725586 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9684932771802046 + - 0.022635092725818755 + - -0.2480089204727139 + - 0.09996603968064782 + - - 0.0036996703460574366 + - -0.9970587779735037 + - -0.07655132726030711 + - -0.08939586840269792 + - - -0.24901221756387343 + - 0.07322189456219855 + - -0.9657284658021866 + - 0.973184379752901 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962598977278121 + - 0.01795343595230973 + - 0.0845215375917632 + - 0.012669134032702698 + - - 0.032663653967327747 + - -0.9838431633335125 + - -0.1760275991752719 + - -0.09288697700153416 + - - 0.07999563668646059 + - 0.17813002020831248 + - -0.980749914102323 + - 0.9727096735433873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9893518892499107 + - -0.0001119746123581615 + - 0.14554321248110041 + - 0.054387646064451116 + - - -0.022270602487116993 + - -0.9883397243686979 + - 0.1506273862870479 + - -0.0931703450028413 + - - 0.14382927206411555 + - -0.15226482422573148 + - -0.9778182672669876 + - 0.9734057238513454 + - - 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: + - - 0.9995042557401055 + - -0.012594746480499859 + - -0.02885507093233016 + - 0.023859454782127223 + - - -0.013978522660256378 + - -0.9987366332245189 + - -0.048267363296427314 + - -0.03427157638035639 + - - -0.028210701190409422 + - 0.04864678629102375 + - -0.9984175712205292 + - 0.9689175613332566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9841540691270732 + - 0.01913625948656245 + - -0.1762798110774092 + - 0.09994150939336124 + - - 0.004736024731121161 + - -0.9966415498468502 + - -0.08175078708254051 + - -0.08934054567767724 + - - -0.17725218839374124 + - 0.07962050421676324 + - -0.9809394665410798 + - 0.9726885838944792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984234843175676 + - 0.018969238633412815 + - 0.05282720841419421 + - 0.01267331201098022 + - - 0.026619481833483366 + - -0.9886124288822078 + - -0.14811100109896935 + - -0.09272265215114509 + - - 0.04941608189734312 + - 0.14928373469769135 + - -0.9875588171874244 + - 0.9711260374895312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922813308207384 + - -0.00997352821103097 + - 0.12360537706608071 + - 0.05444312470485655 + - - -0.0046207947941492265 + - -0.9990420322152355 + - -0.04351627422843291 + - -0.09333189695578589 + - - 0.1239209778854839 + - 0.04260923142087381 + - -0.9913768428996257 + - 0.9750494823522863 + - - 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: + - - 0.999279064095349 + - -0.012286909660501584 + - -0.03592191408761634 + - 0.023871438428846998 + - - -0.01476533902428557 + - -0.9974681719545574 + - -0.06956457935711109 + - -0.0342901689643678 + - - -0.03497623227595171 + - 0.07004482699406551 + - -0.9969304817223468 + - 0.9692252074650672 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993019317646941 + - -0.012313249497854112 + - -0.03527085281297082 + - 0.09182896185667037 + - - -0.011925206248145285 + - -0.9998662649488104 + - 0.011191142625081732 + - -0.03348894350327066 + - - -0.03540393519497308 + - -0.010762718249555733 + - -0.9993151281095425 + - 0.9684442862273689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9726985889872447 + - 0.021255609030613663 + - -0.23109663361235028 + - 0.09989422386734831 + - - 0.00589770661269463 + - -0.9977392076086644 + - -0.0669454304426027 + - -0.08932463479976285 + - - -0.23199713799729027 + - 0.06375478558643635 + - -0.9706248787641362 + - 0.9723353469385075 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991641390923799 + - 0.021436056092418398 + - 0.034806876489941733 + - 0.012688269948562198 + - - 0.027999669261063332 + - -0.9792578384347427 + - -0.20067412485267438 + - -0.09286653468272345 + - - 0.0297832448375665 + - 0.2014809702262682 + - -0.9790395175699638 + - 0.9722817130183823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883787729642793 + - -0.011766558749435142 + - 0.15155510301148448 + - 0.05446154614477213 + - - -0.003220415689343676 + - -0.9983967182461534 + - -0.05651213956397879 + - -0.0932146071387415 + - - 0.1519770708903597 + - 0.055367328728293176 + - -0.9868320165221027 + - 0.9742327899851301 + - - 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: + - - 0.999560560798777 + - -0.012549322778177673 + - -0.02685516325483271 + - 0.02384233054494273 + - - -0.01350647574883514 + - -0.9992690653182105 + - -0.03576185413141275 + - -0.03426142343708456 + - - -0.026386746833983423 + - 0.03610885758203139 + - -0.9989994444421079 + - 0.9689455185897968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993090371498887 + - -0.012688136324998028 + - -0.0349350750272632 + - 0.09183140400416452 + - - -0.011544216185233495 + - -0.9993967903697202 + - 0.03275341923175122 + - -0.033441385851191 + - - -0.03532958170189447 + - -0.03232748977728589 + - -0.9988527189037778 + - 0.9681772042512629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9839015783548269 + - 0.03442317826544378 + - -0.17536456001423392 + - 0.09999525176883686 + - - 0.0009009709321101712 + - -0.9822165943664488 + - -0.1877491677812549 + - -0.08946106688186806 + - - -0.17870890398147446 + - 0.1845687041436868 + - -0.9664354717664598 + - 0.9730420391801673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983043250841184 + - 0.0217153845098928 + - 0.05400848631400816 + - 0.012632655986343654 + - - 0.0303790896055103 + - -0.985797026707206 + - -0.1651706179984006 + - -0.09273195438365082 + - - 0.04965466174573416 + - 0.1665312709698113 + - -0.9847851290287122 + - 0.9708613655495473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.987167016352381 + - -0.01142192869385878 + - 0.15928220669883508 + - 0.05444017735927668 + - - -0.00361710808891769 + - -0.99878219760497 + - -0.049204047358517175 + - -0.09322143395183022 + - - 0.15965023756640984 + - 0.04799647166509763 + - -0.986006156346242 + - 0.974213972785543 + - - 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: + - - 0.9992397442865406 + - -0.011348011145281925 + - -0.03729820479883219 + - 0.023833896475310597 + - - -0.014263252321486184 + - -0.9967846135769445 + - -0.0788479154415401 + - -0.034257694358603125 + - - -0.036283509634304816 + - 0.07931996456951551 + - -0.9961886619256963 + - 0.9690599482108206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995121796815727 + - -0.012297587991663146 + - -0.028708395945763993 + - 0.0918661864236969 + - - -0.01197411856867393 + - -0.9998631808774321 + - 0.011412274539563604 + - -0.03349644927589538 + - - -0.02884481153855567 + - -0.01106294966319272 + - -0.9995226800788737 + - 0.9686315455178574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9850941925119004 + - 0.02388322562350239 + - -0.17034970916659506 + - 0.09995240917813011 + - - 0.003914246504504641 + - -0.9931702566200968 + - -0.11660840466910118 + - -0.08937671669235639 + - - -0.17197124920645487 + - 0.11420347148396044 + - -0.9784597368044244 + - 0.9726956194312268 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922869325619496 + - 0.012278465146735733 + - 0.12335267634079627 + - 0.01270957017569334 + - - 0.02738552704639041 + - -0.9922094657652222 + - -0.12153357130555713 + - -0.09292738082768252 + - - 0.1208994473733783 + - 0.12397425272826577 + - -0.9848927394824671 + - 0.9726942462236627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922330351029026 + - -0.005343411843552278 + - 0.12427812357914138 + - 0.05445719151138833 + - - -0.015641415611944216 + - -0.9965066824561278 + - 0.08203522376356041 + - -0.09329517604096471 + - - 0.12340563264347611 + - -0.08334194484263723 + - -0.9888504285591988 + - 0.9750680498256381 + - - 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: null + base_right_marker_pose: + - - 0.9995742879599095 + - -0.013602642827561014 + - -0.025811062696941955 + - 0.09186842936108758 + - - -0.013229535334700223 + - -0.9998063072919482 + - 0.014571454768354255 + - -0.03345718731136901 + - - -0.026004273577002374 + - -0.014223783158642379 + - -0.9995606343531083 + - 0.9684211657826591 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9867011084580418 + - 0.017348946601352902 + - -0.161616634723951 + - 0.09995878458011548 + - - 0.0061263460018297754 + - -0.9975505261665195 + - -0.06968081249214739 + - -0.08932994051622024 + - - -0.16242964770120466 + - 0.06776401550028854 + - -0.9843904955610547 + - 0.9726761994823755 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989448663333917 + - 0.016554732522296424 + - 0.04283800715809687 + - 0.012783050543615967 + - - 0.024683567885825604 + - -0.980126965286106 + - -0.19682950336642738 + - -0.0929646284923955 + - - 0.03872822617404232 + - 0.19767921678862407 + - -0.9795014301915279 + - 0.9734514014890215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961780695115106 + - -0.005036896458618281 + - 0.0872002494169894 + - 0.0544187368473477 + - - -0.006431578192495761 + - -0.9998557406949415 + - 0.015720451689558674 + - -0.0932386030795016 + - - 0.08710848768216456 + - -0.016221204438484026 + - -0.9960667567489094 + - 0.9742923464046732 + - - 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: + - - 0.999816571300579 + - -0.01366443085859854 + - -0.013420397984587046 + - 0.023846870806422938 + - - -0.014528922264440828 + - -0.9976749745262862 + - -0.06658495041530457 + - -0.0342862157510081 + - - -0.012479349766232358 + - 0.0667677207435248 + - -0.9976905017569964 + - 0.9687721054796311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997532556481683 + - -0.011584974395776486 + - -0.01895299947600898 + - 0.09190577650399205 + - - -0.011552347773873293 + - -0.9999315947793416 + - 0.0018300335934075893 + - -0.03350336981125552 + - - -0.01897290388422073 + - -0.0016106304016498595 + - -0.999818700959283 + - 0.9687847814179515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.991461689160166 + - 0.01856123197000751 + - -0.12907052179109632 + - 0.09991963513198254 + - - 0.00440461087628786 + - -0.9940196326378612 + - -0.10911264515866308 + - -0.08932059599512686 + - - -0.13032389777281364 + - 0.1076125020536527 + - -0.985614139037714 + - 0.9722028646940306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979279354115439 + - 0.02123029748485234 + - 0.06073804568767638 + - 0.01267710019215577 + - - 0.026053120062604053 + - -0.9964746018564467 + - -0.07974711775380934 + - -0.0926301937152899 + - - 0.058830864860693055 + - 0.08116429217174918 + - -0.9949629576099817 + - 0.9704906715136852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922282013987773 + - -0.00522264461720613 + - 0.12432184173406452 + - 0.05418585992825171 + - - -0.016140607129720957 + - -0.9960796582579734 + - 0.08697583116109027 + - -0.092813416174344 + - - 0.12338021377202837 + - -0.0883065025232052 + - -0.9884226244181622 + - 0.9701071656141328 + - - 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: + - - 0.999206220866936 + - -0.013229836728104055 + - -0.03757525250698587 + - 0.023915446129704126 + - - -0.016072534991703066 + - -0.9969485947739536 + - -0.07638830406010966 + - -0.03428711564106545 + - - -0.03644999039446402 + - 0.07693159817907719 + - -0.9963698747964315 + - 0.9691990403626417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995985262407245 + - -0.01112627642269527 + - -0.026057480890089933 + - 0.09184165823675862 + - - -0.011426211273420408 + - -0.9998698459127807 + - -0.011390036448064652 + - -0.03347550620862646 + - - -0.025927360708463694 + - 0.011683201929216845 + - -0.999595555592048 + - 0.9683163794604446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9778904190183699 + - 0.035117362002142355 + - -0.20614824587681424 + - 0.09998350775932557 + - - 0.0001656949808874937 + - -0.9859285844827188 + - -0.1671669789314759 + - -0.08944142949233193 + - - -0.20911791156486398 + - 0.1634368293436754 + - -0.96413593537262 + - 0.973200255864654 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996943200311535 + - 0.010877429323835798 + - 0.02220243294673974 + - 0.012858177809077045 + - - 0.01804507160052942 + - -0.9348885571659316 + - -0.35448238471204163 + - -0.0932416010473882 + - - 0.01690094341690084 + - 0.3547746710399561 + - -0.9347990644518805 + - 0.9747590504693294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9951729388810937 + - -0.00583582297623151 + - 0.09796307921332936 + - 0.05454990361637925 + - - 0.0018324440705449001 + - -0.9969512678544425 + - -0.07800520285307376 + - -0.09342818363553554 + - - 0.09811964057972938 + - 0.07780817883494608 + - -0.9921282293327285 + - 0.9759424325597215 + - - 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: null + base_right_marker_pose: + - - 0.9998446608942234 + - -0.011238703110003145 + - -0.013577394216880352 + - 0.09188127433231542 + - - -0.011242020644055679 + - -0.9999367923691618 + - -0.0001680425845633999 + - -0.033496482193786835 + - - -0.013574647441241204 + - 0.00032065382705723255 + - -0.999907808814377 + - 0.9687279147509386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9768692685276401 + - 0.022183934607124308 + - -0.21268358011755475 + - 0.09996083094382179 + - - 0.0025907754263296556 + - -0.9957590609956948 + - -0.09196292909462629 + - -0.08936465685389587 + - - -0.21382170163237366 + - 0.08928474388337444 + - -0.9727838991372735 + - 0.9729336808258569 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962480930957511 + - 0.004217855246157061 + - 0.0864404228367854 + - 0.012797784684349674 + - - 0.028947581212575443 + - -0.9575212341732254 + - -0.28690612340855415 + - -0.09291198388311517 + - - 0.08155841185936084 + - 0.28833191950338344 + - -0.954050800351047 + - 0.9729584395740007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942763495943227 + - -0.007532441519033696 + - 0.10657299358726187 + - 0.054559630141126816 + - - 0.0012865283837735471 + - -0.9965951358474656 + - -0.08244076691716823 + - -0.09339190828226973 + - - 0.1068311072773561 + - 0.08210601396935216 + - -0.9908812829940629 + - 0.9758524773578907 + - - 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: + - - 0.998847124187331 + - -0.00858242314461463 + - -0.047230969878517104 + - 0.023828138485714266 + - - -0.012553784859644293 + - -0.9963494157651791 + - -0.08444077326792004 + - -0.03427154899909174 + - - -0.046333842797639524 + - 0.08493635097738364 + - -0.9953084905165085 + - 0.9688618142123989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.981789285236073 + - 0.02204043365515533 + - -0.18869027182113438 + - 0.09991194044653542 + - - 0.004683921587534851 + - -0.9957535168805115 + - -0.09194016803690755 + - -0.08934521167482376 + - - -0.1899154029408955 + - 0.08938206142389907 + - -0.9777233692724193 + - 0.9725048479222955 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998093545675013 + - 0.019524270700309675 + - -0.00023952648626648552 + - 0.012778981131799262 + - - 0.019094319473861934 + - -0.980209494962585 + - -0.19703997804766182 + - -0.0927686406451674 + - - -0.00408184800631906 + - 0.19699783968057616 + - -0.9803954251617244 + - 0.9713894929848039 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955285376112104 + - -0.006955678380441188 + - 0.09420482652153671 + - 0.05425040934085122 + - - -0.01213966300139746 + - -0.9984362522275845 + - 0.05456811174988769 + - -0.09295146608092182 + - - 0.09367795569875266 + - -0.055467727337647356 + - -0.9940562216696294 + - 0.9713027157964519 + - - 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: + - - 0.9994646005906486 + - -0.013375662830183113 + - -0.029859735598770417 + - 0.023869496070724014 + - - -0.015352767896605658 + - -0.9976350385621786 + - -0.06699718166425613 + - -0.03425240261680855 + - - -0.028892986763022165 + - 0.06741974100286681 + - -0.9973062587986793 + - 0.9688206108522258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999134075812972 + - -0.011327072476229121 + - -0.006698863207809317 + - 0.09186611840419191 + - - -0.011311425169911701 + - -0.9999332172616373 + - 0.0023691089923671355 + - -0.033476733459347874 + - - -0.006725250908641007 + - -0.002293130155590706 + - -0.9999747559585224 + - 0.9685549829820845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.845876693725586 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9929561448008681 + - 0.011780125446421392 + - -0.11789539069303702 + - 0.09982338168898931 + - - 0.004889686415194796 + - -0.9982716334998518 + - -0.05856480783114312 + - -0.08924155232063471 + - - -0.11838152503223771 + - 0.057575814314729745 + - -0.9912975537834428 + - 0.9715305026232931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9973474372785399 + - 0.0008675951141031771 + - 0.07278280451210271 + - 0.012862596141245998 + - - 0.02102509809497445 + - -0.9607390050468979 + - -0.27665594053190623 + - -0.0930304221381621 + - - 0.06968525384918732 + - 0.27745235890187514 + - -0.9582088258494386 + - 0.9728988996222582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9848382285066941 + - -0.0027027981655312634 + - 0.1734541972794922 + - 0.05429730916917998 + - - -0.02196810647609298 + - -0.9937720332678636 + - 0.10924535776183007 + - -0.09296526636381092 + - - 0.1720786621567347 + - -0.11139946488530188 + - -0.978764064140902 + - 0.9714188197022993 + - - 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: null + base_right_marker_pose: + - - 0.9993424601980458 + - -0.007050605300961913 + - -0.03556594171686228 + - 0.0919112679640852 + - - -0.009111969217184143 + - -0.9982672049971273 + - -0.05813397839653475 + - -0.03354645273736931 + - - -0.03509443349453423 + - 0.0584198287579973 + - -0.997675049475321 + - 0.969220732278497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9690151578296754 + - 0.021585657706779338 + - -0.2460562603911859 + - 0.09995914297770087 + - - 0.007661756195770771 + - -0.9983215242892592 + - -0.0574058501615219 + - -0.08942038987981785 + - - -0.24688240396659678 + - 0.05374191587705349 + - -0.9675540734705934 + - 0.9730604578083927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998356510560918 + - 0.010552765881479633 + - 0.014741438515009371 + - 0.012847116763152066 + - - 0.013805597507611482 + - -0.9702225241402113 + - -0.2418215439708699 + - -0.09298907197397703 + - - 0.011750589546867595 + - 0.24198531522232547 + - -0.9702087563313646 + - 0.9725725929489634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9863031643959775 + - -0.005092883560008346 + - 0.16486397556629975 + - 0.05439940281007511 + - - -0.01403405080076814 + - -0.9984898174095999 + - 0.053114310194763974 + - -0.09318749124444016 + - - 0.16434449586342328 + - -0.05470052162811929 + - -0.9848851403148537 + - 0.9737455174289144 + - - 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: + - - 0.9992383843201181 + - -0.012631978922476441 + - -0.036919973047418474 + - 0.023877182687373502 + - - -0.015334103174547413 + - -0.9971516944237839 + - -0.07384689287714635 + - -0.034275951420165617 + - - -0.03588198128799928 + - 0.0743567846015312 + - -0.996585948126186 + - 0.9689658759142368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998365419583063 + - -0.011923710523593768 + - -0.013590970980966541 + - 0.0918553098852461 + - - -0.011635228451549804 + - -0.9997094308979013 + - 0.021111021592394162 + - -0.03352493051008684 + - - -0.013838743575056999 + - -0.020949436773904588 + - -0.9996847554479963 + - 0.9684469416381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9756187053055879 + - 0.028796041059856732 + - -0.2175751131842227 + - 0.10002585448348753 + - - 0.002583274166046888 + - -0.9927931743070152 + - -0.11981251914546903 + - -0.08943127319652991 + - - -0.21945721348917038 + - 0.11632927863903994 + - -0.9686619794225895 + - 0.9736768613367255 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994566593144877 + - 0.026637755020980102 + - 0.01941175312449471 + - 0.012626206337779644 + - - 0.029503206171280782 + - -0.9855892291961947 + - -0.1665635978179685 + - -0.09282188152108913 + - - 0.014695134485229461 + - 0.16704580599312666 + - -0.9858396176470937 + - 0.971624677654663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9625163353933023 + - -0.025295005922663524 + - 0.27004160193648014 + - 0.054526304317358894 + - - 0.001679089667469165 + - -0.9950667470372622 + - -0.09919349574730711 + - -0.09334137843942375 + - - 0.2712185184660822 + - 0.09592878408514753 + - -0.9577255262469564 + - 0.975321457635369 + - - 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: null + base_right_marker_pose: + - - 0.9998864396799331 + - -0.012817044098791024 + - -0.007926608654227223 + - 0.09186841889343408 + - - -0.012594775495526483 + - -0.9995429452403745 + - 0.027482216985081784 + - -0.03347747695937404 + - - -0.008275226547044455 + - -0.02737926223928392 + - -0.9995908646165328 + - 0.9683906657767102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9806213839031136 + - 0.03257861441689873 + - -0.19318471811874055 + - 0.0999126721085965 + - - 0.0017202325832381266 + - -0.9874704440063189 + - -0.15779468626611978 + - -0.08936782157530201 + - - -0.1959049316168477 + - 0.1544045209721485 + - -0.9683906761589353 + - 0.9724069761849149 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998323921189132 + - 0.018116212922617746 + - 0.0026439552027806568 + - 0.012807992457371083 + - - 0.018253035467892607 + - -0.9751788634160857 + - -0.22066492934473958 + - -0.09278573971320286 + - - -0.0014192836149930154 + - 0.2206762043715938 + - -0.9753460916301283 + - 0.9715218246281032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9755652449040375 + - -0.000894206409372024 + - 0.21970810938657395 + - 0.05432509504740189 + - - -0.028624437384868136 + - -0.991985942114296 + - 0.12306312295733528 + - -0.09290513246479817 + - - 0.21783731204668558 + - -0.12634512670661222 + - -0.9677726047154698 + - 0.9709891685708051 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9808885686503523 + - 0.027212542637589404 + - -0.1926579700252771 + - 0.09991552057977643 + - - 0.0014982603192839668 + - -0.9911983650110014 + - -0.13237657049317303 + - -0.08940738445485341 + - - -0.19456456796415642 + - 0.12955801296220826 + - -0.9722959169770313 + - 0.9725899632322392 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997747161400292 + - 0.0123520749522688 + - 0.06593957963191151 + - 0.012739504295069594 + - - 0.020487162096565054 + - -0.9920505629076131 + - -0.12416101169013187 + - -0.09290521552478218 + - - 0.06388175096918315 + - 0.12523221182691588 + - -0.9900686920684088 + - 0.9714100992329556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978803693752853 + - -0.004387275745407937 + - 0.06492703771910285 + - 0.054274610793979425 + - - -0.011210903402019242 + - -0.9943974664976916 + - 0.10510943948039211 + - -0.09299392524806092 + - - 0.06410213772063023 + - -0.105614537041571 + - -0.9923388964991442 + - 0.9720103808213993 + - - 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: null + base_right_marker_pose: + - - 0.999529578479812 + - -0.010435297535074934 + - -0.028839665554991126 + - 0.09187193975314871 + - - -0.010710036659234557 + - -0.9998985710549299 + - -0.009388435283249563 + - -0.03351011108040568 + - - -0.028738769262568197 + - 0.009692892636585449 + - -0.999539959668251 + - 0.9683939082847689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9792424010459749 + - 0.03337325527012151 + - -0.1999263510055371 + - 0.09992620030777094 + - - 5.8034710558162866e-05 + - -0.9863982557868473 + - -0.16437298321998553 + - -0.08935877533461634 + - - -0.20269266544620276 + - 0.16094939208751483 + - -0.9659249331914841 + - 0.9725513704804043 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999757270785033 + - 0.020576691074487414 + - -0.007873963226185079 + - 0.012726026227089855 + - - 0.019166256031301624 + - -0.9885365447408396 + - -0.14976032298838687 + - -0.09266295410796994 + - - -0.010865272302376917 + - 0.1495730573875806 + - -0.9886909761707791 + - 0.9705698703547396 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9801297431276166 + - -0.009479478946995537 + - 0.19813083080501612 + - 0.05436692798490759 + - - -0.007488950622893936 + - -0.9999137046711316 + - -0.01079346234627371 + - -0.09310863034356222 + - - 0.19821604943888957 + - 0.009095201468139134 + - -0.9801161538588644 + - 0.9728023045204546 + - - 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: + - - 0.9979126110766299 + - -0.010545929571252126 + - -0.06371188290814497 + - 0.023884298302568455 + - - -0.016295603722575304 + - -0.9957712103460988 + - -0.09041100566403654 + - -0.03433247255976581 + - - -0.062488990658673436 + - 0.09126050632855293 + - -0.9938645008405907 + - 0.9694653393270221 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998513379645391 + - -0.015926038846222148 + - -0.006607817884119767 + - 0.09184320134861972 + - - -0.015456968976003368 + - -0.9977117955890945 + - 0.06581986821971303 + - -0.033470093649583484 + - - -0.007640947624211233 + - -0.0657079464680958 + - -0.9978096420111154 + - 0.9680810907392103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.981630718416898 + - 0.027248007031194975 + - -0.18883505705549705 + - 0.09990895445021951 + - - 0.0018686425184788885 + - -0.9910748380840836 + - -0.13329356132891856 + - -0.08935124751666577 + - - -0.19078165749217876 + - 0.13049218915105987 + - -0.9729204220978721 + - 0.9724730421342477 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980890742793908 + - 0.017677968087841417 + - 0.05920886123203179 + - 0.012729961485167227 + - - 0.030565057034387215 + - -0.9740112836224956 + - -0.22442770921734215 + - -0.09287958141497422 + - - 0.05370267304886595 + - 0.2258085667558795 + - -0.9726903485113148 + - 0.9719808069305358 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9857110077671107 + - -0.008385171717393738 + - 0.16823643500150848 + - 0.05431145433748129 + - - -0.01605070137153368 + - -0.9988912743801387 + - 0.04425603860158429 + - -0.09310391434864856 + - - 0.16767881247262223 + - -0.04632397718776845 + - -0.9847527126062049 + - 0.9724893296008811 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9843561327719956 + - 0.022686156513612627 + - -0.17472361653995513 + - 0.10002212891814288 + - - 0.0021039099983404287 + - -0.9931186339663134 + - -0.1170937762291552 + - -0.08939531019970942 + - - -0.17617768711411866 + - 0.11489437397681604 + - -0.9776301475464002 + - 0.9730650702732515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906160544232551 + - 0.00745882455967866 + - 0.13647050470739286 + - 0.01270709683205772 + - - 0.03604647384899171 + - -0.9774144924238233 + - -0.20823439130684998 + - -0.09294600852987453 + - - 0.13183506529735006 + - 0.21119961159071363 + - -0.9685113523454311 + - 0.9727204306620528 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978336094168855 + - -0.003508263665286712 + - 0.06569459646063133 + - 0.054339707631473874 + - - -0.018168118932844427 + - -0.9744387410071897 + - 0.22391752829728537 + - -0.09310671366763543 + - - 0.06322979813752677 + - -0.22462598271432985 + - -0.9723914646463686 + - 0.9732062528847125 + - - 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: + - - 0.9993517629899671 + - -0.013160576781577803 + - -0.03350899920351131 + - 0.023874030312038188 + - - -0.014805317079408527 + - -0.9986733811335824 + - -0.049318154886367975 + - -0.03430868920675801 + - - -0.032815490168865376 + - 0.04978229639132573 + - -0.9982208505991961 + - 0.968878197887851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996267464888675 + - -0.007935236673754613 + - -0.026141915060165253 + - 0.09189514660015172 + - - -0.008555748253977917 + - -0.9996822537191716 + - -0.023710562430532208 + - -0.03350750283740202 + - - -0.02594545963932705 + - 0.023925376023985732 + - -0.9993770106952704 + - 0.9688108612018822 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.845876693725586 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9779579419641111 + - 0.01400039855951639 + - -0.2083320728776415 + - 0.09994224785697906 + - - 0.006447825366660066 + - -0.9992986180961461 + - -0.03688763233355165 + - -0.08937846143794688 + - - -0.20870239408631924 + - 0.03473126417665964 + - -0.9773622920858627 + - 0.9727512201417964 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995958727457477 + - 0.025377267818081313 + - 0.012809584995480825 + - 0.012622276184669596 + - - 0.026899241447334722 + - -0.9901350241142208 + - -0.1375102353713723 + - -0.09271977805373645 + - - 0.00919358467764685 + - 0.13779923185715365 + - -0.9904175128198986 + - 0.9705790370721652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830977349966689 + - -0.0036028176036290473 + - 0.1830460683809802 + - 0.05433034092881919 + - - -0.02193841584715147 + - -0.9949205582225606 + - 0.09824351752775219 + - -0.09302808836090926 + - - 0.18176234305965838 + - -0.10059872032696678 + - -0.9781831874010306 + - 0.9722569074458083 + - - 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: + - - 0.9990736981297991 + - -0.01312365563970785 + - -0.040981890731121025 + - 0.023902432515206726 + - - -0.01571517935412656 + - -0.9978537739840178 + - -0.06356790765568265 + - -0.03431989854665144 + - - -0.0400596910012398 + - 0.06415306234704721 + - -0.997135700769149 + - 0.9692075623011979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997316678884702 + - -0.011745385862351602 + - -0.01996592426816373 + - 0.09188088357895231 + - - -0.01164148877151233 + - -0.9999181257814862 + - 0.0053120121257380064 + - -0.033510329557468764 + - - -0.02002668120583964 + - -0.005078153659127142 + - -0.9997865494170719 + - 0.9686440926426935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9803212904056927 + - 0.024516666437327396 + - -0.19588032224835225 + - 0.09992510852903648 + - - 0.003355588844000652 + - -0.9941842896111379 + - -0.10763985467245303 + - -0.08935386632004062 + - - -0.1973801094356458 + - 0.10486434740748456 + - -0.9747022935450468 + - 0.9724824893724145 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987705519270128 + - 0.008075301269512924 + - 0.048909857010797794 + - 0.01281331004161354 + - - 0.01596882084832399 + - -0.9864599126943759 + - -0.16322327471203185 + - -0.0928571734649894 + - - 0.046929536159269855 + - 0.16380363291579308 + - -0.9853760644949039 + - 0.9712197500563479 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912282054971514 + - -0.008501190033227106 + - 0.131887734057857 + - 0.054427224426236286 + - - -0.0005120770803347507 + - -0.9981686045432911 + - -0.06049111241464932 + - -0.0932587239735986 + - - 0.1321604419028661 + - 0.059892960121510984 + - -0.9894172279296137 + - 0.9742938958852423 + - - 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: + - - 0.9985132313235159 + - -0.011719842939372675 + - -0.053235065073194324 + - 0.023852159366162827 + - - -0.015079718124569017 + - -0.9978896458402213 + - -0.06315739724023661 + - -0.03431646126740193 + - - -0.05238252545605589 + - 0.06386626657597844 + - -0.9965827467001882 + - 0.9694457607367267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998515762047181 + - -0.01159267715275092 + - -0.012745014608573751 + - 0.09184726195424986 + - - -0.011496498965199673 + - -0.9999050772313584 + - 0.007593881648727127 + - -0.03351207770578744 + - - -0.012831838234790617 + - -0.00744623148873298 + - -0.9998899427257646 + - 0.9684717711448775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9717728761740765 + - 0.0294664629145766 + - -0.23407093945141302 + - 0.09998421873329841 + - - 0.0027468200068592134 + - -0.9935151315056803 + - -0.113666786921695 + - -0.08941036973811145 + - - -0.23590237835217578 + - 0.10981534971285196 + - -0.9655519959356058 + - 0.9733127029283095 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991564071368993 + - 0.013740043099654386 + - 0.038699939184737284 + - 0.012745158666276507 + - - 0.024040945648987674 + - -0.9597125743094255 + - -0.2799532240297955 + - -0.0931077662531209 + - - 0.033294248896545864 + - 0.2806474406225613 + - -0.9592332912604836 + - 0.9732410750658218 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9846192283532986 + - -0.00975486082173953 + - 0.17444144532565403 + - 0.05443716290955774 + - - -0.01392947068735185 + - -0.999644754946113 + - 0.022722978570082333 + - -0.09322043746299379 + - - 0.1741578163716026 + - -0.024803358624885995 + - -0.9844053272903398 + - 0.9740105512763951 + - - 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: + - - 0.9994679456367355 + - -0.014787305760806684 + - -0.029071656867470038 + - 0.023948390718614206 + - - -0.016768773044511312 + - -0.9974660195820233 + - -0.06914006096162162 + - -0.03427678875358152 + - - -0.027975594636489413 + - 0.06959077070654912 + - -0.9971832784083394 + - 0.9688001962984989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9731705871555639 + - 0.03046985979116001 + - -0.2280583169709054 + - 0.10004995178872458 + - - 0.001081363140417884 + - -0.9917872656923848 + - -0.12789390237294915 + - -0.08948796740258447 + - - -0.23008224388042953 + - 0.12421597020806122 + - -0.9652111446705414 + - 0.9738778966021953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976451636692902 + - 0.011571711522845527 + - 0.06760342372770227 + - 0.012721461404439999 + - - 0.019505409475539727 + - -0.9928334460560464 + - -0.11790372086439131 + - -0.09282358224289752 + - - 0.06575459229944887 + - 0.11894470936073122 + - -0.9907211967585157 + - 0.9705956782971621 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9734814432146218 + - -0.019321430224835533 + - 0.22794859519383712 + - 0.054487333627343815 + - - 0.002653305980042481 + - -0.9954062906092029 + - -0.09570410954083224 + - -0.0933405033306604 + - - 0.22875060586619936 + - 0.09377099204814972 + - -0.9689582867008016 + - 0.9752590425377279 + - - 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: + - - 0.9995239496368776 + - -0.013266479843761426 + - -0.027854525931195605 + - 0.023894416896743393 + - - -0.015102810353763298 + - -0.9976530514900924 + - -0.0667854323331498 + - -0.0343061446974267 + - - -0.02690314520116257 + - 0.06717432072646916 + - -0.9973784795218028 + - 0.9690072852763009 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999709651957648 + - -0.011652710917690238 + - -0.021090901142127562 + - 0.09181888838834074 + - - -0.011351284571819593 + - -0.9998325198589949 + - 0.014355506643189431 + - -0.033479451759367784 + - - -0.021254649404020415 + - -0.014111929729198206 + - -0.9996744936818339 + - 0.9683422198487993 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.796843528747559 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9771259653046962 + - 0.023784475747142313 + - -0.21132710815415817 + - 0.09996236594600678 + - - 0.004274985053636221 + - -0.9957220511064395 + - -0.09230017033124609 + - -0.08942911089485193 + - - -0.21261837274835127 + - 0.08928547280391953 + - -0.9730475486408794 + - 0.972853874754337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994366493749011 + - 0.030638488106329957 + - -0.013699158106588474 + - 0.012638842544355532 + - - 0.027363215862832087 + - -0.9802252137676483 + - -0.19598414403163547 + - -0.09284728449059361 + - - -0.019432918049410015 + - 0.19549888322117612 + - -0.9805113708444988 + - 0.9719617570744334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9856967796067274 + - -0.005374891629666735 + - 0.16844277726544424 + - 0.05434066938213919 + - - -0.01788957177737435 + - -0.9971811948407102 + - 0.07286719342527054 + - -0.09301648212843447 + - - 0.1675763166278245 + - -0.07483832705254012 + - -0.9830144469484812 + - 0.9726368928811977 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9909648634548262 + - 0.018495996931089363 + - -0.13284027060904044 + - 0.09979965769907553 + - - 0.004901837164445183 + - -0.9947783701155789 + - -0.10194099441640271 + - -0.08924833451931304 + - - -0.1340321282020517 + - 0.10036878223689334 + - -0.9858810760745493 + - 0.9716011769008381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994542805887632 + - 0.014397061285878355 + - 0.029729877886200122 + - 0.012796938271106818 + - - 0.019180683441435416 + - -0.9856886649488329 + - -0.16748121439166389 + - -0.09283073252992391 + - - 0.026893166334910318 + - 0.16796005601844058 + - -0.9854269009859457 + - 0.9721239748793438 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970957263070365 + - -0.0034658168638405542 + - -0.07607956817510017 + - 0.054264746453684044 + - - 0.0032234954521141303 + - -0.9961481679224089 + - 0.0876266889817129 + - -0.0929888301614968 + - - -0.07609022051034939 + - -0.08761743923611305 + - -0.9932439089591195 + - 0.9721799256206533 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9867536858818045 + - 0.014858437587426143 + - -0.1615437718735506 + - 0.09986179437150168 + - - 0.006044860784515936 + - -0.9984728094964648 + - -0.05491364451874742 + - -0.08926022462241111 + - - -0.16211299471902005 + - 0.053209731522495946 + - -0.9853365422100888 + - 0.9717549018599423 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996446123093892 + - 0.024534049812993487 + - 0.010427342930233055 + - 0.012719207588126613 + - - 0.026023195135449644 + - -0.9829438817980306 + - -0.1820552623539403 + - -0.09285822327786158 + - - 0.00578294006137336 + - 0.18226191493450647 + - -0.9832330100076246 + - 0.9717561391841664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968322998107566 + - -0.0029443120094020496 + - 0.07947765145491517 + - 0.05425045176142616 + - - -0.007050370257251854 + - -0.9986516115608325 + - 0.05143200371547538 + - -0.09304549240092433 + - - 0.07921905284231406 + - -0.051829429417506664 + - -0.9955089411517223 + - 0.9719713688982067 + - - 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: + - - 0.9987303125014194 + - -0.011649776016986382 + - -0.049010668324059946 + - 0.023855961230022364 + - - -0.014597978172029728 + - -0.998077590437722 + - -0.060233068154633244 + - -0.034274510762313394 + - - -0.04821474799380276 + - 0.06087204764738737 + - -0.9969804069745349 + - 0.969251314408347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996274964347444 + - -0.012111482750702843 + - -0.024457725920139065 + - 0.09183907500977971 + - - -0.012013046232082745 + - -0.9999191552633825 + - 0.0041676921178582845 + - -0.03351091180198266 + - - -0.024506225572924468 + - -0.0038723278454752554 + - -0.9996921776153027 + - 0.968260284122541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9642664232048518 + - 0.02339346585513069 + - -0.26389962265036765 + - 0.10005904372449594 + - - 0.005446880797528883 + - -0.9976339704929209 + - -0.06853314824307137 + - -0.08945852490546899 + - - -0.26487845621963885 + - 0.0646467839402249 + - -0.9621123618148174 + - 0.973843219339541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997176673966329 + - 0.01828066577259319 + - 0.015179023484594944 + - 0.012760096459375024 + - - 0.019989076610051264 + - -0.9924125475489385 + - -0.12131682605353715 + - -0.09279460952240559 + - - 0.01284610101597549 + - 0.12158598902150457 + - -0.9924977707593859 + - 0.9718220485239684 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9881275529444574 + - -0.008049187280851742 + - 0.15342473625891054 + - 0.05447975189195199 + - - -0.009026555319317424 + - -0.9999431572239305 + - 0.005674823354586304 + - -0.09333511250512294 + - - 0.15337033745501696 + - -0.0069923461839521625 + - -0.9881440414655034 + - 0.9748775956665713 + - - 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: + - - 0.999611807016746 + - -0.014151366308207375 + - -0.023999460500740224 + - 0.02388363133781906 + - - -0.015456318904519754 + - -0.9983617416165739 + - -0.05509024489185045 + - -0.03427787115427972 + - - -0.023180540947903745 + - 0.05543980256037356 + - -0.9981929126243234 + - 0.9687720835530332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998979895080444 + - -0.010467843363820688 + - -0.009717758644934836 + - 0.09189814383146254 + - - -0.010447301106534012 + - -0.9999430876636267 + - 0.0021622519098568834 + - -0.03351239191077493 + - - -0.009739839698891547 + - -0.0020605069868315684 + - -0.9999504436888845 + - 0.9687523431021875 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9684663889685732 + - 0.02759794008907858 + - -0.24761099963655056 + - 0.09999384628447473 + - - 0.004196390490900211 + - -0.9955118854648295 + - -0.09454351487600154 + - -0.08942876321699961 + - - -0.2491088993693724 + - 0.09052314400804068 + - -0.9642356126247775 + - 0.9732637486844078 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951488395893485 + - 0.004066726892463811 + - 0.09829673848279577 + - 0.0127879430165623 + - - 0.02414377516759294 + - -0.9786856990354361 + - -0.2039396494656607 + - -0.09293588956219523 + - - 0.09537224535801678 + - 0.20532355986564707 + - -0.9740361238575643 + - 0.9729490852915881 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960576151744884 + - -0.006315103231812546 + - 0.08848359579087205 + - 0.05450081220080742 + - - -0.008300217127745398 + - -0.99972164361913 + - 0.0220848743509358 + - -0.09325548434020854 + - - 0.0883194975559936 + - -0.02273224033472923 + - -0.9958327729095985 + - 0.9749482708420842 + - - 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: + - - 0.9995833406558342 + - -0.012834403241205872 + - -0.025853881270797543 + - 0.023876813261509748 + - - -0.014654093077899357 + - -0.9973350698529592 + - -0.07147038545760598 + - -0.03429584960152722 + - - -0.024867702736413633 + - 0.07181947183624116 + - -0.9971075974165367 + - 0.9689581678131505 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998166105245121 + - -0.010580173041249828 + - -0.015962620639903686 + - 0.09187507572911685 + - - -0.01074494120711671 + - -0.9998895109170426 + - -0.010271912992891204 + - -0.03350098115356011 + - - -0.015852178327658128 + - 0.010441546652442454 + - -0.9998198250413789 + - 0.9687319082540076 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9800264655452489 + - 0.018990944256981362 + - -0.19795825536490055 + - 0.0999313369823665 + - - 0.003610740928925874 + - -0.9969649968297885 + - -0.07776733019799542 + - -0.08935100157972248 + - - -0.19883432646510293 + - 0.07549926577396696 + - -0.9771206534951355 + - 0.9726460728212788 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995675685600819 + - 0.028370228712649583 + - -0.007733434274505192 + - 0.012681993067746823 + - - 0.025728778256677486 + - -0.9711387989934401 + - -0.23712330770929582 + - -0.0928924251829333 + - - -0.014237480546250384 + - 0.23682179632029357 + - -0.97144877936787 + - 0.9721317302407464 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9866831315271805 + - -0.009266334934214328 + - 0.1623900643407834 + - 0.054311196532866736 + - - -0.013521462060969321 + - -0.9995930575153302 + - 0.025117512434326843 + - -0.09299416498421516 + - - 0.162091233641584 + - -0.026978776918936773 + - -0.9864069026383122 + - 0.9717736797257621 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9825347672523018 + - 0.024313148713874314 + - -0.18448387989220666 + - 0.09995782760216454 + - - 0.0024975492977378777 + - -0.9930609817297724 + - -0.11757401419279359 + - -0.0893872517058811 + - - -0.18606233737102862 + - 0.11505979908516653 + - -0.9757776638387005 + - 0.972945542072426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9959365325203005 + - 0.006365089653150824 + - 0.08983267125688597 + - 0.012798925996731995 + - - 0.026503186767562588 + - -0.9740412188898933 + - -0.2248138896835672 + - -0.09286501349518467 + - - 0.0860697640440828 + - 0.2262812178180036 + - -0.970251929232917 + - 0.9726283149220838 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875376687026451 + - -0.012007060434951465 + - 0.15692413260252924 + - 0.054420011997442286 + - - -0.000327170625037964 + - -0.9972399798990875 + - -0.07424496919151599 + - -0.09325233538788805 + - - 0.15738248267430166 + - 0.07326836282174229 + - -0.984815973244085 + - 0.974099962820343 + - - 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: + - - 0.9989375643742499 + - -0.010446382843696724 + - -0.04488446911264902 + - 0.023848816734335292 + - - -0.014817782215812023 + - -0.9950571768427902 + - -0.0981918944916626 + - -0.034288648449950276 + - - -0.04363686299731214 + - 0.09875266021297832 + - -0.9941547848743748 + - 0.9693104405361537 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9750440972293731 + - 0.028588028737823554 + - -0.22016296934553312 + - 0.09996454758058307 + - - 0.003178945754899647 + - -0.9933708333140664 + - -0.11490988567049082 + - -0.08941149070416804 + - - -0.2219885194374794 + - 0.11134231959952712 + - -0.968671247175301 + - 0.9731157873683962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994708638837997 + - 0.028426873929237335 + - -0.01580838657113658 + - 0.012692339250934652 + - - 0.025101997241213838 + - -0.9831783626485752 + - -0.18091488870231062 + - -0.09275596053165668 + - - -0.02068530835818837 + - 0.18042233802464316 + - -0.9833716987791791 + - 0.9710237087117753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9869998230766086 + - -0.006620136800272319 + - 0.16058494025122322 + - 0.054362797265404286 + - - -0.011122114718369006 + - -0.9995694348550188 + - 0.02715222767673959 + - -0.09305943458424693 + - - 0.16033604651149003 + - -0.028585288040594306 + - -0.9866484852756332 + - 0.9724215846469894 + - - 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: + - - 0.9994617964302958 + - -0.013087335228668373 + - -0.03008054409312609 + - 0.023858863652913516 + - - -0.01508464221695374 + - -0.9976281355128812 + - -0.06716067898911597 + - -0.03430620693813928 + - - -0.029130242798722845 + - 0.06757828711727638 + - -0.9972886262586085 + - 0.9687530250578258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994141341300964 + - -0.01030531599812389 + - -0.03263723277437012 + - 0.09184778054239374 + - - -0.010504681103069477 + - -0.9999271638707384 + - -0.005942947782433208 + - -0.033480290802158606 + - - -0.03257361164980669 + - 0.006282309734542266 + - -0.9994495947312637 + - 0.968509741804362 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9795828745308854 + - 0.019958785818017 + - -0.20004759132386032 + - 0.09994543548972726 + - - 0.004533851284528215 + - -0.9969999157402674 + - -0.07726973667892204 + - -0.08937730242729996 + - - -0.20098964181852133 + - 0.07478512474129256 + - -0.9767345335346203 + - 0.9726981853931447 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980262139788058 + - 0.018129724317991792 + - 0.060124781141260436 + - 0.012683580737156865 + - - 0.026622850446702505 + - -0.9892749886358528 + - -0.14361831601027222 + - -0.09274932129849765 + - - 0.05687618170397307 + - 0.14493553724220817 + - -0.9878050364313242 + - 0.970686157621168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990089092554416 + - -0.005202001405323952 + - 0.044205637758455665 + - 0.05441283109932083 + - - -0.005761704983143655 + - -0.9999047284512427 + - 0.012543395733782737 + - -0.09324452351101077 + - - 0.04413617545664793 + - -0.012785663933721587 + - -0.9989437045268539 + - 0.974251973627306 + - - 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: null + base_right_marker_pose: + - - 0.9999219644280196 + - -0.012406250828950543 + - 0.001466286049710323 + - 0.0919170281622482 + - - -0.012420850131017043 + - -0.9998687049474612 + - 0.010406505115052499 + - -0.03346667913809006 + - - 0.001336987820896291 + - -0.010423905556746181 + - -0.9999447758033995 + - 0.9686489963707231 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9751246381670744 + - 0.020924017989488702 + - -0.22066745457975392 + - 0.09997579691845443 + - - 0.005273030302449617 + - -0.9974425798409472 + - -0.07127759165169112 + - -0.08941713974142862 + - - -0.2215945287929322 + - 0.06834094959401232 + - -0.9727411677407445 + - 0.9731066985904805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991601282590468 + - 0.015861746609358997 + - 0.037781517860797 + - 0.012801469924706937 + - - 0.021920846894044853 + - -0.9859161422146342 + - -0.16579757836609493 + - -0.09277728392747336 + - - 0.03461956915984193 + - 0.16648653253375795 + - -0.9854358020267343 + - 0.9716492487275012 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9892372657512337 + - -0.006410955862696422 + - 0.14617979235841594 + - 0.054414341896625223 + - - -0.016890963605180907 + - -0.9973641953343084 + - 0.07056456060684035 + - -0.09315586116362952 + - - 0.14534210469616676 + - -0.07227421054618688 + - -0.9867381167728418 + - 0.9734675206374024 + - - 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: + - - 0.9995682744001754 + - -0.011376847889016474 + - -0.027089336366287974 + - 0.02385337522611051 + - - -0.013280010135752418 + - -0.9973775955949653 + - -0.07114473371936886 + - -0.03430683763630271 + - - -0.026208894357641715 + - 0.07147376537804462 + - -0.9970980868095344 + - 0.9694099199184323 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998102820855598 + - -0.012119705925735944 + - -0.015248362674958544 + - 0.09188548638883849 + - - -0.011714555283939873 + - -0.9995832242678663 + - 0.026384596960262668 + - -0.03352353118070292 + - - -0.0155617810835683 + - -0.02620096354200865 + - -0.9995355623883408 + - 0.9686213671176627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9836901564600776 + - 0.020321136257442134 + - -0.17871968975117017 + - 0.09991885678712925 + - - 0.004431937569249374 + - -0.996034333322924 + - -0.08885924133899453 + - -0.08935825498351822 + - - -0.17981666778396913 + - 0.08661788650830651 + - -0.9798792311932655 + - 0.9725138277982769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997170022369222 + - 0.01851764369559602 + - 0.014933596699549023 + - 0.012748041799335424 + - - 0.021086185158734096 + - -0.980395701003798 + - -0.1959072286790931 + - -0.09277102359669966 + - - 0.011013093746691276 + - 0.19616667995669868 + - -0.9805087176771516 + - 0.971460009810999 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921413535548714 + - -0.011041013448176056 + - 0.12463398648982078 + - 0.05440513551256538 + - - 0.0031342512456604254 + - -0.9935934581134988 + - -0.11296998036287169 + - -0.09324275600823556 + - - 0.1250828167073188 + - 0.11247282345569411 + - -0.9857505531058388 + - 0.9738708797893311 + - - 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: + - - 0.9994415878088949 + - -0.014109167024118779 + - -0.030289337462552555 + - 0.02393161826032244 + - - -0.016010389202401366 + - -0.9978551461977364 + - -0.06347262909540291 + - -0.03430433422524911 + - - -0.02932882533656096 + - 0.06392212928697288 + - -0.9975238249745205 + - 0.9689708145898412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.845876693725586 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9823875320744572 + - 0.01769371634561476 + - -0.1860152392320007 + - 0.09989089464668212 + - - 0.004195231262913597 + - -0.9973442174339272 + - -0.07271115447961071 + - -0.08936697720955533 + - - -0.1868077537451489 + - 0.07065015465650493 + - -0.9798527536256167 + - 0.9724777732569173 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994753670180304 + - 0.026802526217036403 + - 0.018182830158104773 + - 0.012630893304375685 + - - 0.030250860234244933 + - -0.9730861165404808 + - -0.22844757659308626 + - -0.09285478585750871 + - - 0.011570487425410685 + - 0.22887777171353033 + - -0.9733864029439632 + - 0.9719259236378355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9817696749536228 + - -0.011012542297490414 + - 0.18975518241566902 + - 0.05432968965958953 + - - -0.00956942977737867 + - -0.9999179167621969 + - -0.00851972720719809 + - -0.09300869266173535 + - - 0.1898334305521387 + - 0.006548560917883981 + - -0.9817944718701119 + - 0.972013292113027 + - - 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: + - - 0.9992123286217691 + - -0.011647547571331523 + - -0.03793490432089214 + - 0.023881830038056766 + - - -0.015475280007321094 + - -0.9946407338099804 + - -0.10222683774155825 + - -0.034296244297199636 + - - -0.036540909115081954 + - 0.10273336985379891 + - -0.9940375328324006 + - 0.9691591589344069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999077731469991 + - -0.010387884093481441 + - -0.008748546408966584 + - 0.09187782983822945 + - - -0.01040415703112571 + - -0.9999442251501023 + - -0.0018166192320755055 + - -0.03351354950955374 + - - -0.008729187630079007 + - 0.0019074729416336093 + - -0.99996008061837 + - 0.9687884767320674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9758761353623524 + - 0.032104797565355156 + - -0.21595150011872374 + - 0.09999224176900036 + - - 0.001736927566280324 + - -0.990239343885671 + - -0.13936651284833626 + - -0.0894748869696889 + - - -0.2183180054710767 + - 0.1356293618438262 + - -0.9664067077028012 + - 0.9734168031253468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9952694049399662 + - 0.01541187921828504 + - 0.09592333172594912 + - 0.012626814319378092 + - - 0.041906205862509864 + - -0.9588670200094799 + - -0.2807452721745257 + - -0.09302794635917658 + - - 0.0876509070155833 + - 0.28343696286317455 + - -0.9549768618046434 + - 0.9736605426440782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973235599642055 + - -0.0055906970587066215 + - 0.07290034874211151 + - 0.0544614267361599 + - - -0.004449160252122315 + - -0.9998650858524919 + - -0.015811864730013815 + - -0.09339238971113886 + - - 0.07297891279934668 + - 0.015445199888220582 + - -0.9972138808134585 + - 0.9754136700641076 + - - 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: null + base_right_marker_pose: + - - 0.9997141464687092 + - -0.009390321400997208 + - -0.021987433099986763 + - 0.09188393966453122 + - - -0.00980025756392501 + - -0.9997787648927261 + - -0.018611185380176358 + - -0.033544117843555266 + - - -0.021807803695492817 + - 0.018821347814663367 + - -0.9995850021706096 + - 0.968739111820501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9820156729233287 + - 0.019048570995524504 + - -0.18783601911233713 + - 0.09993843021084645 + - - 0.004691112303312968 + - -0.9970519193453442 + - -0.07658631467255214 + - -0.08936342553036715 + - - -0.18874112323047018 + - 0.07432780147962087 + - -0.9792099705011723 + - 0.9726164211356452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972412037767746 + - 0.021985267049025602 + - 0.07089872722857932 + - 0.01261026366427819 + - - 0.024226264403257636 + - -0.999228689556322 + - -0.030904920006690907 + - -0.09262991810187493 + - - 0.07016458938034853 + - 0.03253727094179137 + - -0.9970046421139416 + - 0.9700309179818032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.988449155775222 + - -0.0028585522419682322 + - 0.15152588929397764 + - 0.05442161438018103 + - - -0.01863529127880624 + - -0.994527285626046 + - 0.10280177072523262 + - -0.09317613509372602 + - - 0.1504027671494274 + - -0.10443805256882756 + - -0.983092925826153 + - 0.9738522630650026 + - - 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: null + base_right_marker_pose: + - - 0.9994989576935888 + - -0.010165865700777682 + - -0.02997480181724859 + - 0.09185639021400487 + - - -0.010291489429624986 + - -0.9999388812510497 + - -0.004039679160481754 + - -0.03349482554331375 + - - -0.029931902959041794 + - 0.004346140466375343 + - -0.9995424914671199 + - 0.9685227432210066 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9847451630926257 + - 0.02223350175600315 + - -0.17257646179402292 + - 0.09988648768809869 + - - 0.00428749819690518 + - -0.9946022683635749 + - -0.10367229680702138 + - -0.08933518981890373 + - - -0.17394993855960278 + - 0.10135087155864721 + - -0.9795250990706738 + - 0.9723589251471592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981684566407795 + - 0.01093845023514659 + - 0.05949859220030024 + - 0.012775563777131115 + - - 0.023076233895660034 + - -0.9779976162582339 + - -0.20733583873128494 + - -0.09293930646106899 + - - 0.055921548588689834 + - 0.20832909758280485 + - -0.9764587894549248 + - 0.9730133773445647 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982531224648191 + - -0.005917287383995299 + - 0.058785110353338166 + - 0.05429928108172069 + - - -0.003399416465980492 + - -0.9990761707674877 + - -0.04283980593168074 + - -0.0929878555123371 + - - 0.058984298393129644 + - 0.04256513496499756 + - -0.9973510223730064 + - 0.9718515783644028 + - - 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: null + base_right_marker_pose: + - - 0.9998079214947161 + - -0.012288518903419001 + - -0.015268019504045193 + - 0.09186060000339416 + - - -0.012020412099210578 + - -0.9997740890124155 + - 0.017529421906030702 + - -0.03351423338087419 + - - -0.015479980923138842 + - -0.01734252699449509 + - -0.9997297669610845 + - 0.968444094692894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9729923353582156 + - 0.04009365129155634 + - -0.22732886851492698 + - 0.1000343458909213 + - - -0.0006150760487203741 + - -0.9843469647138923 + - -0.17624038907129527 + - -0.08946092291567957 + - - -0.23083660241742462 + - 0.17162037228912633 + - -0.9577373913551258 + - 0.973652723248543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978536983927182 + - 0.02159863003654299 + - 0.06181824798972223 + - 0.012659616059897568 + - - 0.03232099240088592 + - -0.983481627770848 + - -0.1780989648690428 + - -0.09280917826529542 + - - 0.05695041750677626 + - 0.17971473789800102 + - -0.9820688687297119 + - 0.9714802929197319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9689644210927136 + - -0.016641751595101433 + - 0.2466394185046448 + - 0.05445930368911478 + - - -0.006119270454746947 + - -0.99904039551414 + - -0.043368682941178543 + - -0.09325749304935627 + - - 0.24712447306077165 + - 0.04051345745302107 + - -0.9681364338664454 + - 0.9746165072376013 + - - 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: + - - 0.9990866954638133 + - -0.013825309317605209 + - -0.04043062910059673 + - 0.023893553256688852 + - - -0.015558594964562316 + - -0.998959289831014 + - -0.04287502050196643 + - -0.03427608596731604 + - - -0.0397957921133149 + - 0.04346490633359151 + - -0.998262038168078 + - 0.9692077928576159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995917903001579 + - -0.008922395780734916 + - -0.027141179378521976 + - 0.0918911946685019 + - - -0.00966464710393484 + - -0.9995794523630029 + - -0.027340684154488565 + - -0.033489259635570964 + - - -0.026885820814726614 + - 0.02759183334269439 + - -0.999257646141328 + - 0.9689754422953991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.796843528747559 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9821571092504867 + - 0.029956228158590007 + - -0.18566108139089882 + - 0.10002407414242692 + - - 0.0018963664414316482 + - -0.9887593855969287 + - -0.14950344875053279 + - -0.08945116359279465 + - - -0.1880526961865936 + - 0.14648379360357194 + - -0.9711738678879587 + - 0.9734993719940466 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.996842091460508 + - 0.007942798258274823 + - 0.07901111724604701 + - 0.012821984544448124 + - - 0.023992146740330744 + - -0.9786102882953358 + - -0.20431906552573606 + - -0.09283989869891757 + - - 0.07569822710890048 + - 0.20556949092301594 + - -0.9757104912904345 + - 0.9720358399072401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999168381563741 + - -0.006058352037366221 + - 0.011384776763327178 + - 0.054305431771814336 + - - -0.007317808649951716 + - -0.9934468972768778 + - 0.11406012435337964 + - -0.09308889824369151 + - - 0.010619154764958734 + - -0.11413395052103067 + - -0.9934086142622994 + - 0.9728852366598364 + - - 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: null + base_right_marker_pose: + - - 0.9998833159370087 + - -0.012746299973382747 + - -0.0084194030548878 + - 0.09185938214959913 + - - -0.012705062856091747 + - -0.999907117506493 + - 0.0049333292693449 + - -0.033471273060406495 + - - -0.008481502734472757 + - -0.004825784583418559 + - -0.9999523868237528 + - 0.9685017081409993 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.98171578351549 + - 0.024862909428390638 + - -0.18872190156768542 + - 0.0999486958908718 + - - 0.0009423263962172711 + - -0.992055793103799 + - -0.12579513261711028 + - -0.08939187776698075 + - - -0.19035028872457876 + - 0.12331722955024986 + - -0.9739402591938181 + - 0.9726520159674011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9973386428822191 + - 0.012570731104048279 + - 0.07181648928598013 + - 0.012731615936144693 + - - 0.026174989478032075 + - -0.9810906433212397 + - -0.1917707472826359 + - -0.0928125980216468 + - - 0.06804778717694275 + - 0.19314017269078285 + - -0.9788086495088281 + - 0.9720968498829488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996209171016662 + - -0.006233140494514532 + - 0.08676655773897475 + - 0.05432164826305603 + - - -0.010670025189245633 + - -0.9986535532245605 + - 0.05076643767708042 + - -0.09305840817057962 + - - 0.08633329684864387 + - -0.05149979215041231 + - -0.994934336156768 + - 0.9722799810307277 + - - 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: null + base_right_marker_pose: + - - 0.9999127959199374 + - -0.010989588918362478 + - -0.007323215890509767 + - 0.09183617057250856 + - - -0.010969187698468368 + - -0.9999358596518128 + - 0.002820195671616297 + - -0.03348486419940829 + - - -0.007353738967993107 + - -0.0027396200093877496 + - -0.9999692080286248 + - 0.9682734511162377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9846511777491913 + - 0.027564378525399898 + - -0.17234344546178434 + - 0.09993832659329305 + - - 0.002350525996914309 + - -0.9894548165661555 + - -0.14482279171999243 + - -0.08937799995162718 + - - -0.17451800246584417 + - 0.14219483468306068 + - -0.9743326412497878 + - 0.9727645635820417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964449851381798 + - 0.022563100312529265 + - 0.081168331861998 + - 0.012593594347083977 + - - 0.034209702899473254 + - -0.9888261704891761 + - -0.1450947992977001 + - -0.0927449984156664 + - - 0.07698758224871378 + - 0.14735572964766877 + - -0.986082755715513 + - 0.9712299188359784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962363185746753 + - -0.0019743409138562877 + - 0.08665621461115196 + - 0.05441080810754237 + - - -0.006992462512321449 + - -0.9983127641789404 + - 0.05764312921257313 + - -0.09321279196768587 + - - 0.08639619795333549 + - -0.05803211916998634 + - -0.9945692384765622 + - 0.9738928286484506 + - - 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: + - - 0.9990047961280408 + - -0.01287819538778482 + - -0.04270327149909657 + - 0.023854900295122522 + - - -0.014426950399762429 + - -0.9992418625586095 + - -0.03616024353574162 + - -0.03426505626382235 + - - -0.04220521786858007 + - 0.03674033470118892 + - -0.9984332062740655 + - 0.9689224106773253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997106610474774 + - -0.01090489467716176 + - -0.02144009002070219 + - 0.09184481959001833 + - - -0.011339624163756402 + - -0.9997304250299598 + - -0.020260557574784024 + - -0.0335083360044813 + - - -0.0212133710626236 + - 0.02049781796914968 + - -0.999564821483161 + - 0.9686594450628463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.987129577990025 + - 0.017362254481005073 + - -0.15897719451723874 + - 0.09985660080160527 + - - 0.0025294519236530102 + - -0.9956598844009167 + - -0.09303223348774968 + - -0.08928155406876921 + - - -0.15990246442816658 + - 0.09143274421174323 + - -0.9828892384982699 + - 0.9717966710958845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9966756246318077 + - 0.004329402090986367 + - 0.08135696369906281 + - 0.012835122423936576 + - - 0.014525690569128221 + - -0.9920304393436142 + - -0.12515834662220998 + - -0.09287172894868401 + - - 0.08016672363447319 + - 0.1259240393779118 + - -0.9887954453416863 + - 0.9716650957349198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995825395267779 + - -0.003448333825099823 + - 0.0912134372425592 + - 0.054310672599906525 + - - -0.020127333297404317 + - -0.9829851663821022 + - 0.18257889562347063 + - -0.0930127677736961 + - - 0.0890318628026327 + - -0.18365258415438007 + - -0.9789509976190389 + - 0.972101822746839 + - - 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: + - - 0.9996161606911544 + - -0.012859712649712817 + - -0.024538929798239663 + - 0.02386403959905996 + - - -0.014617880003068146 + - -0.9972344071006006 + - -0.07286875104548342 + - -0.03426907958007715 + - - -0.02353399390864242 + - 0.07319948828564006 + - -0.9970396110714096 + - 0.9688870482517189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9803469988363709 + - 0.033454443140790616 + - -0.19442366652920728 + - 0.09997142213881288 + - - 0.001552963458097082 + - -0.986794941000718 + - -0.1619670729496798 + - -0.08939760568548384 + - - -0.19727480877450776 + - 0.158482001027021 + - -0.9674534124046761 + - 0.9731399616133437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978907025982564 + - 0.021393889581675547 + - 0.061289861776033766 + - 0.012627247367570116 + - - 0.031150354480087163 + - -0.9861423370925115 + - -0.16295074841646312 + - -0.09274945344314986 + - - 0.056954377213021684 + - 0.1645162377465751 + - -0.9847286968673099 + - 0.971037182691936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9874251247792675 + - -0.008593333274821865 + - 0.15785365874085988 + - 0.05447489024868842 + - - -0.005092896371297106 + - -0.9997323754956 + - -0.022566342026921073 + - -0.0932942283814751 + - - 0.15800533333150257 + - 0.02147864076594687 + - -0.987204630575469 + - 0.9748073860086299 + - - 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: + - - 0.9993178667603067 + - -0.012237691221305856 + - -0.0348430780385741 + - 0.023846703874846643 + - - -0.013499091929083168 + - -0.9992533781141472 + - -0.036200287907071395 + - -0.03424119148518193 + - - -0.03437405548841092 + - 0.03664594440093844 + - -0.9987369518888557 + - 0.9690431892628519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9771993889252931 + - 0.026733034266344564 + - -0.2106340408456053 + - 0.09995824505256574 + - - 0.004515360480980054 + - -0.9944342343083711 + - -0.10526236343180934 + - -0.08939122512913035 + - - -0.2122756834961567 + - 0.10191122859841281 + - -0.971881235378995 + - 0.972925466912626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989768045339202 + - 0.009573402199565373 + - 0.04420061055599654 + - 0.012817656895065296 + - - 0.01569781424031495 + - -0.9899750413638595 + - -0.14036736125147464 + - -0.09293363738899635 + - - 0.042413708058528454 + - 0.1409175909776731 + - -0.9891123848793806 + - 0.9719779665516473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9849763557826312 + - -0.00791070731335521 + - 0.1725079686825218 + - 0.05431060732789689 + - - -0.02259489257550758 + - -0.9962662186880915 + - 0.08332522025433388 + - -0.09306718981848999 + - - 0.17120470022364678 + - -0.08597117081169948 + - -0.9814774110546798 + - 0.9724581338956231 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9863478706648316 + - 0.0166311783056458 + - -0.16383309172178356 + - 0.09989286970756228 + - - 0.004176274991611289 + - -0.9970933638355474 + - -0.07607484815829417 + - -0.0893104705665948 + - - -0.16462210289674645 + - 0.07435205244832781 + - -0.9835503726472653 + - 0.972130007542499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956614431500531 + - 0.017245968061950473 + - 0.09143777780523617 + - 0.012649148837690825 + - - 0.035860592923219865 + - -0.9778848801127703 + - -0.20604654600848882 + - -0.09287291255354947 + - - 0.08586214823511389 + - 0.20843161428257317 + - -0.974260721607934 + - 0.9721100944619302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993796516910245 + - -0.008321994814369151 + - 0.11090188176660853 + - 0.054456810307166675 + - - -0.0014992368482546563 + - -0.9981082626343843 + - -0.061462576823973304 + - -0.09323731787065234 + - - 0.11120357577856047 + - 0.060915026580307736 + - -0.9919289915466639 + - 0.9743772352390658 + - - 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: + - - 0.9995645134064947 + - -0.013671002701245103 + - -0.026151237515272804 + - 0.023854048889518222 + - - -0.014085080456705748 + - -0.9997772866752795 + - -0.015715837767797218 + - -0.0342475416203647 + - - -0.025930562025644345 + - 0.016077336015588674 + - -0.9995344542434121 + - 0.968917210864956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9824336989211931 + - 0.016453915506592857 + - -0.18588516855447137 + - 0.09989461715663187 + - - 0.005173927367599907 + - -0.9981240233298017 + - -0.06100544670375491 + - -0.08928868455950956 + - - -0.18654023078043283 + - 0.058972050298694755 + - -0.9806758075857441 + - 0.9721869045520612 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982686480252803 + - 0.015536452375881488 + - 0.05673028307131174 + - 0.012713188535680967 + - - 0.026824143241938072 + - -0.9786005975902001 + - -0.20401307736378022 + - -0.09292610935991379 + - - 0.052346649454527466 + - 0.2051816001586783 + - -0.9773230475371026 + - 0.9725485223305721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9943138088916593 + - -0.005855298889837799 + - 0.10632857058322302 + - 0.05431743827571803 + - - -0.013570693787257178 + - -0.997313458534734 + - 0.07198403778352885 + - -0.09306401135862961 + - - 0.10562142641288876 + - -0.07301767526016337 + - -0.991722004082852 + - 0.9725181590136709 + - - 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: null + base_right_marker_pose: + - - 0.9999008429202448 + - -0.013005604880979746 + - 0.0053998675042717815 + - 0.09187480705835899 + - - -0.013064047818865032 + - -0.9998548936247812 + - 0.01093262773371592 + - -0.03348005528101614 + - - 0.005256898512456025 + - -0.011002087813567136 + - -0.9999256567774288 + - 0.9686685233710832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9789140788699725 + - 0.02120513474159308 + - -0.20316881761418054 + - 0.09994746656082626 + - - 0.0054320508996750245 + - -0.9969478971292013 + - -0.07788057031561925 + - -0.08937584434302076 + - - -0.20420019346997842 + - 0.07513476339387552 + - -0.976041519770839 + - 0.9729219214539615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994615478809571 + - 0.029543305979953513 + - -0.014276112187008572 + - 0.01266123300603015 + - - 0.026424023613139745 + - -0.9826484979806448 + - -0.183585675891323 + - -0.09282283282267613 + - - -0.01945212799396109 + - 0.18310959146958003 + - -0.9829000418294573 + - 0.9716267470886987 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965956544756697 + - -0.006555722357189004 + - 0.08218347756445427 + - 0.054418605273388515 + - - 0.002093902163649505 + - -0.9944993086651513 + - -0.10472220699672447 + - -0.09325929469685636 + - - 0.08241794133525035 + - 0.10453778058152563 + - -0.9910999623535195 + - 0.9743888949072995 + - - 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: + - - 0.9987218310424745 + - -0.00940610297678304 + - -0.04966114603950582 + - 0.023878429136823157 + - - -0.014605850631768395 + - -0.9943222114777746 + - -0.10540402691202404 + - -0.03427381101996852 + - - -0.04838773942322003 + - 0.10599464603808235 + - -0.9931886838283915 + - 0.9693806009126194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997586195598896 + - -0.011380346787190665 + - -0.018793358473332866 + - 0.09188294116875909 + - - -0.011298567436624106 + - -0.9999262584658449 + - 0.004451966349412414 + - -0.03349376084983374 + - - -0.018842637543188333 + - -0.004238553703744034 + - -0.9998134774411258 + - 0.9685324696432742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9749400872327088 + - 0.030680644116029828 + - -0.22034183529984483 + - 0.09996546608969895 + - - 0.0005494247838512649 + - -0.9907737173093666 + - -0.13552541909688756 + - -0.08939789347023487 + - - -0.2224669063907828 + - 0.13200810265133597 + - -0.9659618710877308 + - 0.9729154847216984 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999527297067905 + - 0.01741108224758599 + - 0.025338441765345658 + - 0.012744554902049654 + - - 0.02134276009923965 + - -0.9861860800392359 + - -0.16426047037614253 + - -0.09272245512162669 + - - 0.022128465999122514 + - 0.16472361625405477 + - -0.9860915075390884 + - 0.9713088612384956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9904747718159763 + - -0.007717174923461972 + - 0.13747789497693927 + - 0.05451397429203724 + - - -0.01386004283902906 + - -0.9989449828421438 + - 0.043781508277014713 + - -0.09332480771843063 + - - 0.13699498388112588 + - -0.04526992893423534 + - -0.9895367643123222 + - 0.975462674583785 + - - 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: null + base_right_marker_pose: + - - 0.9994175206948133 + - -0.008897555409504654 + - -0.03294621125360721 + - 0.09185260916117091 + - - -0.009804810050361518 + - -0.9995742925488903 + - -0.027479071586618643 + - -0.03348308048073127 + - - -0.03268768924394702 + - 0.027786096939314393 + - -0.9990793000501866 + - 0.9684465624659353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9840033811834608 + - 0.01870888689425009 + - -0.17716467867691685 + - 0.09993786609485923 + - - 0.003399302978485912 + - -0.9962610984515177 + - -0.08632652229434681 + - -0.08932701217006972 + - - -0.1781173505270542 + - 0.08434335340353771 + - -0.9803878865927858 + - 0.972309558569955 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9900629229645628 + - 0.011215955817366266 + - 0.1401770698294452 + - 0.01265772310207144 + - - 0.03028322985603748 + - -0.9904315026537692 + - -0.13464161518818737 + - -0.09283825085249761 + - - 0.13732565150165013 + - 0.13754868551207758 + - -0.9809291638816474 + - 0.9721198970159037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987227508301376 + - -0.004050453168372426 + - 0.05036328825060499 + - 0.05441185565431289 + - - -0.008019348553548746 + - -0.9968538420015665 + - 0.07885497914204824 + - -0.09317377349039169 + - - 0.04988543898834008 + - -0.07915814244818399 + - -0.9956130932551529 + - 0.9736557896206168 + - - 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: + - - 0.9988565555174737 + - -0.011159140407032846 + - -0.04648714967756382 + - 0.023879399388551728 + - - -0.014485021131688092 + - -0.997311475528725 + - -0.07183317438017298 + - -0.03434119246214294 + - - -0.04556057135926463 + - 0.07242440447869708 + - -0.9963327456092788 + - 0.9693659490210611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9770595041238757 + - 0.022654719991502665 + - -0.21175809090401407 + - 0.09999175361248495 + - - 0.00579614533687009 + - -0.996786310994036 + - -0.07989652629579815 + - -0.08940951339956107 + - - -0.2128875996868769 + - 0.07683627969265493 + - -0.9740508487869372 + - 0.973273294156731 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980117128017352 + - 0.03000952779212255 + - -0.05542607105181345 + - 0.012747294337947624 + - - 0.020683645569105423 + - -0.9866145421168494 + - -0.16175268804422313 + - -0.09283513381467211 + - - -0.059538289499434516 + - 0.16028466403637612 + - -0.985273575489685 + - 0.9723916505225824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9867141955824209 + - -0.009491543074752666 + - 0.16218818343577382 + - 0.05437087840679969 + - - -0.00713859026323108 + - -0.9998607445835375 + - -0.015084162883920308 + - -0.0931191114638969 + - - 0.1623087698345034 + - 0.013725962658955886 + - -0.986644546523162 + - 0.972977618147394 + - - 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: + - - 0.9996471446312887 + - -0.012869960517025443 + - -0.023236831685959997 + - 0.023826634204301728 + - - -0.013233438119463644 + - -0.9997914079901827 + - -0.015556883510077299 + - -0.034212986772035214 + - - -0.02303176819199418 + - 0.015858897354418894 + - -0.9996089400503839 + - 0.9685741395908734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999772706779524 + - -0.012219403024393333 + - -0.017470574360086703 + - 0.09186904912105574 + - - -0.012145996394045294 + - -0.9999169816950283 + - 0.004301684495798185 + - -0.033478601932351866 + - - -0.017521687999154382 + - -0.004088509218896149 + - -0.9998381241691219 + - 0.968422499287222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.787036895751953 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9862734551413939 + - 0.011207324310414392 + - -0.1647393928763189 + - 0.09987871674419987 + - - 0.005167614736440116 + - -0.9993002303456673 + - -0.03704518037521911 + - -0.08927327764441667 + - - -0.1650392905989137 + - 0.03568536833070365 + - -0.9856412060408746 + - 0.972083981597393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997497922102176 + - 0.021521761756826744 + - 0.0060964536009843326 + - 0.01277944113629945 + - - 0.022295650382613632 + - -0.9807554308620918 + - -0.19396311197887592 + - -0.09284521818950275 + - - 0.0018047020925420635 + - 0.19405050529538978 + - -0.980989879889167 + - 0.9725763034483765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9882499147787125 + - -0.005312985365854244 + - 0.15275430640859078 + - 0.05433425788711747 + - - -0.01609458672734563 + - -0.9974568637652274 + - 0.06943175934479531 + - -0.09302755302175107 + - - 0.15199694147562104 + - -0.07107444768789864 + - -0.9858221709151797 + - 0.9721333738391142 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9866951395016935 + - 0.021285191219305395 + - -0.16118201611374441 + - 0.09994767026998598 + - - 0.003130344208462898 + - -0.9936963268486597 + - -0.11206163907697443 + - -0.08936098085433739 + - - -0.1625512307823915 + - 0.11006611941119367 + - -0.980541965817318 + - 0.9725830518874395 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979994001969374 + - 0.02146764921429819 + - 0.05946711060548463 + - 0.012678872754079487 + - - 0.02547282812315168 + - -0.9973985572858297 + - -0.06743332226395275 + - -0.09281400949700053 + - - 0.05786477541614996 + - 0.0688132106601456 + - -0.9959500036671927 + - 0.9715422345936555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996608148847206 + - -0.00208285886413606 + - 0.025959909147924887 + - 0.05435744503366581 + - - -0.0018273634925928517 + - -0.9999497019403559 + - -0.009861761103319837 + - -0.0931212349459007 + - - 0.025979144071396256 + - 0.009810977950495204 + - -0.9996143400256782 + - 0.9730127452305436 + - - 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: null + base_right_marker_pose: + - - 0.9998217145173434 + - -0.010048536966957365 + - -0.01598643438743353 + - 0.09189971268774066 + - - -0.009989162977215488 + - -0.999942926335071 + - 0.003789550826940224 + - -0.033520207475446824 + - - -0.016023601424606564 + - -0.003629184106521355 + - -0.9998650275012657 + - 0.9685892944817757 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9853736362963087 + - 0.0032827900155732825 + - -0.17037611388309012 + - 0.0999576468246171 + - - 0.008497640127243949 + - -0.9995171419676011 + - 0.029887673465591406 + - -0.08937267229313223 + - - -0.17019573145193126 + - -0.03089832038528333 + - -0.9849257366892745 + - 0.9728629738310368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985849718417283 + - 0.018500083678896034 + - 0.049857806968701714 + - 0.01271847096606544 + - - 0.02093963748284244 + - -0.9985860883283727 + - -0.04886057489558489 + - -0.09270109620613967 + - - 0.04888338770933962 + - 0.049835440209892445 + - -0.9975604459405681 + - 0.9713420848538342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9990083209217622 + - -0.003766709049191765 + - 0.044364249481087734 + - 0.05433867776707884 + - - -0.010842726761214522 + - -0.9869990960929894 + - 0.16035965698393226 + - -0.09304773050093115 + - - 0.04318344596559079 + - -0.1606816611021977 + - -0.9860611511361638 + - 0.9722361961399659 + - - 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: + - - 0.9993691016893097 + - -0.01142263245931004 + - -0.033629184593174585 + - 0.023861665702956482 + - - -0.014145516952336751 + - -0.9965420462947424 + - -0.08187706832097696 + - -0.03427691711965567 + - - -0.032577644771429506 + - 0.08230111441764498 + - -0.9960749086422966 + - 0.9691269559688269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999363880603392 + - -0.011206052423093138 + - 0.0012822721760903399 + - 0.09189776696890203 + - - -0.011212786439594391 + - -0.9999227108590177 + - 0.005370821968085315 + - -0.03347071053390888 + - - 0.0012219873578458804 + - -0.005384858163750287 + - -0.9999847549085201 + - 0.9686902219480982 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9802557459232193 + - 0.016809985286230022 + - -0.19701801181412276 + - 0.09991476996896664 + - - 0.003016434822310385 + - -0.997535154817227 + - -0.07010360921331801 + - -0.08936467189999811 + - - -0.1977108335561707 + - 0.06812517374985244 + - -0.9778902734949747 + - 0.9725800280835452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9954012522689496 + - 0.010712379541318812 + - 0.09519239416029876 + - 0.012722772712898156 + - - 0.03343442868199033 + - -0.9700862359855129 + - -0.24044715371608882 + - -0.09289373496954348 + - - 0.08976907017517699 + - 0.24252410122711987 + - -0.96598321639864 + - 0.972631243363259 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9919782049433168 + - -0.006405278562858803 + - 0.12624663688180796 + - 0.05451852737341696 + - - -0.003194907174745012 + - -0.9996667648378371 + - -0.025615461088929203 + - -0.09333249782309713 + - - 0.12636864122708472 + - 0.025006632823830255 + - -0.9916681071957673 + - 0.9750420850397905 + - - 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: null + base_right_marker_pose: + - - 0.9992756358369098 + - -0.010047761454483302 + - -0.03670485134819806 + - 0.0918547274206088 + - - -0.011105848528542179 + - -0.9995252903480858 + - -0.02873767706400053 + - -0.03348848344971748 + - - -0.03639867787709596 + - 0.029124499039940653 + - -0.9989128589644197 + - 0.9686673311147697 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9750993463436632 + - 0.02233731068724021 + - -0.22064067918546293 + - 0.0999773078069929 + - - 0.0025954710732594196 + - -0.995995777636693 + - -0.08936260101287864 + - -0.0893737006406944 + - - -0.22175330502625784 + - 0.08656474733481735 + - -0.9712528075783311 + - 0.9729767668520786 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999508209309662 + - 0.026190392276024658 + - -0.017245372568344044 + - 0.012727842753007203 + - - 0.02084165364867208 + - -0.965731299276604 + - -0.25870578476468464 + - -0.09286209546867652 + - - -0.02343000204399989 + - 0.25821913358608906 + - -0.9658022126989914 + - 0.972457577535159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9917183148691501 + - -0.005293118578447166 + - 0.12832290071849176 + - 0.05440562184171141 + - - -0.004408853616944335 + - -0.9999645471516146 + - -0.007174012102761524 + - -0.09311921257783348 + - - 0.12835632420289136 + - 0.006548842308432034 + - -0.9917064922150816 + - 0.9730558692157419 + - - 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: null + base_right_marker_pose: + - - 0.9997916578325693 + - -0.01179808450870533 + - -0.0166567142716709 + - 0.09186004754040872 + - - -0.011842734817385436 + - -0.9999265322244266 + - -0.0025845281345821106 + - -0.033474771098713656 + - - -0.016624998058578064 + - 0.0027812507184371243 + - -0.9998579269496212 + - 0.9683786374204918 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.09806649386882782 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9740859032316966 + - 0.035196325322341196 + - -0.22342307805840803 + - 0.09994950704563518 + - - -0.0003156772179972456 + - -0.9876055527791745 + - -0.15695595709509225 + - -0.08941589131568231 + - - -0.22617814543669687 + - 0.15295911481028623 + - -0.9620015362374799 + - 0.9731462935583055 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995476594513523 + - 0.027374697512681994 + - 0.012454012261620663 + - 0.012631962177737672 + - - 0.029579182276017562 + - -0.9696803067228894 + - -0.24258024389815083 + - -0.09277759657339463 + - - 0.005435849630514445 + - 0.24283889451628907 + - -0.970051402168412 + - 0.9713519112016334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9885216843533804 + - -0.007935603777071731 + - 0.1508704933240734 + - 0.0545507500708591 + - - -0.0053971612479143454 + - -0.9998370311604219 + - -0.01722735530422652 + - -0.0934310486713499 + - - 0.15098261560067092 + - 0.01621534190226573 + - -0.9884034158547679 + - 0.9763367524004835 + - - 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: null + base_right_marker_pose: + - - 0.9994091402924155 + - -0.011581050907744004 + - -0.0323612354499537 + - 0.09184052952610917 + - - -0.011745961822196609 + - -0.9999189564891077 + - -0.004910482115436609 + - -0.033475080612735665 + - - -0.03230174423845558 + - 0.005287694545524054 + - -0.9994641752486916 + - 0.9684317077980663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9745904951215045 + - 0.02591965467517998 + - -0.2224894117038834 + - 0.1000282753192981 + - - 0.004491341438967051 + - -0.9953439509633861 + - -0.09628212260162904 + - -0.08944061362444827 + - - -0.22394908946209027 + - 0.09283636562315399 + - -0.9701691680047273 + - 0.9734288117375243 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998907959291226 + - 0.010247053817512192 + - 0.010648666784476074 + - 0.012811826768793864 + - - 0.012423696406402323 + - -0.9730646918967938 + - -0.23019721360476728 + - -0.09299755576633603 + - - 0.008002998427298435 + - 0.23030437093520026 + - -0.9730857355569005 + - 0.972634723147924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9845487157121009 + - -0.007910310251316482 + - 0.17493213936089796 + - 0.05438730736212191 + - - -0.014128481816668828 + - -0.9993107004897387 + - 0.03432943180806479 + - -0.09308771181341828 + - - 0.17454000226655425 + - -0.036270523547867764 + - -0.983981827439082 + - 0.9727576443109609 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.98194674069805 + - 0.02077846368200131 + - -0.18801290881078445 + - 0.09988234458088181 + - - 0.006720304516445677 + - -0.9971531378732155 + - -0.07510297688378773 + - -0.08932795535769601 + - - -0.18903818645893436 + - 0.07248361936752515 + - -0.9792909113147641 + - 0.9719389466598857 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993826360922043 + - 0.015462999040809867 + - 0.031547461673811686 + - 0.012795084304751354 + - - 0.021710852169662107 + - -0.9777785624470575 + - -0.20851312121071147 + - -0.09281652872251465 + - - 0.027622193530995726 + - 0.20906931501210235 + - -0.977510632139061 + - 0.9720034533472643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.987925628434899 + - -0.004748959236941726 + - 0.154856062418221 + - 0.054369347534206316 + - - -0.015554781003837007 + - -0.9975200184263852 + - 0.06864300129325704 + - -0.09306319748638739 + - - 0.1541460394218183 + - -0.07022293232833049 + - -0.9855494601012053 + - 0.9726246738753702 + - - 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: null + base_right_marker_pose: + - - 0.9994960461770274 + - -0.01151651427338682 + - -0.029580797411167547 + - 0.09188776267258143 + - - -0.011453283651283694 + - -0.9999317497483896 + - 0.0023061090017198866 + - -0.033467585489344885 + - - -0.02960533685153568 + - -0.001966149565891018 + - -0.9995597322250394 + - 0.9683668246732212 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9749986236392976 + - 0.03223651699534315 + - -0.21986016208827916 + - 0.10000675749488588 + - - 0.0031222333675182765 + - -0.9913108763564126 + - -0.13150284436573842 + - -0.08943559834617923 + - - -0.2221889636329271 + - 0.1275286375269877 + - -0.9666273899751835 + - 0.9733235411504924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9940704076798492 + - 0.008627802808164116 + - 0.10839550541384022 + - 0.012669348611099604 + - - 0.036519322056799815 + - -0.9654368728245478 + - -0.25806585149389594 + - -0.09296117208926646 + - - 0.10242247649676395 + - 0.26049415657450214 + - -0.9600273072672508 + - 0.973043224646176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998410859834846 + - -0.0012259863948597695 + - 0.01778481759045164 + - 0.0544568948409684 + - - -0.0022371977473806814 + - -0.9983745145811828 + - 0.05695018508333927 + - -0.09324223810178929 + - - 0.017686088476685118 + - -0.05698092305453733 + - -0.998218601651085 + - 0.9749948076603807 + - - 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: + - - 0.9992580686064345 + - -0.011405935594937498 + - -0.03678609734862168 + - 0.023853082671911937 + - - -0.01384052159353492 + - -0.9976823079796011 + - -0.0666217104742494 + - -0.03427998191433777 + - - -0.0359409555654413 + - 0.067081420510451 + - -0.9970999602524024 + - 0.9691652226779452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9985720972284337 + - -0.008963940700711196 + - -0.05266321680187963 + - 0.09186111455066218 + - - -0.010219715502392842 + - -0.9996686608371885 + - -0.0236246895224604 + - -0.03353318540597369 + - - -0.05243399709976147 + - 0.024129158855969925 + - -0.9983328401094728 + - 0.9685912545372939 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9760815973401851 + - 0.03002073209326312 + - -0.21532178472792154 + - 0.09998450274703352 + - - 0.002488358015539316 + - -0.991897933678669 + - -0.12701298059006996 + - -0.08940024958750119 + - - -0.21739025601028986 + - 0.12343923528834547 + - -0.9682480218328408 + - 0.9731917163366703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9932075055256554 + - 0.0015348607242190327 + - 0.11634644459570906 + - 0.012811728233820553 + - - 0.02425147079411505 + - -0.9806841723977276 + - -0.19408869151217367 + - -0.09285263136885309 + - - 0.11380121762014384 + - 0.1955919175506564 + - -0.9740601032056653 + - 0.9723698777957688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926480737054838 + - -0.0052687515412580144 + - 0.1209216358886568 + - 0.05447787267948709 + - - -0.006482439584249182 + - -0.9999324660168277 + - 0.009645796107249449 + - -0.09331266274814132 + - - 0.12086264826582678 + - -0.010358748124293814 + - -0.9926151905907288 + - 0.9749253307734496 + - - 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: null + base_right_marker_pose: + - - 0.9998114706940494 + - -0.011496233737551636 + - -0.01564799279311899 + - 0.0918577564657635 + - - -0.011259817508969105 + - -0.9998223824175471 + - 0.015113574248503315 + - -0.03347947535532157 + - - -0.01581896261663947 + - -0.014934531353607628 + - -0.9997633320916413 + - 0.9685208762258614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9755748259016238 + - 0.025048061205860405 + - -0.21823462992120188 + - 0.09994648813477572 + - - 0.003045848911902186 + - -0.994924571780776 + - -0.10057742923363268 + - -0.08936369242414077 + - - -0.21964626532545992 + - 0.09745609830414921 + - -0.9706996585102473 + - 0.9728400394976191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982955457301722 + - 0.0008249416943530508 + - 0.05835514413056106 + - 0.012876751036959358 + - - 0.014609581891862108 + - -0.9715959377071247 + - -0.23619461032791983 + - -0.09301878273615234 + - - 0.056502774199525915 + - 0.23664457167282293 + - -0.9699519489157922 + - 0.9730350431779851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860058074980476 + - -0.008613641674415785 + - 0.1664882961569013 + - 0.05447918187717668 + - - -0.00928386105015859 + - -0.9999516297835249 + - 0.0032477711240936863 + - -0.09321808731857507 + - - 0.16645226794527213 + - -0.00474797539777916 + - -0.9860380820361343 + - 0.974289747699178 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9795133814223168 + - 0.024418752440152208 + - -0.19989312180234114 + - 0.09992105310999885 + - - 0.0025308749547420274 + - -0.9940353852754426 + - -0.10902865445498632 + - -0.0893885058141032 + - - -0.2013631800667205 + - 0.10628912150153423 + - -0.973732762293561 + - 0.9726773849043224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992458300810452 + - 0.023179453715689247 + - 0.0311525920444066 + - 0.01270377216363411 + - - 0.028839849041776083 + - -0.9802387701075249 + - -0.1957044115121938 + - -0.09281068771557074 + - - 0.026000657162667497 + - 0.19645525318384527 + - -0.9801679954597479 + - 0.9714442363531058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922943782753055 + - -0.004826958098893059 + - 0.12380859145768658 + - 0.05437894500572585 + - - -0.015553081881944365 + - -0.996189659621522 + - 0.08581528830651806 + - -0.09312359598882769 + - - 0.12292261178155281 + - -0.08707963331726203 + - -0.9885884730129791 + - 0.9730889434016535 + - - 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: + - - 0.9989245481911624 + - -0.012971821094494256 + - -0.04451380548295575 + - 0.023877844839380734 + - - -0.015734660747457982 + - -0.9979341227766233 + - -0.06228889988765239 + - -0.03426201391240707 + - - -0.043613844960567194 + - 0.06292232080545036 + - -0.997064999923381 + - 0.9690552997614807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.984990932123304 + - 0.021009727295736934 + - -0.17132266339811364 + - 0.09990711946130855 + - - 0.0032224630280397633 + - -0.9946297547510594 + - -0.10344692695233236 + - -0.0893492535329807 + - - -0.17257601040381454 + - 0.10134220405540346 + - -0.9797689923192591 + - 0.972351855080153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986944502244355 + - 0.018608271865619284 + - 0.04757233764581865 + - 0.0127034865345938 + - - 0.02748388578762805 + - -0.9807451565153646 + - -0.19334832296574322 + - -0.09290618344929348 + - - 0.043058461571742083 + - 0.1944033698005977 + - -0.9799761725150498 + - 0.972130936645711 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990782291464583 + - -0.007901545778132745 + - 0.13523319302044964 + - 0.05439760174023443 + - - -0.01149136851790884 + - -0.9996014502641555 + - 0.025785443168233668 + - -0.09308029561580805 + - - 0.13497555100749073 + - -0.027101774925503815 + - -0.990478215018438 + - 0.9730864105132772 + - - 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: + - - 0.9995344803975378 + - -0.012132512509676646 + - -0.02799329628012185 + - 0.0238763667696734 + - - -0.014239065511935888 + - -0.9969814276849367 + - -0.07632353414677141 + - -0.034286336902946385 + - - -0.026982800258144854 + - 0.07668660242512458 + - -0.9966900689275083 + - 0.9690251104827035 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9843481234853755 + - 0.015830071792832766 + - -0.17552259289861724 + - 0.09984289413362057 + - - 0.004169665150331405 + - -0.997770823385578 + - -0.06660328740385518 + - -0.08930238276723021 + - - -0.17618565686046658 + - 0.06482895053523682 + - -0.9822198437667335 + - 0.9720109845461959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978878285104723 + - 0.03411526918518716 + - -0.055281372261156494 + - 0.012601865497740537 + - - 0.027219880035255432 + - -0.9922783309793338 + - -0.12100740473101357 + - -0.09270487812121721 + - - -0.05898270798734699 + - 0.11924706401958599 + - -0.9911110825135543 + - 0.9706622339977935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9891504900533373 + - -0.0012212249948584395 + - 0.14690070332287247 + - 0.05436077943435605 + - - -0.011995833035098283 + - -0.9972975274911031 + - 0.0724826989696581 + - -0.09302808069796567 + - - 0.14641519052692825 + - -0.07345849351602553 + - -0.9864919876579429 + - 0.9720020698260358 + - - 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: null + base_right_marker_pose: + - - 0.9997427839730889 + - -0.011279834634600612 + - -0.01967565054461462 + - 0.09184335907821005 + - - -0.011259550681793308 + - -0.9999359578163601 + - 0.0011413957778151236 + - -0.03350055836343501 + - - -0.0196872652286156 + - -0.0009195632080236784 + - -0.9998057641318756 + - 0.9687026943539858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9812264272114779 + - 0.02749273054097863 + - -0.19088962336701085 + - 0.10005876976159538 + - - 0.0007651342385020035 + - -0.99033427078821 + - -0.13869912282340374 + - -0.08947482199601758 + - - -0.19285775356825866 + - 0.1359491885587616 + - -0.9717631939000465 + - 0.9738258225601908 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960080048250846 + - 0.01018193941155029 + - 0.08868135336232688 + - 0.012701495505516068 + - - 0.03632128879760015 + - -0.9537394549272346 + - -0.29843226383081106 + - -0.09298266189950607 + - - 0.08154028638921801 + - 0.3004619447199945 + - -0.9503019527869251 + - 0.9729371203282586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935355890386167 + - -0.009078856387238737 + - 0.11315744642041324 + - 0.0545389739697028 + - - 0.00509515558873726 + - -0.9922260360880086 + - -0.12434441160986989 + - -0.09337945723548541 + - - 0.11340666957112953 + - 0.12411715302800852 + - -0.9857656210382907 + - 0.9757224477885709 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9767010222338122 + - 0.03489576839199615 + - -0.21174843214474706 + - 0.1000009039079504 + - - 6.675589191603229e-05 + - -0.9867406034716234 + - -0.16230519709518587 + - -0.08944870566774535 + - - -0.21460454028532874 + - 0.15850951646127875 + - -0.9637528855884864 + - 0.9733914897481921 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995198086887146 + - 0.01748221226319524 + - 0.025583672395885285 + - 0.012798258758025058 + - - 0.021877600057006764 + - -0.9828481855448523 + - -0.18311421241110323 + - -0.09279348304365283 + - - 0.02194362446409103 + - 0.18358599190999722 + - -0.982758699233847 + - 0.9720678821956706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9838038693742321 + - -0.009840477962047622 + - 0.17897796400050844 + - 0.054435913840228105 + - - -0.0010143171846965972 + - -0.9987815734252717 + - -0.049339028636442975 + - -0.09323673270531004 + - - 0.17924541211684517 + - 0.04835838685913092 + - -0.9826151579613686 + - 0.9741376807273794 + - - 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: + - - 0.9991598146213648 + - -0.012851783334887387 + - -0.03891653261678087 + - 0.023870189385090935 + - - -0.015192938794490341 + - -0.9980542054475573 + - -0.06047294931811912 + - -0.034296436325070116 + - - -0.038063623797357095 + - 0.06101339732843963 + - -0.9974109112546619 + - 0.9692250072609859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998534697278827 + - -0.012810294951881409 + - -0.011354973199421909 + - 0.09188925374800697 + - - -0.012683239863247335 + - -0.9998569310371904 + - 0.01119164346569983 + - -0.03349740605050162 + - - -0.011496716908975442 + - -0.011045985702408348 + - -0.9998728977726009 + - 0.9686855758306211 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9698432476471887 + - 0.021048421726124193 + - -0.24281894270421572 + - 0.09995892568501316 + - - 0.005100124821817842 + - -0.9977984877341143 + - -0.06612236083441271 + - -0.0893629803260867 + - - -0.2436761451598327 + - 0.06288991825685276 + - -0.9678154754196124 + - 0.9728481555084418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995836536962142 + - 0.014322282778264948 + - 0.025047783920866654 + - 0.012747160071852642 + - - 0.020250802799306755 + - -0.9666120125102279 + - -0.25544299218595035 + - -0.09305908050257315 + - - 0.020552962056856926 + - 0.2558438771730669 + - -0.9664996048958029 + - 0.9726630292405567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912462436535601 + - -0.004331378681864402 + - 0.13195500597332932 + - 0.054518486099898414 + - - -0.010509772439674454 + - -0.998878698302777 + - 0.04616157233258027 + - -0.09333936409498034 + - - 0.13160710135085169 + - -0.04714430226086787 + - -0.9901802793624818 + - 0.975369346710385 + - - 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: + - - 0.9995946732775556 + - -0.01437170671045908 + - -0.02457525587588674 + - 0.023911217458659016 + - - -0.016087507300083567 + - -0.9973387984531048 + - -0.07110916402959289 + - -0.03433063580150525 + - - -0.023487896117075243 + - 0.07147569619350577 + - -0.9971657553233804 + - 0.9691582203916295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993881120661405 + - -0.010917378572819854 + - -0.03322969012755078 + - 0.09179292875256276 + - - -0.01038033084798228 + - -0.9998134001530792 + - 0.01629151944494413 + - -0.03348520742022446 + - - -0.03340135015776667 + - -0.015936615683271625 + - -0.999314952398993 + - 0.9682657434190209 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9781534912250522 + - 0.015351323594457256 + - -0.20731638736033395 + - 0.0999455479512919 + - - 0.007320891050000009 + - -0.9991948454763755 + - -0.03944699389909647 + - -0.08935859738273844 + - - -0.20775502920140296 + - 0.037067474115989936 + - -0.9774783118843016 + - 0.9727476621107293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9930668089773131 + - 0.011832256973095295 + - 0.11695430989296361 + - 0.012695770329041045 + - - 0.027197373114700506 + - -0.991052803730785 + - -0.1306699778564656 + - -0.09280074387938485 + - - 0.11436177597115434 + - 0.1329448679425877 + - -0.9845034516366363 + - 0.9716259818641679 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9867807024555281 + - -0.0005015124126948687 + - 0.16206046324342827 + - 0.05432720817161637 + - - -0.023372813639565233 + - -0.9899810113953224 + - 0.13925267918164172 + - -0.09304353835971105 + - - 0.16036694436181292 + - -0.14119966558740496 + - -0.9769058795984702 + - 0.9723381811730942 + - - 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: + - - 0.9990129394566901 + - -0.012329597268830896 + - -0.04267467433141152 + - 0.023891726423674677 + - - -0.015016230732394487 + - -0.9978866760909675 + - -0.06321941548853366 + - -0.03426979789395933 + - - -0.04180501898929226 + - 0.06379782685412408 + - -0.9970868456037297 + - 0.9689252204049665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996742047443276 + - -0.00963131304602078 + - -0.023637304791490208 + - 0.09186008278678552 + - - -0.009930114924151981 + - -0.9998718558448262 + - -0.01255646076793764 + - -0.033492063926615016 + - - -0.023513340604631023 + - 0.012787091085668117 + - -0.999641742383329 + - 0.9685119675735215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9754093033846326 + - 0.023674408687063435 + - -0.21912602137588247 + - 0.10008608417739887 + - - 0.001644322010536419 + - -0.9949682682547759 + - -0.10017705012236397 + - -0.08953858965715113 + - - -0.220395070443582 + - 0.09735331293495283 + - -0.9705402337794957 + - 0.9741985888931332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996096636091159 + - 0.016130075974117686 + - 0.022810985694167375 + - 0.012795440746499498 + - - 0.021077067580158437 + - -0.9713352415131441 + - -0.23677754500126 + - -0.0928672330935463 + - - 0.018337874508561544 + - 0.23716591079594776 + - -0.9712960687220128 + - 0.9730721501991723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9891971499312556 + - -0.008553489541706665 + - 0.14634150602115847 + - 0.054457866340383916 + - - -0.009753242768435125 + - -0.999924438508523 + - 0.00748274875403959 + - -0.09324825623134406 + - - 0.14626644462548755 + - -0.008829217976470386 + - -0.9892058289792596 + - 0.9745164684495622 + - - 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: + - - 0.9992154206907228 + - -0.01068029433011885 + - -0.03813757159133183 + - 0.023860466112712003 + - - -0.014014052355555627 + - -0.99600013831164 + - -0.0882458544055769 + - -0.03430741787454229 + - - -0.03704253488137219 + - 0.08871108045907548 + - -0.9953683714149986 + - 0.9691125445755345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998718914463552 + - -0.0099586817354839 + - -0.012530975763261627 + - 0.09190117745084599 + - - -0.01023489398125534 + - -0.9997017186831665 + - -0.022174774116428993 + - -0.03351911935013534 + - - -0.012306406489327997 + - 0.022300186546608203 + - -0.9996755743936655 + - 0.9691748282376915 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9733131207959063 + - 0.029245548212694664 + - -0.2276099004794659 + - 0.10006483814989692 + - - 0.0003922257186485204 + - -0.9920565740754256 + - -0.1257918916016238 + - -0.08953032910531002 + - - -0.22948075092590892 + - 0.12234562412880974 + - -0.9655931509756127 + - 0.9740086605577856 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956907735455305 + - 0.0030205380975936707 + - 0.09268635188583121 + - 0.01282820499937994 + - - 0.02878237480600227 + - -0.9601769766714845 + - -0.2779060063592259 + - -0.09294697669497415 + - - 0.08815587545268863 + - 0.27937617976414575 + - -0.95612629490228 + - 0.9730939884541608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910739728898647 + - -0.008245713454731718 + - 0.13305783881426303 + - 0.054483884972748156 + - - -0.008153132153724199 + - -0.9999659930544769 + - -0.0012406331681544588 + - -0.09332725246091855 + - - 0.13306354382919405 + - 0.0001447210989201596 + - -0.9911074978827573 + - 0.9750901584572258 + - - 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: null + base_right_marker_pose: + - - 0.9999222807329414 + - -0.011098013100021068 + - -0.0056803696239344425 + - 0.09190342620638615 + - - -0.011118233308617373 + - -0.9999319223787969 + - -0.003540550231055217 + - -0.03349434466101323 + - - -0.005640689845037358 + - 0.0036034307368443615 + - -0.9999775987015893 + - 0.9685732679848327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9705700716283694 + - 0.01581672345304217 + - -0.24029891243722254 + - 0.10000446999319108 + - - 0.005725206599221557 + - -0.9990742713130436 + - -0.04263592862489934 + - -0.08943414747902932 + - - -0.2407508215327586 + - 0.040005395380139246 + - -0.9697621410798531 + - 0.9733443239039867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.990757087624642 + - 0.012656535507658582 + - 0.13505630466764962 + - 0.012675810045266534 + - - 0.028908742926564365 + - -0.9924656216764509 + - -0.11906416074025528 + - -0.09284006027766895 + - - 0.13253179959520445 + - 0.1218679691277364 + - -0.9836582334310721 + - 0.9717783520008636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9869434477428651 + - -0.0058656313921938395 + - 0.16096032220953468 + - 0.05436662441771746 + - - -0.016343257642113095 + - -0.9978258026230113 + - 0.06384798782567118 + - -0.09308434266707895 + - - 0.16023585393746878 + - -0.06564496925214035 + - -0.9848935014126229 + - 0.9728569760623093 + - - 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: + - - 0.9994488040847188 + - -0.012984008804761603 + - -0.03055328998623928 + - 0.02388594550719758 + - - -0.014834981018736829 + - -0.9980179426421831 + - -0.06115643467729398 + - -0.03428547082039948 + - - -0.029698675926698722 + - 0.06157598297731251 + - -0.9976604567529871 + - 0.9687904895950662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9812051522558316 + - 0.025947587276496493 + - -0.19121498869371853 + - 0.09992567154807244 + - - 0.0035833894574923888 + - -0.9931974158282771 + - -0.11638751012040995 + - -0.08935673856264184 + - - -0.1929342077149779 + - 0.11351482681377438 + - -0.9746234019285772 + - 0.972534216576582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974328989986063 + - 0.007525418227859987 + - 0.07121081431729183 + - 0.012797811243574575 + - - 0.021204302943817126 + - -0.9809018997347064 + - -0.1933438404333325 + - -0.09281372374028454 + - - 0.06839582978444557 + - 0.19435748294660257 + - -0.978543396733511 + - 0.9719338299054713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900923883379279 + - -0.008569569705111931 + - 0.1401557170805633 + - 0.054418382949461996 + - - -0.013947196211779955 + - -0.9992018489383 + - 0.03743181529277039 + - -0.09321573365273604 + - - 0.13972307709583187 + - -0.03901573468936855 + - -0.9894216665171227 + - 0.9739519571637649 + - - 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: + - - 0.9997032693241469 + - -0.014192996609209457 + - -0.019797276324364222 + - 0.023878036282184194 + - - -0.015304589619585807 + - -0.9982467830669354 + - -0.057176303072964604 + - -0.034275355084497645 + - - -0.018951064328642065 + - 0.05746232629964092 + - -0.9981677906129038 + - 0.9689322353164325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.98501710755598 + - 0.02399794159195622 + - -0.17077879441370908 + - 0.0998594662535067 + - - 0.004401336586309826 + - -0.9934464548911288 + - -0.11421370101919574 + - -0.08930770466723728 + - - -0.17240048160694 + - 0.11175079446517273 + - -0.9786673765269268 + - 0.971903297503656 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972427396839546 + - 0.01670009597627237 + - 0.07230508240797236 + - 0.012665723843876483 + - - 0.026824060312218585 + - -0.9895892072985796 + - -0.1413989766106349 + - -0.09287459914514754 + - - 0.06919095270341956 + - 0.14294861871508838 + - -0.9873086166297957 + - 0.9718729921800265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898455349346637 + - -0.004613233008902137 + - 0.14207228811810932 + - 0.054348991426577425 + - - -0.012948497150137836 + - -0.9982441656842446 + - 0.05780071019390369 + - -0.0930930681848249 + - - 0.14155618457510913 + - -0.05905339751929897 + - -0.9881672646115969 + - 0.9728063615378983 + - - 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: + - - 0.9993095608808873 + - -0.012228900761637027 + - -0.03508355053597235 + - 0.023879326348584227 + - - -0.014462436154716046 + - -0.997836570751748 + - -0.06413279980527714 + - -0.0342885172359627 + - - -0.03422337611222561 + - 0.06459591362118061 + - -0.9973244850453273 + - 0.968879261250098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997145410915653 + - -0.01121501437707683 + - -0.021096440045725313 + - 0.09189318099706581 + - - -0.011370954769713837 + - -0.9999088006697084 + - -0.007286407269084831 + - -0.03349219756312567 + - - -0.02101279890224158 + - 0.0075242139647813105 + - -0.9997508932161584 + - 0.9687750904810557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9775925933003454 + - 0.016907657859356884 + - -0.20982576731663868 + - 0.10002751458042759 + - - 0.005559115096911202 + - -0.9984951306994523 + - -0.054557952755061236 + - -0.08942093189785205 + - - -0.2104324541596295 + - 0.05216900492816714 + - -0.9762154358343044 + - 0.9736573747489917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9947077537200935 + - -0.009636997794419292 + - 0.10229180300804251 + - 0.012852454967789327 + - - 0.024814418545185044 + - -0.9435858707714776 + - -0.3301968338926002 + - -0.09310311751441071 + - - 0.09970320617407542 + - 0.3309876625403783 + - -0.9383530454603252 + - 0.9737252374574105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972947721255586 + - -0.003802046212866618 + - 0.07340764221540774 + - 0.054546851307547106 + - - -0.002507844756409147 + - -0.9998399413913617 + - -0.01771446621258637 + - -0.09334106989478089 + - - 0.07346324390950781 + - 0.017482449574196965 + - -0.9971446814535886 + - 0.9754438101941939 + - - 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: + - - 0.9982206847331585 + - -0.011405066690689695 + - -0.05852682312106943 + - 0.023871551849284526 + - - -0.016014054949155674 + - -0.9967542450847354 + - -0.07889565862355594 + - -0.03432505791653823 + - - -0.05743704914904186 + - 0.07969253013513986 + - -0.9951633464038506 + - 0.9693322956866858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997966177569497 + - -0.01105404415721411 + - -0.016868053519424154 + - 0.0918379101481655 + - - -0.011109959119605576 + - -0.9999330826885077 + - -0.003224740829699461 + - -0.03352189065653413 + - - -0.016831278327105455 + - 0.003411488359704382 + - -0.9998525240339432 + - 0.9686984600106828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9795541383759045 + - 0.023078367315542116 + - -0.1998526430965782 + - 0.09996006517215547 + - - 0.002424448552082726 + - -0.9946805246079539 + - -0.10297949317638397 + - -0.08936450896107875 + - - -0.20116613044908344 + - 0.10038945625759474 + - -0.9743993765558595 + - 0.9726898132951833 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994799426675812 + - 0.02907918488244898 + - -0.013937188087300857 + - 0.012708936529476116 + - - 0.023644881821996606 + - -0.9547657579600023 + - -0.2964173864514151 + - -0.0928436626780226 + - - -0.02192632593099593 + - 0.29593368925087943 + - -0.9549567989168584 + - 0.9723552014643071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964816278915762 + - -0.0020881575261189776 + - 0.08378546934105072 + - 0.05439289575922642 + - - -0.01214881929740012 + - -0.9927300479458496 + - 0.11974747636217593 + - -0.093201159073327 + - - 0.08292630140210738 + - -0.12034405470806141 + - -0.9892626228824122 + - 0.9738163149980572 + - - 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: null + base_right_marker_pose: + - - 0.9999111468194644 + - -0.01189431012020069 + - -0.006018625503227921 + - 0.09190275339233804 + - - -0.011767271515774317 + - -0.9997160626901824 + - 0.020720166995309083 + - -0.03353140249736296 + - - -0.006263368682878287 + - -0.020647503142122076 + - -0.9997671983150571 + - 0.9687340660924246 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9799104404771684 + - 0.01739679179943313 + - -0.1986778303659698 + - 0.09996669330201141 + - - 0.0056552235715270635 + - -0.9982114660678775 + - -0.0595137585519108 + - -0.08939800025790975 + - - -0.19935783679152907 + - 0.05719458580762927 + - -0.9782562201509869 + - 0.9729981490801929 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996661599739638 + - 0.02583534154034643 + - 0.0003220720465396962 + - 0.012692324990307587 + - - 0.02538638327702537 + - -0.9798228420436691 + - -0.19824916078909552 + - -0.09281658528711932 + - - -0.00480626123108999 + - 0.19819115352851227 + - -0.9801516038430064 + - 0.9713896412335576 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9678845948574025 + - -0.007322577335505429 + - 0.25128826255694336 + - 0.05437304047246218 + - - -0.023340498690980115 + - -0.9978756884990798 + - 0.060822129388436376 + - -0.09304326612424192 + - - 0.2503090732645905 + - -0.06473399542476026 + - -0.9659994190876974 + - 0.9726993169696025 + - - 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: null + base_right_marker_pose: + - - 0.9998727249994394 + - -0.010653074345920341 + - -0.011876270844663571 + - 0.09190382086833493 + - - -0.010838894485020971 + - -0.9998181021346696 + - -0.015693342861530072 + - -0.033530316670171506 + - - -0.011706928228108945 + - 0.015820071137869412 + - -0.9998063178339365 + - 0.9688508399988813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9736023747442499 + - 0.020072670149099435 + - -0.22736645268254177 + - 0.09993823541359992 + - - 0.005344638359563633 + - -0.9978573810057646 + - -0.06520799040856476 + - -0.08938954452194552 + - - -0.22818819148492878 + - 0.06227146284939391 + - -0.9716235969661481 + - 0.9728044520004047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976614370458401 + - 0.017473319964845295 + - 0.06607828781858249 + - 0.012689806970629729 + - - 0.03202084735056207 + - -0.9736000077996939 + - -0.22600373923320094 + - -0.09288886972399471 + - - 0.060384785886689135 + - 0.22759109802855387 + - -0.9718826934005856 + - 0.9719311757918276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9859118092198428 + - -0.01029053807163296 + - 0.16694912179179772 + - 0.05436500258729299 + - - -0.011799866821283216 + - -0.9998979654940674 + - 0.008051195179904989 + - -0.09308763856888738 + - - 0.1668492360901188 + - -0.009907745809275609 + - -0.9859326391742605 + - 0.972765535947444 + - - 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: + - - 0.9980468721927882 + - -0.00904770578311716 + - -0.06181083987662949 + - 0.023854805853814165 + - - -0.015900367279064045 + - -0.9936607029619928 + - -0.11129054636162376 + - -0.03432291838088599 + - - -0.06041207848256052 + - 0.11205599675671092 + - -0.9918638184570887 + - 0.9695358940531507 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998779174562434 + - -0.012294864567586548 + - -0.00964295020366543 + - 0.09190697222424925 + - - -0.01223979978363438 + - -0.9999085654285559 + - 0.005748746286281972 + - -0.033470318338216495 + - - -0.009712748561669355 + - -0.005630016684895511 + - -0.9999369807280385 + - 0.9687597758225684 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9867016483705153 + - 0.023371489516344435 + - -0.16085282273151238 + - 0.09988694871456158 + - - 0.003155804004663086 + - -0.9921766060873047 + - -0.12480233665345236 + - -0.08936006122391961 + - - -0.16251122424002626 + - 0.12263505131431596 + - -0.9790560485412176 + - 0.9722140200296727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9932507963952965 + - 0.0025313960396422287 + - 0.1159588180959077 + - 0.012801161415577232 + - - 0.02462748395583506 + - -0.9815679321423939 + - -0.1895201351405984 + - -0.09280770109562349 + - - 0.11334170677254872 + - 0.19109679909353816 + - -0.9750054722318693 + - 0.9720160687808079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991418370790583 + - 0.0010815155067565552 + - -0.04140555183176452 + - 0.05444850923944601 + - - 0.0002284797671042109 + - -0.999787747545919 + - -0.02060115661933617 + - -0.09327105282745049 + - - -0.04141904387211656 + - 0.020574017139757605 + - -0.9989300138765745 + - 0.9746559584942197 + - - 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: + - - 0.9992418485476596 + - -0.012807479492966834 + - -0.03676542642338333 + - 0.02384782626037061 + - - -0.015051313537303879 + - -0.9979986472716332 + - -0.06141789645365578 + - -0.03428216137152077 + - - -0.03590523738756997 + - 0.06192470034669077 + - -0.9974347825372418 + - 0.9687969954573561 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995369138058603 + - -0.012335770041519105 + - -0.02781702207172967 + - 0.09187515206317294 + - - -0.011811912259264415 + - -0.9997512516458756 + - 0.01891860357649489 + - -0.0335080603740816 + - - -0.02804347817649899 + - -0.018581270408340917 + - -0.9994339896770453 + - 0.9687032384411958 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.985670050838707 + - 0.02202415714346162 + - -0.1672408065686748 + - 0.09990795787000341 + - - 0.004517037332483128 + - -0.9945304981406332 + - -0.10434886028069569 + - -0.0893170924354804 + - - -0.16862427836274863 + - 0.10209811345104915 + - -0.980378410602956 + - 0.9721823362802806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996093466851065 + - 0.01716258533592052 + - 0.022059004609498813 + - 0.012770200757910381 + - - 0.020087940150709978 + - -0.9899349580045345 + - -0.14009016232791907 + - -0.09269446025165906 + - - 0.01943267043605016 + - 0.14047855560600156 + - -0.9898929976187204 + - 0.9705334159109242 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999613563050144 + - -0.0014743270352780822 + - -0.008666732742456539 + - 0.054343756604010016 + - - -0.0011831415701376653 + - -0.9994377591341771 + - 0.03350769751684344 + - -0.09305477030815387 + - - -0.008711261255474565 + - -0.033496148683816056 + - -0.9994008815038593 + - 0.9725878748242788 + - - 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: + - - 0.9992336267120274 + - -0.011996746922231532 + - -0.03725905676761739 + - 0.02385127446936287 + - - -0.014240892406081633 + - -0.9980628638585004 + - -0.06056167740450743 + - -0.03428596045677795 + - - -0.036460337785146936 + - 0.061045866771249534 + - -0.9974688195220643 + - 0.9690420284134472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996549826241029 + - -0.011987832503713837 + - -0.023371084413596963 + - 0.09188860190851011 + - - -0.011960175511664827 + - -0.9999275995649965 + - 0.0013228113674224682 + - -0.03349201852538544 + - - -0.023385249978025588 + - -0.0010428327030311193 + - -0.9997259837492564 + - 0.9687748846346256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9786406568829253 + - 0.018265057467712037 + - -0.20476535930537063 + - 0.0999789206632991 + - - 0.004970200629249223 + - -0.9978562756764895 + - -0.06525450328330676 + - -0.08934965368697742 + - - -0.20551827607651188 + - 0.06284298504007635 + - -0.9766335021029084 + - 0.9728650185217635 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986080912240571 + - 0.022222512496359002 + - 0.04783346192984983 + - 0.01262589134076771 + - - 0.03208640678666202 + - -0.9757445006562612 + - -0.21654822081602076 + - -0.09286402550823109 + - - 0.041860991882253284 + - 0.2177816093645476 + - -0.9750993938984996 + - 0.972287597618614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9834900082516173 + - -0.012809665808067042 + - 0.1805084932381838 + - 0.0544026145462981 + - - -0.0022629292796518237 + - -0.9982840741497018 + - -0.05851313057895184 + - -0.09316860243631847 + - - 0.18094828769653803 + - 0.05713860132134678 + - -0.9818313996907679 + - 0.9737341891143885 + - - 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: + - - 0.9990895503337401 + - -0.01261951808021873 + - -0.04075313702462718 + - 0.02386839550054275 + - - -0.014515273599757128 + - -0.9988099230996336 + - -0.04656226315407729 + - -0.034248200461964674 + - - -0.040117044335907896 + - 0.04711141349108921 + - -0.9980837326961218 + - 0.9687438598866414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996649379395903 + - -0.013240991527261391 + - -0.022241582623772668 + - 0.09184905390934114 + - - -0.012802167146604631 + - -0.9997228292756623 + - 0.019757761548693048 + - -0.03344853290634388 + - - -0.02249703026147032 + - -0.019466401014044905 + - -0.9995573734713653 + - 0.9683702321205241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.981780573003172 + - 0.02488037689259033 + - -0.18838225319611707 + - 0.09994636560717332 + - - 0.001809200099800937 + - -0.992569737690717 + - -0.12166364541464679 + - -0.08933306785766086 + - - -0.19000956099249894 + - 0.11910618231756352 + - -0.9745306993959574 + - 0.9727537792740657 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997892243271054 + - 0.01778886866326901 + - 0.010250027857809018 + - 0.01279971068381944 + - - 0.019549816421946975 + - -0.9773562575465873 + - -0.2106953974637231 + - -0.09285790304996071 + - - 0.006269896113419058 + - 0.21085137416248692 + - -0.9774980237404662 + - 0.972367090070527 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9919684100269994 + - -0.010568488388008347 + - 0.12604356612576192 + - 0.0544604400810831 + - - 0.0038198163975520297 + - -0.9935456283249562 + - -0.11336883804228468 + - -0.09328995792352282 + - - 0.12642817135115011 + - 0.11293976930010666 + - -0.985525507533541 + - 0.9748825564512972 + - - 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: null + base_right_marker_pose: + - - 0.9988194594621226 + - -0.010578920678306685 + - -0.04741069327773451 + - 0.09183714600266904 + - - -0.010629599876943533 + - -0.9999431704924642 + - -0.0008169405941020706 + - -0.033470928997477827 + - - -0.04739935660163972 + - 0.00131993286204451 + - -0.9988751467380644 + - 0.9685171814174299 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9639906608147445 + - 0.01601988822198304 + - -0.26545313907224266 + - 0.10001390229340011 + - - 0.008885575777010692 + - -0.9995668826952834 + - -0.02805518779021736 + - -0.08944263018419309 + - - -0.2657876076965652 + - 0.02468623503470161 + - -0.963715485708696 + - 0.97379886739501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970466613602778 + - 0.009782796909880792 + - 0.0761725144323315 + - 0.012810761814786313 + - - 0.022850625813381688 + - -0.9847213057525861 + - -0.17263197530254512 + - -0.09278640734598181 + - - 0.07331987431972684 + - 0.17386272424399016 + - -0.9820366333025452 + - 0.9717830275866599 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9713064138665173 + - -0.0008218080604583539 + - 0.23783013899268024 + - 0.05444815830151018 + - - -0.036190718097912654 + - -0.988859228057388 + - 0.14438718436656295 + - -0.09323586265841564 + - - 0.2350618691011438 + - -0.14885144177084142 + - -0.9605150524470807 + - 0.9743102650783254 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.977031485612955 + - 0.029839628280132216 + - -0.21099543290091752 + - 0.10001654441771697 + - - 0.0019742812852033883 + - -0.9913723555462165 + - -0.1310608823110588 + - -0.08945540943981276 + - - -0.2130858473347044 + - 0.12763404421567878 + - -0.9686609171546054 + - 0.9733738991399314 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990377543124747 + - 0.013944700353594023 + - 0.041582577966452136 + - 0.012805199700048474 + - - 0.023021135074092685 + - -0.9737267547983283 + - -0.22655293935373255 + - -0.09283269468980233 + - - 0.03733085584590816 + - 0.2272922179089379 + - -0.9731108132581033 + - 0.9722686785705543 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9882523181962058 + - -0.002015606537203622 + - 0.15281784225054423 + - 0.05447669011126577 + - - -0.008146613984887396 + - -0.9991861949834913 + - 0.0395041825000036 + - -0.0932383288605449 + - - 0.15261385343541484 + - -0.040285047904893144 + - -0.9874644938704854 + - 0.974250870665456 + - - 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: + - - 0.9991616402199572 + - -0.011689359268266393 + - -0.039234877250504056 + - 0.02385286770798326 + - - -0.015044011478574053 + - -0.99615331790244 + - -0.08632638617823644 + - -0.03431267144055383 + - - -0.03807485300821604 + - 0.08684426355182519 + - -0.9954940378809634 + - 0.9692803353966337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.97982479481424 + - 0.022176680789778566 + - -0.19862418356378664 + - 0.10000480605374737 + - - 0.005786652507256686 + - -0.9965559420057001 + - -0.08272103182318132 + - -0.08940622003117309 + - - -0.1997745882738663 + - 0.07990274890314965 + - -0.9765785501421415 + - 0.9732475809649499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998074213814159 + - 0.019604709033279162 + - 0.0008806442893204128 + - 0.012831273060717815 + - - 0.019358239052757818 + - -0.9778830589241786 + - -0.2082546077518263 + - -0.09302501304278045 + - - -0.0032216038583494835 + - 0.2082315500898248 + - -0.9780742521995801 + - 0.9740443581181641 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9746083914320102 + - -0.006095274590584413 + - 0.22383326602177597 + - 0.054453004629800406 + - - -0.018707545684366514 + - -0.9983510680510761 + - 0.05426944495517921 + - -0.0932097929638725 + - - 0.22313339302932025 + - -0.05707882750145856 + - -0.9731153561455507 + - 0.9739059105556578 + - - 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: null + base_right_marker_pose: + - - 0.9996854011534921 + - -0.01232037536235168 + - -0.021847358456169006 + - 0.0918761945255536 + - - -0.012313216438897259 + - -0.999924082665578 + - 0.0004621756495904013 + - -0.033456285417061145 + - - -0.021851394040437146 + - -0.00019301899637517487 + - -0.999761211151021 + - 0.9686879771108241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9813016502003232 + - 0.021953009713016787 + - -0.19122012623848642 + - 0.09995849136542878 + - - 0.0024462411758068518 + - -0.9948165792699224 + - -0.10165623204605494 + - -0.08939094718091607 + - - -0.19246061212162938 + - 0.09928765771349311 + - -0.9762688532405085 + - 0.9727755830227671 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981982162501155 + - 0.02336258897236962 + - 0.05526762625258806 + - 0.012648653784138937 + - - 0.026670041748498914 + - -0.9978489879899064 + - -0.05988410507515813 + - -0.09273820857096057 + - - 0.05374969719190027 + - 0.06125019676725429 + - -0.9966741611217536 + - 0.9707642833231098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982906941725155 + - -0.0030061314159248675 + - 0.05836654094999502 + - 0.054368623580892256 + - - -0.007461531922428035 + - -0.9970594527072488 + - 0.07626777372187807 + - -0.09315849335363477 + - - 0.05796564042540929 + - -0.07657291258030607 + - -0.9953776035199107 + - 0.9732649042058853 + - - 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: + - - 0.9991045065001264 + - -0.012063572241881532 + - -0.04055435014771916 + - 0.023879909188726185 + - - -0.016749363736462988 + - -0.9929590378617277 + - -0.11726810283762633 + - -0.034328003594634254 + - - -0.03885413627353672 + - 0.11784234957551275 + - -0.9922719066571221 + - 0.9691276033427582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9790601257139109 + - 0.015099707546820752 + - -0.203010514676116 + - 0.09991706307721784 + - - 0.006253896365184578 + - -0.9990055915191904 + - -0.044144273622362326 + - -0.08934637037846982 + - - -0.20347520492019308 + - 0.04195029136243213 + - -0.978180972027821 + - 0.9724363743802842 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992753996300108 + - 0.0216353824633641 + - -0.03131430854970487 + - 0.012749154077950168 + - - 0.0187361426318226 + - -0.995757594301754 + - -0.09008757045044091 + - -0.09282706168486689 + - - -0.03313053959056752 + - 0.08943558361215692 + - -0.9954414315922311 + - 0.9707223495379099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9742528595109268 + - -0.016300424235564243 + - 0.22486809890360845 + - 0.054459717691359946 + - - -0.0018498131368264318 + - -0.9979273418685687 + - -0.06432416763932751 + - -0.09325786317041945 + - - 0.2254505354310369 + - 0.06225204029486996 + - -0.9722637191384781 + - 0.9742775511438617 + - - 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: + - - 0.999379378541376 + - -0.012544008886739582 + - -0.03291664605184244 + - 0.023883083834412126 + - - -0.013725664319545984 + - -0.9992603526314897 + - -0.03592149492682859 + - -0.034231590054174206 + - - -0.0324416997896229 + - 0.03635100411048405 + - -0.9988123650690953 + - 0.9690390284931691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998354459898424 + - -0.011401503922260341 + - -0.014109806894625968 + - 0.091872687048804 + - - -0.011268560199179375 + - -0.9998917014596563 + - 0.009465986644283426 + - -0.033490804724365365 + - - -0.01421620530698762 + - -0.009305431769830121 + - -0.999855643803767 + - 0.9686907026029004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9789786141865932 + - 0.018867445696417864 + - -0.2030883858279203 + - 0.09993248687768955 + - - 0.0037485326664257208 + - -0.9972084629062592 + - -0.07457365493915619 + - -0.08933626878208001 + - - -0.2039284714505217 + - 0.0722447299187167 + - -0.9763164843076374 + - 0.9724302334166712 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995013050195948 + - 0.02000721375697511 + - 0.02443056818434304 + - 0.012760805017386283 + - - 0.023835481129333556 + - -0.9854811543606619 + - -0.16810343315741874 + - -0.09281173213121992 + - - 0.020712583215531384 + - 0.16860191516605103 + - -0.9854665814216531 + - 0.972213881675754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967506242414111 + - -0.0015911388763013255 + - 0.08053360386468265 + - 0.054352169712611136 + - - -0.018517781722264075 + - -0.9775523206196435 + - 0.20987746951789818 + - -0.09305021523137814 + - - 0.07839186714477393 + - -0.21068680245384622 + - -0.9744053501686708 + - 0.9724746743645909 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9828877621379061 + - 0.018900575797570193 + - -0.18323322644667672 + - 0.09994533312198316 + - - 0.0036637747999632127 + - -0.9965311770642877 + - -0.08313958078485066 + - -0.0893690026715827 + - - -0.1841690087765962 + - 0.08104555122513425 + - -0.9795475459786832 + - 0.972668786232488 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996860552088452 + - 0.02386303808418888 + - -0.007638483774301903 + - 0.012785487244902187 + - - 0.021568958627594254 + - -0.9747392057190447 + - -0.22230218365532736 + - -0.09285005970211262 + - - -0.012750335081826276 + - 0.22206763890220096 + - -0.9749478923038414 + - 0.9722840541188077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9897586701846044 + - -0.009482888142193648 + - 0.14243542265492168 + - 0.05435589090238177 + - - -0.005663568595034503 + - -0.9996140784932748 + - -0.027195920076551403 + - -0.09307885023913903 + - - 0.14263834963000963 + - 0.026110704902845422 + - -0.9894304080147847 + - 0.9726737897626703 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9756939889668778 + - 0.025260993578877566 + - -0.21767664573240303 + - 0.10000885918425399 + - - 0.005381551631936555 + - -0.9957961723150601 + - -0.09143862479668531 + - -0.08944690760568963 + - - -0.21907140113655865 + - 0.08804467846544788 + - -0.9717282829052482 + - 0.9735668919531665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9968649060750037 + - 0.014801046343081287 + - 0.07772572330460495 + - 0.012729016271099852 + - - 0.02677358715395896 + - -0.9874987469069665 + - -0.15533640876523297 + - -0.09274049177089239 + - - 0.07445491298083298 + - 0.1569304109607827 + - -0.9847991226888333 + - 0.9714602380329486 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959240385765681 + - -0.009066508953812027 + - 0.08973910964974398 + - 0.05461828323331427 + - - 0.0035485614125266227 + - -0.9902260937024026 + - -0.13942629258064315 + - -0.09354106170616049 + - - 0.09012611773087674 + - 0.13917644113236993 + - -0.9861577972801762 + - 0.9774222278563394 + - - 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: + - - 0.9994037858014223 + - -0.013708426229273856 + - -0.03168835710637609 + - 0.023868696458943354 + - - -0.015180878020933194 + - -0.9987934587087978 + - -0.04670297402769502 + - -0.03426038395239388 + - - -0.031009899520930518 + - 0.04715618613537957 + - -0.9984060698137147 + - 0.9688766663135341 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999496367355314 + - -0.011821756956986191 + - -0.029449239480519564 + - 0.09184910744653603 + - - -0.011699548974473867 + - -0.999922231892324 + - 0.004318648083260403 + - -0.033513357224654636 + - - -0.02949800327691573 + - -0.003971930251541415 + - -0.9995569476386784 + - 0.9684978051129367 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9757520322195226 + - 0.01929166031919548 + - -0.21802707047887554 + - 0.09995604604063173 + - - 0.005408914526899423 + - -0.9979292878956346 + - -0.06409274532856385 + - -0.08937430225360077 + - - -0.21881205465675896 + - 0.06135933671610397 + - -0.973835877617295 + - 0.9727042762540947 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980439219905617 + - 0.021341185346130647 + - 0.05876124220708428 + - 0.012635300175785931 + - - 0.03242639734600926 + - -0.9803237088253494 + - -0.1947150602035436 + - -0.09284709267033621 + - - 0.053449588706146724 + - 0.196239597744525 + - -0.9790981369322536 + - 0.972204226825824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875299689164577 + - -0.00295630582497137 + - 0.15740336955646567 + - 0.0543860782269376 + - - -0.017180363814480112 + - -0.9958759975081211 + - 0.08908329072507182 + - -0.09316558363613187 + - - 0.15649088021690644 + - -0.09067666647531109 + - -0.983508183273461 + - 0.973678329236364 + - - 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: null + base_right_marker_pose: + - - 0.9998330968817046 + - -0.010157851814349752 + - -0.015185401754897777 + - 0.09184347057147259 + - - -0.010347976464453035 + - -0.9998683944637277 + - -0.012494524225381469 + - -0.03349439140883049 + - - -0.015056485746384084 + - 0.01264957703028958 + - -0.9998066265223109 + - 0.9687490936738296 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9796223936612063 + - 0.022683472613150103 + - -0.19956308753799398 + - 0.09993018766272847 + - - 0.002565574717041946 + - -0.994934166942292 + - -0.10049587691651268 + - -0.0893477775499217 + - - -0.20083172972381594 + - 0.09793601748619382 + - -0.9747179862991573 + - 0.9728066533382868 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.993017524015653 + - 0.003189270066945509 + - 0.1179238124988418 + - 0.012817435577568025 + - - 0.023808322713671767 + - -0.9844824355045758 + - -0.17386057043660275 + - -0.092794837482914 + - - 0.11553943381972916 + - 0.17545416136250325 + - -0.9776842417126287 + - 0.9716995683970807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997510035000938 + - -0.004310289512075091 + - 0.07039283682839771 + - 0.05438116854223371 + - - 0.0028996683282481567 + - -0.9947799273853444 + - -0.10200239210329942 + - -0.0931833128161543 + - - 0.07046504094949128 + - 0.10195252559662846 + - -0.9922904617744017 + - 0.9736428573598014 + - - 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: null + base_right_marker_pose: + - - 0.9991242953972442 + - -0.013504659095405934 + - -0.0396013450488352 + - 0.09182333545743379 + - - -0.012856228270152212 + - -0.9997798337073184 + - 0.01658316938445293 + - -0.03344419214251641 + - - -0.03981657621676899 + - -0.016059523494941802 + - -0.9990779408852397 + - 0.9681863395939204 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9765860303402802 + - 0.012045474132923045 + - -0.21478973880780794 + - 0.09988881531649452 + - - 0.006821238330523696 + - -0.9996629966195061 + - -0.02504723332720926 + - -0.0893228150220401 + - - -0.21501905974087848 + - 0.022995646166667067 + - -0.9763390825965772 + - 0.9721582475902831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994693220762174 + - 0.007964266312557613 + - 0.03158551393612486 + - 0.012810920037417144 + - - 0.014946709932723554 + - -0.9736746871831953 + - -0.22745153198185655 + - -0.09297085543345329 + - - 0.028942530827374115 + - 0.2278029279899825 + - -0.973277019100162 + - 0.9725059946624408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9826248284415824 + - -0.01328246514121988 + - 0.18512704462050666 + - 0.05441780743295506 + - - -0.0064046453050267925 + - -0.999268558060475 + - -0.03770052241357425 + - -0.09314221115266849 + - - 0.18549239081069496 + - 0.03585979631163421 + - -0.9819911649092475 + - 0.9736313063957864 + - - 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: null + base_right_marker_pose: + - - 0.9997052923227276 + - -0.009178791495176928 + - -0.02247394688562049 + - 0.0918643945636739 + - - -0.009828274400929886 + - -0.9995322075738907 + - -0.028961544239983806 + - -0.03352807453353417 + - - -0.02219760176752546 + - 0.02917388916741442 + - -0.9993278494401213 + - 0.9686330969669976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9711352597711014 + - 0.03812814947119216 + - -0.23546242045646676 + - 0.10010631428660292 + - - 0.0004537863648939877 + - -0.9874353830925756 + - -0.15802265120783868 + - -0.08956410590970755 + - - -0.2385290366124228 + - 0.15335451879459447 + - -0.958950619301134 + - 0.9746552782285987 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9885234205118901 + - -0.0003736168032741974 + - 0.15106722844468015 + - 0.012762214927980195 + - - 0.027852917430065172 + - -0.9824024430621549 + - -0.18468799326470614 + - -0.09302022856202077 + - - 0.14847781682832908 + - 0.1867760698697627 + - -0.9711174170170667 + - 0.9723932311200585 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940429117240773 + - -0.005176669574311186 + - 0.10886639400309253 + - 0.054545222808501145 + - - -0.006471104195419669 + - -0.9999124705902401 + - 0.01154018927980977 + - -0.09343621203849256 + - - 0.1087971252451562 + - -0.012175929132522708 + - -0.9939894025029388 + - 0.9764955542573318 + - - 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: + - - 0.9997783099469044 + - -0.013382253269525446 + - -0.016255653082596133 + - 0.023881149271850626 + - - -0.014166535290153827 + - -0.9986919009283052 + - -0.04913040095582697 + - -0.034257776690668186 + - - -0.01557691360906479 + - 0.04934979551768957 + - -0.9986600810309668 + - 0.968966708042814 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9785982260679771 + - 0.0332990766297744 + - -0.2030681743459882 + - 0.09997007464928473 + - - 0.0017598150851719715 + - -0.9881386731129974 + - -0.1535541134237432 + - -0.08938911567675681 + - - -0.20577272653943782 + - 0.14991042056538367 + - -0.9670493528349194 + - 0.9727862786032437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9954089708718874 + - 0.005102849400460772 + - 0.09557688860685029 + - 0.012797034149630593 + - - 0.02769013905068936 + - -0.9712290905353936 + - -0.23653183696311766 + - -0.09289300025239156 + - - 0.09162006825539665 + - 0.23809244974544994 + - -0.9669114481001287 + - 0.9726780140261311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991842306127327 + - -0.008110478746666257 + - 0.12721265625135586 + - 0.05453759682894414 + - - 0.00012974578082116696 + - -0.9979090566666833 + - -0.06463356549536109 + - -0.09347746158442176 + - - 0.12747087095512494 + - 0.06412280995956623 + - -0.9897673677692308 + - 0.9762937742568985 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9825111682267743 + - 0.024485910923861508 + - -0.18458668553253746 + - 0.10001745144368106 + - - 0.0026673940453214376 + - -0.9930651807971967 + - -0.11753481057643449 + - -0.08946951340680401 + - - -0.1861845571433521 + - 0.11498689862093016 + - -0.9757629444833793 + - 0.9732943957998827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967127245766811 + - 0.012105045996737488 + - 0.08010750606744643 + - 0.012728826268060586 + - - 0.029595959516769514 + - -0.9748404222829724 + - -0.22093037424364645 + - -0.0928022715276673 + - - 0.07541766270052949 + - 0.22257497376069216 + - -0.9719941137724118 + - 0.9724802444470129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890234742852203 + - -0.006278877838610224 + - 0.1476250080639449 + - 0.05441775697354346 + - - -0.012202194510424147 + - -0.9991548073109332 + - 0.039252738459653366 + - -0.09324333837567783 + - - 0.14725377333678674 + - -0.040623228829574656 + - -0.988264174964133 + - 0.9740645948278855 + - - 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: null + base_right_marker_pose: + - - 0.9998679525853407 + - -0.01157633198863069 + - -0.011404645127667215 + - 0.09185639035880248 + - - -0.011535507452134133 + - -0.999926842398372 + - 0.0036389447706507106 + - -0.033465985305584346 + - - -0.011445936423935595 + - -0.003506905888542507 + - -0.999928343507908 + - 0.9683168106598029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9776773697486973 + - 0.025429597817087264 + - -0.20856724631669793 + - 0.1000557946906279 + - - 0.004567239642898712 + - -0.9949865413770842 + - -0.09990456846667642 + - -0.08946338373346732 + - - -0.21006213605339086 + - 0.096721859128791 + - -0.9728919677761543 + - 0.9736722942746627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963216239382843 + - 0.01279235682028428 + - 0.08473238625202577 + - 0.012757403474261962 + - - 0.024882620868559403 + - -0.9893793505012658 + - -0.14321087940657803 + - -0.09274962146455647 + - - 0.08200046860653597 + - 0.14479245977838914 + - -0.9860583485472006 + - 0.9716001068104226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9861019202838547 + - -0.009657366176032021 + - 0.16586059836813624 + - 0.05438815084352025 + - - -0.01404687849116192 + - -0.9995808951696108 + - 0.025312432055692415 + - -0.09308173118170576 + - - 0.16554663396502114 + - -0.02729046152892151 + - -0.9858242960550271 + - 0.9731211240898482 + - - 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: + - - 0.9989863375613369 + - -0.01163978884581144 + - -0.04348347595824931 + - 0.023890002396585258 + - - -0.015508678037787948 + - -0.9958458931029801 + - -0.08972423360189911 + - -0.03431441586628796 + - - -0.042258469817386374 + - 0.0903076547450594 + - -0.9950169592640822 + - 0.9693646857358174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.983506583469115 + - 0.006726616113915961 + - -0.18074720719437048 + - 0.09994624386091712 + - - 0.007209195279569381 + - -0.9999719870609074 + - 0.00201310627694073 + - -0.0893176405949371 + - - -0.18072860254074263 + - -0.0032829451894952123 + - -0.983527526048231 + - 0.9726237752358468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999695778063437 + - 0.024647244218625425 + - -0.0009298787914731326 + - 0.012728817856951619 + - - 0.02403049136549475 + - -0.9817897430799206 + - -0.1884447820126521 + - -0.0928470337509945 + - - -0.005557590023767343 + - 0.18836510753186356 + - -0.9820833464923621 + - 0.9726321122687587 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9980052791233587 + - -0.00452273961701414 + - 0.0629683068556225 + - 0.054435598497755935 + - - -0.013043047442200844 + - -0.9906823075953369 + - 0.13556712112824132 + - -0.0931796300745558 + - - 0.061768452751608104 + - -0.1361180011752136 + - -0.9887651632216506 + - 0.9739154403029426 + - - 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: null + base_right_marker_pose: + - - 0.9994971511796522 + - -0.01247907387440795 + - -0.029149914219370212 + - 0.09187523344743825 + - - -0.012083893478862762 + - -0.9998332146695305 + - 0.013693880457490143 + - -0.03343149156115523 + - - -0.029315939387150308 + - -0.013334750047511253 + - -0.9994812455164025 + - 0.9685323827112169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9816776445010332 + - 0.017515409118515495 + - -0.1897424905768708 + - 0.0999342479279756 + - - 0.004681543995578844 + - -0.9976827477426009 + - -0.06787649079461634 + - -0.0893519932878214 + - - -0.19049169386805384 + - 0.06574454578278872 + - -0.979484848921664 + - 0.9726717132546011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992185043776041 + - 0.018152628986182622 + - 0.03511214277531147 + - 0.012760070222496584 + - - 0.02486661396402445 + - -0.9791890553787846 + - -0.20142106477816119 + - -0.0928010186756509 + - - 0.03072510405756243 + - 0.20213677519762213 + - -0.9788752178359398 + - 0.972068133010316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918855953826476 + - -0.008046112586132451 + - 0.12687878366638725 + - 0.05436909432590112 + - - -0.008756163816615833 + - -0.9999489650095574 + - 0.005039540805653759 + - -0.09312745461339564 + - - 0.12683175969617075 + - -0.006109619347106875 + - -0.9919054275906584 + - 0.9731988422238396 + - - 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: null + base_right_marker_pose: + - - 0.9996247937276717 + - -0.009350896761096718 + - -0.02574553348977793 + - 0.09187197336849148 + - - -0.009542535756836803 + - -0.999927596998334 + - -0.007330809809744687 + - -0.03349857629409467 + - - -0.025675119790167625 + - 0.00757373691782787 + - -0.9996416491587673 + - 0.9688270745371065 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9650694679573097 + - 0.02543713522955942 + - -0.2607563501967079 + - 0.10003419339358574 + - - 0.007655114864384393 + - -0.9975883804868823 + - -0.06898421800653642 + - -0.08941492519695292 + - - -0.2618822659765417 + - 0.06457844275664573 + - -0.9629368117888729 + - 0.973528047784393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999491231946759 + - 0.005579716529474066 + - 0.03140293019768419 + - 0.012866127697763892 + - - 0.01498331855898927 + - -0.9513144603960314 + - -0.3078575930627145 + - -0.09304866012028302 + - - 0.028156303495128043 + - 0.3081714850612541 + - -0.9509140646602258 + - 0.9728479035362817 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9759389942913786 + - -0.011124696341317923 + - 0.21775977716935196 + - 0.05449493580766447 + - - -0.008368064279406688 + - -0.9998728099113272 + - -0.013577168344063452 + - -0.0933358489019501 + - - 0.21788312215898703 + - 0.011428260206207613 + - -0.9759079566982286 + - 0.9751789805182537 + - - 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: + - - 0.9991025876808264 + - -0.01038070920425909 + - -0.04106409825983352 + - 0.02383603994774169 + - - -0.012977695671726006 + - -0.9978980909062698 + - -0.06348999591018906 + - -0.0342280506595714 + - - -0.04031871407335204 + - 0.06396593657596494 + - -0.9971372825511202 + - 0.9690724937766313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998749869070559 + - -0.011588128725135151 + - -0.010757594074161792 + - 0.09186888669637297 + - - -0.011676166871305 + - -0.999898556822414 + - -0.008157401035094157 + - -0.03341687402123916 + - - -0.010661973776378507 + - 0.008281988716704049 + - -0.9999088613359162 + - 0.968636336990492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9841319999760377 + - 0.02196116945304024 + - -0.17607360296029323 + - 0.09992586773525813 + - - 0.00322096471420698 + - -0.9943587187545062 + - -0.10602058207351313 + - -0.08934679615614005 + - - -0.17740865821451318 + - 0.10377112061239173 + - -0.9786509707333736 + - 0.9724344371510323 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993352997042836 + - 0.02454364379079413 + - 0.02695493117076144 + - 0.012628272887224434 + - - 0.027635899263290055 + - -0.992256955736603 + - -0.1210883597388239 + - -0.09272883310772875 + - - 0.023774268376948175 + - 0.12175279603278175 + - -0.9922756879120546 + - 0.970736928395696 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9920977751672309 + - -0.004172919661271712 + - 0.12539773223520173 + - 0.05441755116178737 + - - -0.012621180338616571 + - -0.9976963867773514 + - 0.06665302407451865 + - -0.09318883036225936 + - - 0.12483072664649075 + - -0.06770898428509187 + - -0.9898650327857788 + - 0.9738489691642771 + - - 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: null + base_right_marker_pose: + - - 0.9990833856003335 + - -0.012038450063246683 + - -0.041078757739859945 + - 0.09183608031665652 + - - -0.011569313766202632 + - -0.9998653321158307 + - 0.011639098413479643 + - -0.033460750684971285 + - - -0.041213342455502705 + - -0.011153176810856449 + - -0.9990881177607265 + - 0.968462074678074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9773302508414194 + - 0.01789040070967072 + - -0.21096330096179178 + - 0.09997118041640268 + - - 0.0030919032640611983 + - -0.9975232534632185 + - -0.07026947370203476 + - -0.08938131113208071 + - - -0.21169794737893377 + - 0.06802420424086328 + - -0.9749649669157058 + - 0.9730497230810391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983571276737232 + - 0.011714466192544827 + - 0.05608758244831813 + - 0.01278054323272436 + - - 0.02335139682439001 + - -0.9770815522176427 + - -0.21158060540208534 + - -0.09291401045905684 + - - 0.05232358826975676 + - 0.21254272887536474 + - -0.9757498811236367 + - 0.9728728147565618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946631803987583 + - -0.0028605349231101843 + - 0.10313571107516903 + - 0.05442930793673609 + - - -0.007254210632461574 + - -0.9990806904753905 + - 0.04225103960044316 + - -0.09322710209702745 + - - 0.1029200368593354 + - -0.042773721595998654 + - -0.9937695279860932 + - 0.9740762731190425 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.970947989987595 + - 0.01672567130244572 + - -0.23870536788797111 + - 0.1000245207123134 + - - 0.006983128801224906 + - -0.9991098746663754 + - -0.041601613625983934 + - -0.0894149098073294 + - - -0.23918870510790133 + - 0.03872609280088416 + - -0.970200522101067 + - 0.9734129600658195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994672928068811 + - 0.02945361809551916 + - -0.014057559900906154 + - 0.012700669346550236 + - - 0.02572535947687068 + - -0.9760517675930779 + - -0.2160119275832092 + - -0.09296485623725442 + - - -0.020083239008437812 + - 0.21553522069376768 + - -0.9762895227090264 + - 0.973111681082748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9809319090282904 + - -0.011727534423369554 + - 0.19399756386733913 + - 0.054438260891825026 + - - -0.006808598444317365 + - -0.9996386772904418 + - -0.026003035442824243 + - -0.09326477322388682 + - - 0.19423241963518262 + - 0.024186355685911362 + - -0.9806573241256589 + - 0.9742496052178172 + - - 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: + - - 0.9986586849696617 + - -0.011986275323125734 + - -0.05037023067789337 + - 0.023863185573800388 + - - -0.01424123061736845 + - -0.9989011847377376 + - -0.044649865397875216 + - -0.03422103701754321 + - - -0.04977969751986136 + - 0.045307309933648385 + - -0.997732042875946 + - 0.9689432011077901 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995061306612771 + - -0.011677249018563748 + - -0.029174245935081514 + - 0.09181401470605896 + - - -0.011405586804711508 + - -0.9998901965170898 + - 0.009460840272148519 + - -0.03343097038441415 + - - -0.02928151908904931 + - -0.009123418458744975 + - -0.9995295672842618 + - 0.9682082820395728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9826097601896706 + - 0.016961367846217976 + - -0.18490638491080635 + - 0.09987889067656483 + - - 0.005472311357419681 + - -0.9980319282343358 + - -0.062468584370557155 + - -0.08931960952948698 + - - -0.18560202851371382 + - 0.06037037539753456 + - -0.9807687315498775 + - 0.9722045699158379 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993197881732622 + - 0.03200189911947223 + - -0.018325922025741723 + - 0.012664160679260886 + - - 0.02614198113154138 + - -0.9652442419574634 + - -0.26003874747906264 + - -0.09285952995811102 + - - -0.026010724477887527 + - 0.25938279013980226 + - -0.9654242644513481 + - 0.9720476108872651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860298046618565 + - -0.008849090751258365 + - 0.16633375457608454 + - 0.05427579606762859 + - - -0.011269206252917777 + - -0.9998438528275609 + - 0.013611574242822479 + - -0.09300156734763279 + - - 0.16618733197488408 + - -0.01529586727893071 + - -0.9859755611247446 + - 0.9717524908182544 + - - 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: null + base_right_marker_pose: + - - 0.9998604457989124 + - -0.011181399311712366 + - -0.012412301810386111 + - 0.09189491280646413 + - - -0.011459804039491567 + - -0.9996791321596679 + - -0.02258994501698882 + - -0.03351371818678824 + - - -0.01215573190624608 + - 0.022729035041685414 + - -0.9996677593820349 + - 0.9689715569503241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9785495347432659 + - 0.02023702898453836 + - -0.20501529384808542 + - 0.09995120117576925 + - - 0.006396915199019744 + - -0.9976684333659896 + - -0.06794686557148137 + - -0.0893685355307539 + - - -0.20591232971746593 + - 0.06517790824298801 + - -0.9763974358566263 + - 0.9726331129109979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990286284925869 + - 0.035192203541282344 + - -0.026519959693215606 + - 0.012660285015303245 + - - 0.026946689986096072 + - -0.964080697596202 + - -0.26423906679598813 + - -0.0928274414957013 + - - -0.03486653626350136 + - 0.2632677673630602 + - -0.9640925304744645 + - 0.9719410400366408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9698238321395979 + - -0.01719886987017092 + - 0.24319936983728804 + - 0.05435815302489181 + - - -0.007368089501846963 + - -0.999120665785731 + - -0.041274767800321424 + - -0.09307954736693558 + - - 0.24369539567082069 + - 0.038237338755025885 + - -0.9690977556747181 + - 0.9726816666829425 + - - 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: null + base_right_marker_pose: + - - 0.9998747289110749 + - -0.01134317786792358 + - -0.011038967382018835 + - 0.09184597007979295 + - - -0.011417232960201161 + - -0.9999125832726586 + - -0.0066687783387167875 + - -0.03349711719944738 + - - -0.010962357252759252 + - 0.006793977395833067 + - -0.9999168308387492 + - 0.9686685515404685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9848554020199435 + - 0.01259070156662585 + - -0.17291995647176037 + - 0.09990086546774976 + - - 0.007684126146231672 + - -0.9995494399816243 + - -0.029015017452870148 + - -0.08928317353179416 + - - -0.17320736507869441 + - 0.02724685791943221 + - -0.9845084140910195 + - 0.9721575273869142 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994657116268947 + - 0.014527676145560938 + - 0.02927862544510459 + - 0.01276801880714731 + - - 0.02176049022877009 + - -0.964162365120023 + - -0.26441901359616077 + - -0.09288447162081932 + - - 0.024387954960361637 + - 0.26491485483447835 + - -0.9639633537333658 + - 0.9726404629774227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981485204177933 + - -0.0036687587357787863 + - 0.06071302493788947 + - 0.054371711576843874 + - - -0.008481876739432258 + - -0.9968218730359086 + - 0.07920991859711018 + - -0.0930547887895975 + - - 0.06022946915544931 + - -0.07957822344412063 + - -0.9950073956502692 + - 0.9727461276602343 + - - 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: null + base_right_marker_pose: + - - 0.9998577286144997 + - -0.012184726143342227 + - -0.011664260742330583 + - 0.09190239110306729 + - - -0.012022336531845819 + - -0.9998312193611562 + - 0.013892307767183825 + - -0.033463648905835426 + - - -0.011831566006593014 + - -0.013750099621270497 + - -0.999835460866555 + - 0.96872097034874 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9832479980050509 + - 0.01987839163546382 + - -0.1811856063958903 + - 0.09994446054504535 + - - 0.005317525642178657 + - -0.9967405532223453 + - -0.08049840671130036 + - -0.08935232789158354 + - - -0.18219522040960387 + - 0.0781864381334786 + - -0.9801488573435648 + - 0.9727330969219298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996841117314809 + - 0.016055833207275827 + - 0.01933615710683507 + - 0.01274422578876685 + - - 0.020055532133907053 + - -0.9732898818053118 + - -0.22870194928383977 + - -0.09309590007465264 + - - 0.01514768571320026 + - 0.22901750194127593 + - -0.9733044392286063 + - 0.9729908007916644 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996460316678 + - -0.001987601165273166 + - 0.026530375278680053 + - 0.05442560724497468 + - - -0.0036523052599374446 + - -0.9980164923219378 + - 0.06284697064857848 + - -0.09317550763970793 + - - 0.02635283736351792 + - -0.06292162184037263 + - -0.9976704854148332 + - 0.9739909992685444 + - - 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: + - - 0.9993695848507377 + - -0.012532451086755329 + - -0.03321702191681955 + - 0.023874800549130982 + - - -0.014615671546684004 + - -0.9978917314144774 + - -0.06323349207387101 + - -0.03429315144790836 + - - -0.03235452086654718 + - 0.06367911780462211 + - -0.9974458155384289 + - 0.969028126162742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997660813793136 + - -0.010707761688129369 + - -0.018791656741274195 + - 0.09187758256070869 + - - -0.010736478855458344 + - -0.9999413427512168 + - -0.0014279631229317153 + - -0.033486751706694656 + - - -0.018775264185569875 + - 0.0016293853210293298 + - -0.9998224015085071 + - 0.9686818453741265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9735027831172195 + - 0.026140591602795013 + - -0.2271761447284545 + - 0.10001074377108461 + - - 0.0008788458247927979 + - -0.9938651112199082 + - -0.11059551677105461 + - -0.08944033005815806 + - - -0.2286734765840675 + - 0.10746539057062168 + - -0.9675534253654733 + - 0.9733707868653636 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933831276876539 + - 0.004512621598023273 + - 0.11475886837977911 + - 0.012818845536446924 + - - 0.02511225409394332 + - -0.9835828592213386 + - -0.1787012415745841 + - -0.09284226954162439 + - - 0.11206844479966535 + - 0.18040065213931378 + - -0.977187939133458 + - 0.9726159601933669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992380569725676 + - -0.005538814358627416 + - 0.12308584957842744 + - 0.05438137180331753 + - - -0.015709816008911043 + - -0.9965235189311709 + - 0.08181734472593515 + - -0.09315452574788925 + - - 0.12220477286877451 + - -0.08312759922274314 + - -0.9890175912164324 + - 0.973858477345672 + - - 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: null + base_right_marker_pose: + - - 0.9999148226412181 + - -0.012112173092357887 + - -0.004862378570424931 + - 0.09186643454184631 + - - -0.012067296353522333 + - -0.9998852766347169 + - 0.009154994693193422 + - -0.033490628871343235 + - - -0.004972707622375627 + - -0.00909553913173346 + - -0.9999462702299589 + - 0.9688246412572071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9844708268695541 + - 0.022659212688343 + - -0.1740797263414695 + - 0.09988186622447362 + - - 0.003659809517699014 + - -0.9940682633680997 + - -0.1086963364544751 + - -0.08931751546311652 + - - -0.1755101046580243 + - 0.10637127358772541 + - -0.9787141336050351 + - 0.9722076549755279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984886597203042 + - 0.025153402072416068 + - 0.04886412563562307 + - 0.01263068062259603 + - - 0.02998817547343387 + - -0.9944471465330723 + - -0.10087409025118423 + - -0.09274983698214047 + - - 0.0460554637554017 + - 0.10218698114932694 + - -0.9936985031395899 + - 0.9712227151611265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996818459714883 + - 0.0026132955249282947 + - -0.0796625951005081 + - 0.05430374884998827 + - - 0.0037850677350507963 + - -0.9998868081491811 + - 0.014561735867820681 + - -0.09309358235688997 + - - -0.07961552382474907 + - -0.014816935436941325 + - -0.996715519489071 + - 0.9726455178164681 + - - 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: + - - 0.9996922238833391 + - -0.014710214395381317 + - -0.019976663876274284 + - 0.02389453768713037 + - - -0.015696811707123313 + - -0.998617657784693 + - -0.0501635690800177 + - -0.034280589780031324 + - - -0.019211132434472523 + - 0.050461699862930774 + - -0.9985412105854868 + - 0.9687974868549138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996887351594103 + - -0.01280923151323678 + - -0.02140925929169081 + - 0.09190423017575435 + - - -0.012438160946417878 + - -0.9997716493273887 + - 0.017376459750563435 + - -0.0334905861145444 + - - -0.02162694956875686 + - -0.01710475925677552 + - -0.9996197788474962 + - 0.9685664729370891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9800681140143778 + - 0.022908161872397727 + - -0.19733653491416295 + - 0.09994384506637607 + - - 0.0042807739456586814 + - -0.9955338710731354 + - -0.09430793455783358 + - -0.08938259302312712 + - - -0.19861562593795787 + - 0.0915834464615002 + - -0.9757890681225668 + - 0.9726894066922364 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997693547412587 + - 0.018817612563785873 + - 0.010350593106019585 + - 0.012776798887058832 + - - 0.02045092473932505 + - -0.9813165713587633 + - -0.1913100793319288 + - -0.09282239008787913 + - - 0.006557209585913411 + - 0.19147763376980007 + - -0.981475072922571 + - 0.9719547301486549 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9850411802967939 + - -0.009542834687644133 + - 0.17205466406239475 + - 0.054348585175300446 + - - -0.011114897123546269 + - -0.9999048021665855 + - 0.008175919895365863 + - -0.09309559852474351 + - - 0.17196026337916617 + - -0.00996598767442306 + - -0.9850534741364257 + - 0.972870532382061 + - - 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: null + base_right_marker_pose: + - - 0.9996671833916052 + - -0.011963290121072256 + - -0.022856118204408703 + - 0.09185927593895014 + - - -0.011800238774644414 + - -0.9999040519972145 + - 0.007255423103701694 + - -0.033477032685035005 + - - -0.022940723937056266 + - -0.006983300726118331 + - -0.9997124370018675 + - 0.9686850743582935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9792178285609159 + - 0.024148724119249586 + - -0.2013685262196084 + - 0.09995336432414739 + - - 0.004359643140355076 + - -0.9951627926535042 + - -0.09814280223106706 + - -0.08934546135620872 + - - -0.2027644883605941 + - 0.09522528677557215 + - -0.9745864287062361 + - 0.9728579475580864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9921442968719765 + - 0.012263366655230572 + - 0.12449620083637467 + - 0.012655172660865957 + - - 0.03167112028626656 + - -0.9873855584788376 + - -0.15513445473925794 + - -0.09283824745727723 + - - 0.12102328009199054 + - 0.1578586986697705 + - -0.9800173452189824 + - 0.9720895581873378 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971887417200238 + - -0.005445745232340588 + - 0.07473257151804866 + - 0.05449158056030064 + - - -0.010182189628130849 + - -0.9979524350103774 + - 0.0631447580661714 + - -0.0932831667719686 + - - 0.07423568145583767 + - -0.06372818305681541 + - -0.9952023825750542 + - 0.9751973917462429 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9745443771308394 + - 0.024093664353610926 + - -0.22289628157661073 + - 0.09998891536043687 + - - 0.0049777523826655574 + - -0.9962888459183498 + - -0.08592879307833445 + - -0.08946355610072955 + - - -0.22413941863019338 + - 0.08263189963142498 + - -0.9710476250830444 + - 0.9732414267380783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990423094240446 + - 0.018773791447312678 + - 0.039522256202859464 + - 0.01276197017108018 + - - 0.02637389017316965 + - -0.9791169142719098 + - -0.20157997446122414 + - -0.09274455243201495 + - - 0.03491248913791795 + - 0.20242927886387138 + - -0.9786743611441184 + - 0.9714624310559189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9879304532424812 + - -0.012141222050667214 + - 0.15442153438954698 + - 0.054537527945247986 + - - 0.006569655829365823 + - -0.9927420679391719 + - -0.12008341336812778 + - -0.09335298159618455 + - - 0.15475871277052328 + - 0.11964855732926061 + - -0.9806803574818034 + - 0.9754634494969523 + - - 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: null + base_right_marker_pose: + - - 0.9998303249620665 + - -0.013698331022573087 + - -0.01231572220556237 + - 0.09187645170583056 + - - -0.013210131540821193 + - -0.9991564059582274 + - 0.03888404373663349 + - -0.03340589592247743 + - - -0.012837979238290245 + - -0.038714753774681775 + - -0.9991678308118429 + - 0.968682667128433 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9693679873570265 + - 0.028396364994524304 + - -0.2439658819230378 + - 0.0999577634419234 + - - 0.004055808110945093 + - -0.9950094074299549 + - -0.09969869380516996 + - -0.08937844596401212 + - - -0.24557942810413713 + - 0.09565524335334472 + - -0.964645436889149 + - 0.9730980868342674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9952942306294013 + - 0.011651379348065035 + - 0.09619584104895403 + - 0.012731890104349221 + - - 0.033435574922724406 + - -0.9730673688176921 + - -0.22808322619561766 + - -0.093058745016813 + - - 0.09094754974937493 + - 0.2302262823864858 + - -0.968877908765126 + - 0.9740492034289159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910995709114263 + - -0.0038364821425282726 + - 0.13306735867205288 + - 0.05448771911140819 + - - -0.013980347935156272 + - -0.9970568099773437 + - 0.07538081685293285 + - -0.09327326310604374 + - - 0.13238651899192255 + - -0.07657022321094209 + - -0.9882362118980604 + - 0.9748168087018843 + - - 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: + - - 0.9997186396736559 + - -0.014666106301867255 + - -0.018642607516043488 + - 0.02393635308474823 + - - -0.01581665833570377 + - -0.9978789472399018 + - -0.06314617941314807 + - -0.034262118401362444 + - - -0.01767695698208614 + - 0.06342327633706887 + - -0.9978301524861463 + - 0.968631187725829 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9787856853303043 + - 0.024635707915081993 + - -0.20340025587006894 + - 0.09998778679164348 + - - 0.00442267165282819 + - -0.9950539098682911 + - -0.09923787800672816 + - -0.08942360085134496 + - - -0.2048390152484092 + - 0.09623304188972599 + - -0.9740534787580775 + - 0.9731793206218374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994780108515019 + - 0.027355807184053126 + - 0.0171862048641965 + - 0.012625662176384837 + - - 0.0306358078013847 + - -0.9714081377697621 + - -0.23543083305939336 + - -0.09291893534239137 + - - 0.01025441878810498 + - 0.2358344539883692 + - -0.9717391405142258 + - 0.9725802693369445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958239040456448 + - -0.0021070430455874638 + - 0.09127054563710331 + - 0.05437419460932244 + - - -0.015207387656415473 + - -0.9895946462715679 + - 0.14307750148544596 + - -0.09304522252817408 + - - 0.09001937287027732 + - -0.14386798267944934 + - -0.9854940466932246 + - 0.9725689344796615 + - - 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: + - - 0.9998465430065975 + - -0.013488328083518112 + - -0.011178347072250306 + - 0.02391416019821666 + - - -0.014192130148697297 + - -0.9977531116892169 + - -0.06547756529017096 + - -0.034251487811146585 + - - -0.01027004769213598 + - 0.06562616185636289 + - -0.9977914276041886 + - 0.9690224338592135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.845876693725586 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9627872715626868 + - 0.03899326443913967 + - -0.2674325990698527 + - 0.10001164152014594 + - - -0.00010973648865507737 + - -0.9894803647964523 + - -0.14466718923163943 + - -0.08945743849472337 + - - -0.2702603516514775 + - 0.13931307551934688 + - -0.9526548217033075 + - 0.9736523152301303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995895517765091 + - 0.02327928366290838 + - -0.016697392951577607 + - 0.012798949782884336 + - - 0.018780328391602798 + - -0.9726042245454632 + - -0.23170740528050116 + - -0.09278710907362303 + - - -0.021633937337921273 + - 0.2312987188647198 + - -0.9726422134612496 + - 0.9719457684831961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.96726201150665 + - -0.01856214337835844 + - 0.25310007492948394 + - 0.05448087794597038 + - - -0.007729247771745717 + - -0.9990135625850123 + - -0.043728257455392494 + - -0.09327818739676193 + - - 0.25366209773041004 + - 0.04034040907580623 + - -0.9664513394737496 + - 0.9747813710678056 + - - 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: null + base_right_marker_pose: + - - 0.9995136650341028 + - -0.011528939981393144 + - -0.028974418941557105 + - 0.09185053479027613 + - - -0.011509464606287762 + - -0.9999334120620329 + - 0.0008388482920363157 + - -0.03349378403685861 + - - -0.028982160626358375 + - -0.0005049602814852101 + - -0.999579801406842 + - 0.9686143976348769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9730578315941182 + - 0.03351291204044313 + - -0.22811256234570315 + - 0.10005379122044654 + - - 0.00295231800540534 + - -0.9911097421754953 + - -0.1330141450493824 + - -0.08952398925410747 + - - -0.23054227419661616 + - 0.12875699472802518 + - -0.9645060373667235 + - 0.9739380342677412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9942359646034649 + - 0.0064397354457419505 + - 0.10702044896376843 + - 0.012718326403154201 + - - 0.029371141859917668 + - -0.9763675795772936 + - -0.21411138590981685 + - -0.09279289993050543 + - - 0.10311247603884945 + - 0.21602055309105841 + - -0.970928904671898 + - 0.971921803612375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966525409979536 + - -0.0059011535261107115 + - 0.08154071933324862 + - 0.05443533080872029 + - - -0.011205836184191938 + - -0.9978384657909231 + - 0.0647520302649303 + - -0.0932695576383211 + - - 0.08098235460725632 + - -0.06544900744150874 + - -0.9945643697957344 + - 0.9747778278526323 + - - 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: null + base_right_marker_pose: + - - 0.9995203869783149 + - -0.012361839378362077 + - -0.028393325657681615 + - 0.09185393027847372 + - - -0.011830825645897915 + - -0.9997533682443204 + - 0.01879452709364205 + - -0.03347024265125111 + - - -0.02861865788704894 + - -0.0184495965083483 + - -0.999420124276785 + - 0.9685221799862056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9818159644979413 + - 0.021864631128616627 + - -0.18857186895872607 + - 0.09993568768878637 + - - 0.004771438421716128 + - -0.9958734621647202 + - -0.09062715228585194 + - -0.089384776384071 + - - -0.18977524926176542 + - 0.08807942587043105 + - -0.9778687895142024 + - 0.9725780794166404 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992963005008692 + - 0.02541508002127165 + - 0.02758582086487673 + - 0.012666829417213048 + - - 0.029201317059393606 + - -0.9887201729149082 + - -0.14690031570119544 + - -0.09282200099763671 + - - 0.023541174296824653 + - 0.14760248432403322 + - -0.9887665648342384 + - 0.9718430137851071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.981515218050263 + - -0.005602801747866912 + - 0.1913020787872384 + - 0.054417583836571325 + - - -0.015801866117450648 + - -0.9985308929452777 + - 0.05183007680018563 + - -0.09314267228652767 + - - 0.1907306419088208 + - -0.05389493896908201 + - -0.9801618018422105 + - 0.9735304861990082 + - - 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: null + base_right_marker_pose: + - - 0.9998878302224408 + - -0.010878828665803515 + - -0.01029456458134705 + - 0.09187483899491539 + - - -0.010906001404871997 + - -0.9999371811149088 + - -0.002587075052497218 + - -0.033491722262001734 + - - -0.010265773542035856 + - 0.0026990573966507664 + - -0.9999436629044426 + - 0.9685725237187994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9796499050383364 + - 0.023590600452935477 + - -0.19932272105469684 + - 0.10002314307944488 + - - 0.0036012864796382393 + - -0.9949749756389541 + - -0.10005912546067146 + - -0.08942823785172137 + - - -0.20068157437609985 + - 0.09730509453534679 + - -0.97481209691068 + - 0.9735561224466924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963952535738902 + - 0.012014401335185911 + - 0.08397709697280578 + - 0.012700415213549289 + - - 0.033141709112318354 + - -0.9663804669153615 + - -0.2549714107141475 + - -0.0929555348688344 + - - 0.07809049732545834 + - 0.2568354479525851 + - -0.9632950881751954 + - 0.9727645749036544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9909106779062317 + - -0.004827487058544604 + - 0.1344348309781057 + - 0.05443192844238176 + - - -0.014775974824207321 + - -0.9972149110293493 + - 0.07310329533422293 + - -0.09319387303852678 + - - 0.1337075128009143 + - -0.07442524161484336 + - -0.9882222343335364 + - 0.9738491899013278 + - - 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: + - - 0.9993742530702721 + - -0.014155996566903561 + - -0.03241465812612856 + - 0.023905317754739565 + - - -0.015573049813205111 + - -0.9989150011690162 + - -0.04388964068000349 + - -0.0342722607736935 + - - -0.03175818665716621 + - 0.04436697195777732 + - -0.9985103852136674 + - 0.9690816170887494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997975309839083 + - -0.012147151946994285 + - -0.016041936854924693 + - 0.09186978491078439 + - - -0.011979451348531915 + - -0.999873019490615 + - 0.010508931444687702 + - -0.03347506124003348 + - - -0.016167553428670496 + - -0.010314630109588132 + - -0.9998160923999144 + - 0.9686814970502836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9866654978198859 + - 0.02585828645579618 + - -0.16069394647405597 + - 0.09998489468264309 + - - 0.0008681689291599303 + - -0.9881211762415963 + - -0.1536742898003258 + - -0.0894018631535529 + - - -0.1627588452113962 + - 0.15148561015652298 + - -0.9749675216236481 + - 0.9728531646575952 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.996987178960648 + - 0.013380912798697832 + - 0.07640363970886718 + - 0.012756020244176838 + - - 0.02063440421311525 + - -0.9952680191017532 + - -0.0949515219258887 + - -0.09274154333759153 + - - 0.07477156111021432 + - 0.09624199356801787 + - -0.9925455618374381 + - 0.9712858388345302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956181911235025 + - -0.003270284723230904 + - 0.09345438856358733 + - 0.054248219481792925 + - - -0.022361202412165365 + - -0.978720311124136 + - 0.2039767859825136 + - -0.09291942450610959 + - - 0.09079864608377776 + - -0.20517275119007147 + - -0.9745048732758854 + - 0.971507486718224 + - - 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: + - - 0.998404903691834 + - -0.010108606251753725 + - -0.055546956385987015 + - 0.023871140334533674 + - - -0.01539967969309897 + - -0.9952941471479305 + - -0.0956682315004519 + - -0.03431786009585892 + - - -0.05431848809981453 + - 0.09637103679384748 + - -0.9938622264266963 + - 0.9696572366563574 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999661977696391 + - -0.011413953644109676 + - -0.023359195413164002 + - 0.09189467513769545 + - - -0.011417889928998032 + - -0.9999348131527411 + - -3.5139184826578525e-05 + - -0.03348458761341992 + - - -0.02335727162383381 + - 0.0003018400290558388 + - -0.9997271361501034 + - 0.9688665187076091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9882580123991815 + - 0.02274160123701771 + - -0.15109242370812515 + - 0.09992628005112487 + - - 0.004057970620110117 + - -0.9924192665829457 + - -0.12283131599642617 + - -0.08936432127316833 + - - -0.1527404131304661 + - 0.12077590359067512 + - -0.9808585766095894 + - 0.9720158498474633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945906874066686 + - 0.009180667637206366 + - 0.1034653558717394 + - 0.012711256331985455 + - - 0.031388772541547545 + - -0.9760821439893728 + - -0.21512413426541593 + - -0.09291042918102686 + - - 0.09901570321047827 + - 0.21720811109819277 + - -0.971090380444009 + - 0.9724452495272258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993643673659199 + - -0.0023673433207264936 + - 0.03557045016465734 + - 0.054400077875026785 + - - -0.004246848558322259 + - -0.9985930772664685 + - 0.052856696007299954 + - -0.09321647763901136 + - - 0.03539527534343017 + - -0.05297416088138871 + - -0.9979683926669602 + - 0.9741812510764225 + - - 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: + - - 0.9984424715006008 + - -0.010125172619765246 + - -0.054864487450368614 + - 0.02387460316212876 + - - -0.015161305708915785 + - -0.9956279790084402 + - -0.09216866183671255 + - -0.03427734290124391 + - - -0.05369139514831494 + - 0.0928569237859484 + - -0.9942307708937793 + - 0.9692138194496779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999333765112196 + - -0.011220515054895274 + - -0.0027097196855954595 + - 0.09191871290865285 + - - -0.011198582367374995 + - -0.9999054673788544 + - 0.007977973353910237 + - -0.0335472991319983 + - - -0.0027989804988161134 + - -0.007947096814400364 + - -0.9999645040502136 + - 0.9688353588371613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9819613396869792 + - 0.019293666839367247 + - -0.18809487441194264 + - 0.09996211358224737 + - - 0.005787062235951555 + - -0.9973810704568739 + - -0.07209375981995653 + - -0.08933675113861046 + - - -0.18899322017159823 + - 0.06970476823139043 + - -0.9795013057750244 + - 0.9726991867329138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999591451764533 + - 0.017383815689535568 + - 0.02268771719115023 + - 0.0127688624840008 + - - 0.019008558848824225 + - -0.9971154290208081 + - -0.07348126223153631 + - -0.09262153023317315 + - - 0.021344888141289077 + - 0.07388250239888519 + - -0.9970385005552763 + - 0.9704950671766275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976764678437613 + - -0.0036445862456012954 + - 0.06803221664692977 + - 0.05440295456045004 + - - -0.008447953638678164 + - -0.9974794814462556 + - 0.07045080675924216 + - -0.09321542247115801 + - - 0.06760397614131256 + - -0.07086184505647387 + - -0.995192595091562 + - 0.9740764237842761 + - - 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: null + base_right_marker_pose: + - - 0.9993796598282509 + - -0.012829507307563597 + - -0.03279785456115415 + - 0.09185376303491753 + - - -0.012363175601209735 + - -0.9998201410727241 + - 0.014381842523520986 + - -0.033471609773560965 + - - -0.03297646752796758 + - -0.013967435253577389 + - -0.9993585259264133 + - 0.9685222802158096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9830566944700132 + - 0.005167992303067497 + - -0.18322889322715064 + - 0.09990817566042226 + - - 0.008478926432345109 + - -0.999814545410449 + - 0.017291113100442027 + - -0.08928982405493957 + - - -0.18310555224854874 + - -0.018551728794180704 + - -0.9829182011207755 + - 0.9722249383496141 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996280742979791 + - 0.022254531985549747 + - 0.01576226130408163 + - 0.012687526946527968 + - - 0.023647915294104052 + - -0.9952377038799269 + - -0.09456579126752965 + - -0.09264104306112689 + - - 0.013582679321727563 + - 0.09490336443938777 + - -0.9953938226855379 + - 0.9703088628944649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9849836376220474 + - -0.000971775021496377 + - 0.17264498043715856 + - 0.054258399972641855 + - - -0.017326896476635142 + - -0.9954918540398724 + - 0.09325099033654026 + - -0.09296037473069034 + - - 0.1717760526829256 + - -0.09484210137678915 + - -0.9805600254605058 + - 0.971446398622903 + - - 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: + - - 0.9985473675946424 + - -0.012488354160341676 + - -0.05241369744805377 + - 0.023909270384353417 + - - -0.0165617196081069 + - -0.99681456102579 + - -0.07801564183280046 + - -0.034291773454731306 + - - -0.05127244984816591 + - 0.07877037474410817 + - -0.995573384512282 + - 0.96940006900994 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998779631328232 + - -0.01219332064669119 + - -0.009766359248135499 + - 0.09186926910802874 + - - -0.011956441026985957 + - -0.9996415013566133 + - 0.023956466422756006 + - -0.033492455032814464 + - - -0.01005496689824857 + - -0.023836771952246455 + - -0.9996652969587232 + - 0.9685097862092378 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9732919887058947 + - 0.012534974615351224 + - -0.22922822499054735 + - 0.09993126969683089 + - - 0.01094070946999559 + - -0.999906324564098 + - -0.008224534820319034 + - -0.08935256047825542 + - - -0.22930984627184597 + - 0.005496954439504831 + - -0.9733379566700732 + - 0.9728693015368903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9947143065357195 + - 0.01684868936498505 + - 0.10128953568777516 + - 0.012661432322205207 + - - 0.032868083337153214 + - -0.9867897877182659 + - -0.15863670430477952 + - -0.09288588038033617 + - - 0.09727865886670511 + - 0.1611273922138081 + - -0.9821277035128747 + - 0.9721431937668695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955182029204062 + - -0.0018815598548244748 + - 0.09455140076507455 + - 0.054353448858681985 + - - -0.01368438640428332 + - -0.9921456299679972 + - 0.12433738980751081 + - -0.09308204030795808 + - - 0.09357481083530596 + - -0.12507401276012273 + - -0.987724782573171 + - 0.9730475287335908 + - - 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: + - - 0.9997434702013328 + - -0.012682864838511665 + - -0.018765359822954193 + - 0.023864692286743112 + - - -0.013512553117744172 + - -0.9989059977909753 + - -0.0447684988072651 + - -0.03422719532642019 + - - -0.018177037658459128 + - 0.04501058227466068 + - -0.9988211265212901 + - 0.9687124215589927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9823211690704253 + - 0.026104075317734517 + - -0.18537448057356481 + - 0.09996228377502027 + - - 0.0018602369279431107 + - -0.9915424466339448 + - -0.1297694726880798 + - -0.0893922902121418 + - - -0.1871941781004015 + - 0.12713045966634595 + - -0.9740616951252823 + - 0.9727807630258909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978327840165714 + - 0.01655876687078549 + - 0.06368314048048611 + - 0.012743787669313531 + - - 0.024674864533522137 + - -0.9913567142805428 + - -0.12885269151685694 + - -0.0926764104293738 + - - 0.060999067222300064 + - 0.13014481276871906 + - -0.9896168154934536 + - 0.970472011849056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979784193556004 + - -0.00611917863530509 + - 0.06325843938421684 + - 0.05444374615224974 + - - -0.005795605427453378 + - -0.9999691741483353 + - -0.005297330537640772 + - -0.09324275785724614 + - - 0.06328890470079794 + - 0.004920000602131493 + - -0.9979831201657912 + - 0.9742797665826931 + - - 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: null + base_right_marker_pose: + - - 0.999186686803094 + - -0.012487265061860266 + - -0.03834101102906219 + - 0.0918357211385068 + - - -0.011764460137049395 + - -0.9997498853562997 + - 0.019020100098307322 + - -0.033489472371709864 + - - -0.03856893041218022 + - -0.018553569504025324 + - -0.9990836815129751 + - 0.9682682886263734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9743593938199356 + - 0.02361025923223226 + - -0.22375506102395604 + - 0.10001704363839833 + - - 0.0038178080857739598 + - -0.996070746762584 + - -0.08847876460060321 + - -0.08940096793014202 + - - -0.2249648772948073 + - 0.08535586156097043 + - -0.9706210284559661 + - 0.9731889741128986 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992985231151508 + - 0.011756331393497606 + - 0.03555629862689225 + - 0.01274271284003849 + - - 0.01950166356505769 + - -0.973915163808702 + - -0.226072861754049 + - -0.09305248510396714 + - - 0.031971030919783906 + - 0.2266076838406772 + - -0.9734612528530815 + - 0.9727726557729489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9698308308345368 + - -0.011026587608050633 + - 0.24352941080804624 + - 0.05436561447739671 + - - -0.013116738102963791 + - -0.999889729255266 + - 0.006962794795860268 + - -0.09321955921985477 + - - 0.24342578077173838 + - -0.009947044563737774 + - -0.9698685197283788 + - 0.9736609183753083 + - - 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: + - - 0.9993975720394471 + - -0.01379346572455804 + - -0.03184702976673604 + - 0.023902181711643863 + - - -0.015707032742153407 + - -0.9980361316942806 + - -0.06063966486676181 + - -0.034274747691194776 + - - -0.030948055255457484 + - 0.06110335617641398 + - -0.9976515412406695 + - 0.9688456796117584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9831335984251216 + - 0.02298979788969304 + - -0.18143813502310618 + - 0.09996729538303543 + - - 0.003956129229632338 + - -0.9945089814342025 + - -0.10457645475069063 + - -0.08938580948933522 + - - -0.18284604641388968 + - 0.10209483356025348 + - -0.9778261441949246 + - 0.9730440113129138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990912693901425 + - 0.014047682806557596 + - 0.04024050243424157 + - 0.012734719875007664 + - - 0.02201924590442434 + - -0.9784913591655285 + - -0.2051092705076907 + - -0.09310661071142795 + - - 0.03649367394760834 + - 0.20580894695363197 + - -0.9779114934980786 + - 0.973204262712452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.981072531095006 + - -0.012612218301838578 + - 0.19322945086177998 + - 0.05434755697323885 + - - -0.010364062227377154 + - -0.9998663852437601 + - -0.012641118373165255 + - -0.09305017419965232 + - - 0.1933630651003064 + - 0.01039921194533942 + - -0.9810721591432158 + - 0.9723834343976514 + - - 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: + - - 0.9993742977009868 + - -0.013742611219048552 + - -0.032590700077498515 + - 0.023858860208685013 + - - -0.01479918262887733 + - -0.9993653161792271 + - -0.032402916713022464 + - -0.03427330648208958 + - - -0.03212471460070138 + - 0.032864957855990265 + - -0.998943390416568 + - 0.9686465924785375 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998710805463692 + - -0.010710176447906698 + - -0.011963043404202744 + - 0.09185320012666953 + - - -0.010816779250813193 + - -0.9999020476626925 + - -0.008882137501411749 + - -0.03351013840546421 + - - -0.0118667423362653 + - 0.00901039402076915 + - -0.9998889904513978 + - 0.9686157952186067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9685712779470474 + - 0.02154210777754851 + - -0.24780156805097867 + - 0.10001356127891545 + - - 0.005472766786188103 + - -0.9978470969894604 + - -0.06535457025649168 + - -0.08940019690750649 + - - -0.24867595050532595 + - 0.06194439944181552 + - -0.9666039328587825 + - 0.9734702831753269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997144903104366 + - 0.02065042023580131 + - -0.012020732399847335 + - 0.01284005671260503 + - - 0.017172538685917102 + - -0.9707490915781435 + - -0.2394813251911106 + - -0.09290184108985204 + - - -0.01661450506107878 + - 0.23920652446012963 + - -0.9708265534467428 + - 0.9731980292819891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9858555643263336 + - -0.010265394668753343 + - 0.1672824795341732 + - 0.0543519861297476 + - - -0.008709833513977387 + - -0.999911764590042 + - -0.010030046589505598 + - -0.0931435699337035 + - - 0.16737068168279995 + - 0.008431174694168483 + - -0.985857986834976 + - 0.9732449583297295 + - - 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: null + base_right_marker_pose: + - - 0.9995373828155737 + - -0.011131310625029617 + - -0.028303962230798833 + - 0.09186051860474155 + - - -0.011192997864702722 + - -0.9999353121640636 + - -0.002021951076829803 + - -0.033427183815277296 + - - -0.0282796243432289 + - 0.00233782187632755 + - -0.999597317641399 + - 0.9684707604501728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9864989481083672 + - 0.01725943909444507 + - -0.162855571422135 + - 0.09988084687037517 + - - 0.0024744133971398843 + - -0.9958883363628371 + - -0.09055550107421387 + - -0.08933810785136925 + - - -0.1637489012464665 + - 0.0889299345474123 + - -0.982485503242653 + - 0.9721886135701373 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9936791642716206 + - 0.009937111784883865 + - 0.11181669062277036 + - 0.012767430810523055 + - - 0.026468082008888276 + - -0.9887309212190002 + - -0.14734519354291567 + - -0.09275935324340032 + - - 0.10909243386791032 + - 0.14937342211653062 + - -0.9827443317760596 + - 0.9716538014338016 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998002816894497 + - -0.00281790081993342 + - -0.019785251291458326 + - 0.054369714599768734 + - - -0.002408683011532209 + - -0.999783318356867 + - 0.020676425742426018 + - -0.09312692557926765 + - - -0.01983922830775156 + - -0.02062463988294389 + - -0.9995904307514415 + - 0.9731214343270786 + - - 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: null + base_right_marker_pose: + - - 0.9995453786464266 + - -0.010930939787415368 + - -0.028098942719178566 + - 0.091941870730397 + - - -0.01123619025180112 + - -0.9998793156355245 + - -0.010728569003419383 + - -0.03348885710661688 + - - -0.02797827827435255 + - 0.011039416633124296 + - -0.9995475712667224 + - 0.9690584131623915 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9750634853714056 + - 0.004206734326119384 + - -0.22188623860365056 + - 0.099994417582799 + - - 0.010817318698951285 + - -0.9995328086811561 + - 0.02858583541064554 + - -0.08934998941758879 + - - -0.22166232226414126 + - -0.03027321846564462 + - -0.9746534497616058 + - 0.9729997807806349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945922049574395 + - -0.0031049369847085846 + - 0.10381091081490179 + - 0.012825670756613637 + - - 0.014919597170403295 + - -0.9849140127517759 + - -0.1724000960135093 + - -0.09290797772843147 + - - 0.10278011217240132 + - 0.17301660860020152 + - -0.9795414752272172 + - 0.9718638165631626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9878586367073579 + - -0.006176842280507163 + - 0.15523260128633445 + - 0.05432619256973703 + - - -0.0185738522536048 + - -0.9967380831064939 + - 0.07853792521867205 + - -0.09303912328551585 + - - 0.15424112906466161 + - -0.08046763513757692 + - -0.9847510516877983 + - 0.9725290713107814 + - - 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: + - - 0.9991983868730017 + - -0.011966848723051829 + - -0.038201808884277544 + - 0.023851646354082913 + - - -0.01380630102605512 + - -0.9987395756380834 + - -0.04825604735408555 + - -0.03424730826666628 + - - -0.03757618557503174 + - 0.04874479034626562 + - -0.9981041907996028 + - 0.9691388389140381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9784109884982471 + - 0.00867265321587497 + - -0.20648661620570005 + - 0.09992967237924061 + - - 0.009449916663125477 + - -0.9999514890463418 + - 0.0027782420814453606 + - -0.08934069216154839 + - - -0.20645250461290818 + - -0.004669543896389024 + - -0.9784454806982636 + - 0.9726187476728131 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956365114245916 + - 0.01643774635817479 + - 0.09185715874624804 + - 0.012695640153010505 + - - 0.024374960870092152 + - -0.995999838652263 + - -0.08596617176103437 + - -0.09275009058558797 + - - 0.09007662516352717 + - 0.08783007400276115 + - -0.9920544741594682 + - 0.9710265421622323 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9851224134012092 + - -0.010316743141800163 + - 0.1715441500766587 + - 0.05439625139944162 + - - -0.008003209580324811 + - -0.9998675335253187 + - -0.014172651072008366 + - -0.0931577100637476 + - - 0.17166764182859415 + - 0.012588892443007923 + - -0.9850744847655265 + - 0.9736096594587824 + - - 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: + - - 0.9994349900126069 + - -0.012216113229458321 + - -0.031312414727473245 + - 0.023852653625349846 + - - -0.014184290841779326 + - -0.9978858012295638 + - -0.06342502343513126 + - -0.03423970025004093 + - - -0.030471406790892427 + - 0.06383333206089267 + - -0.9974952626885941 + - 0.9691206737475305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9715075227068699 + - 0.01269695277011922 + - -0.23666837708978766 + - 0.09989631523401461 + - - 0.007570744755396894 + - -0.9997169123178906 + - -0.022556131082957263 + - -0.08933037956068775 + - - -0.23688777331852567 + - 0.020121695155634434 + - -0.971328626282709 + - 0.9723959528996833 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998789656442985 + - 0.020312240434199113 + - 0.0447954804756833 + - 0.012685672317053033 + - - 0.028727377821264753 + - -0.9801683772897644 + - -0.1960731749237118 + - -0.09284268140654124 + - - 0.03992442793601861 + - 0.19712271571204942 + - -0.9795655542148715 + - 0.971954556056292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9924130267199397 + - -0.01114731482447714 + - 0.12244232017065107 + - 0.05444318407408875 + - - -0.002251174837906135 + - -0.9973618669169406 + - -0.07255507309488753 + - -0.09321992885795732 + - - 0.12292809527694395 + - 0.07172896062372076 + - -0.9898200036367338 + - 0.9741781653857426 + - - 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: + - - 0.9988647091966303 + - -0.01050088895467976 + - -0.046465299446927615 + - 0.023896785176745976 + - - -0.015661164522528952 + - -0.9935704703450982 + - -0.11212692978949798 + - -0.034321263455892745 + - - -0.044989116987661 + - 0.1127273338165248 + - -0.9926069350771677 + - 0.9697193463498469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998882096616568 + - -0.011342565358020357 + - -0.009742401690838773 + - 0.09185176090448446 + - - -0.01138934435497684 + - -0.9999238116118473 + - -0.004759601537809869 + - -0.033503345391464094 + - - -0.00968767334143647 + - 0.0048700290280450495 + - -0.9999412141733611 + - 0.9686928371945103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9761928596342913 + - 0.010499837587719668 + - -0.21665007318174745 + - 0.0999393929271652 + - - 0.008771893434083968 + - -0.9999215990752739 + - -0.008935859686017992 + - -0.08932939085177678 + - - -0.21672691269107786 + - 0.006822691065747901 + - -0.9762084286677795 + - 0.9726931745246525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997169105919407 + - 0.016286157115118736 + - 0.017345309536795656 + - 0.012806152489990296 + - - 0.018906944946893205 + - -0.9863441895165429 + - -0.1636082737508396 + - -0.09276460303101641 + - - 0.01444389522534474 + - 0.1638899047939689 + - -0.9863728873997619 + - 0.9715157473282598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9927544714521688 + - -0.002013275753608372 + - 0.12014368952410658 + - 0.05435493237728028 + - - -0.021900303061487776 + - -0.9861441926715778 + - 0.16443846261120668 + - -0.09303177190722406 + - - 0.11814794174059899 + - -0.1658782022474989 + - -0.9790431481204483 + - 0.9725122061402685 + - - 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: null + base_right_marker_pose: + - - 0.9997700569661727 + - -0.011727628994237741 + - -0.017952601817823866 + - 0.09185215364785895 + - - -0.011614504951535914 + - -0.9999121150253298 + - 0.0063926129479319254 + - -0.033497958504566314 + - - -0.01802599424682495 + - -0.006182632428410527 + - -0.9998184028050636 + - 0.9685948635692989 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9779516692501851 + - 0.024789826960310082 + - -0.2073547614356965 + - 0.09999757691110975 + - - 0.0023831015881440095 + - -0.9941893994827766 + - -0.10761858010072597 + - -0.08942967301059768 + - - -0.2088177517300608 + - 0.10475162259055307 + - -0.9723282594510194 + - 0.9733068676838154 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950961619471898 + - 0.009905124554337764 + - 0.098415024186022 + - 0.01271603575350079 + - - 0.02934102857610761 + - -0.9797495765462848 + - -0.19806532078956124 + - -0.0928415534253688 + - - 0.09446021659973194 + - 0.1999816385694917 + - -0.9752356698331912 + - 0.9725660652906277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953047179016437 + - -0.00165483549584562 + - 0.09677696028606786 + - 0.05435571296633932 + - - -0.02300821895039107 + - -0.97523922539719 + - 0.21995243828478034 + - -0.093047070385616 + - - 0.09401670268340798 + - -0.22114636503042712 + - -0.970698276937983 + - 0.9725068229974488 + - - 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: + - - 0.9991159711239422 + - -0.010831863547801222 + - -0.04061953935169158 + - 0.023858096683780562 + - - -0.0142564313600278 + - -0.9962797927432785 + - -0.08499016846840135 + - -0.03427255133598821 + - - -0.03954782433887636 + - 0.08549412437993761 + - -0.995553476357031 + - 0.9693782378927391 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9766172080888259 + - 0.017531290282263114 + - -0.21426964956760902 + - 0.09996760308794644 + - - 0.006217921523067874 + - -0.9985559770817605 + - -0.05336007951853034 + - -0.08937412056011829 + - - -0.2148957103264742 + - 0.05078006001699819 + - -0.9753159586451717 + - 0.9731664903375403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9906059373773414 + - -0.0026324909254596945 + - 0.1367221519150654 + - 0.012853640984851936 + - - 0.014867008710517311 + - -0.9918150865868441 + - -0.12681406101349177 + - -0.09293656632755601 + - - 0.1359369298048189 + - 0.1276554112063393 + - -0.9824587762878305 + - 0.9724402489919954 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982447383321528 + - -0.004268584860430346 + - 0.059069633276847285 + - 0.0545288889735484 + - - 0.0020912868618524253 + - -0.9942364923795546 + - -0.1071887295384275 + - -0.09342676520077761 + - - 0.059186729183435725 + - 0.10712411681824975 + - -0.9924824203402686 + - 0.9758443073214991 + - - 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: null + base_right_marker_pose: + - - 0.9996601187937968 + - -0.010958549181996844 + - -0.02365495916288401 + - 0.09187511607705486 + - - -0.01068748420361445 + - -0.9998761188126016 + - 0.011555289249826546 + - -0.033523458111250175 + - - -0.02377865796401146 + - -0.011298549821787822 + - -0.999653399032563 + - 0.9685964405195412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9725792894832246 + - 0.023656216222657706 + - -0.23136531525345988 + - 0.09998209857318381 + - - 0.006363005457291713 + - -0.9971476670354262 + - -0.07520666384940287 + - -0.08940165203780784 + - - -0.23248448943930966 + - 0.07167226492747018 + - -0.9699556941480936 + - 0.9730497260242652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972020830982937 + - 0.007825117306302707 + - 0.07434226929255086 + - 0.012798600838478107 + - - 0.0227611878480337 + - -0.979068117486871 + - -0.20225614860483815 + - -0.0928424236750412 + - - 0.07120346755720589 + - 0.20338237106459955 + - -0.9765068752179744 + - 0.9722232813575701 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984186404456377 + - -0.0026078994839483557 + - 0.056155296018863994 + - 0.05436895879662311 + - - -0.009060875495445701 + - -0.9933279007812568 + - 0.11496774358383577 + - -0.0931008195321528 + - - 0.055480797993005225 + - -0.11529475438971282 + - -0.9917807220672703 + - 0.9732162606454511 + - - 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: + - - 0.997611493226128 + - -0.007337915598908576 + - -0.068683794142422 + - 0.02385282578116059 + - - -0.01584835845563446 + - -0.992130988784594 + - -0.12419714420052212 + - -0.034334823132831274 + - - -0.06723197243422975 + - 0.12498902386996573 + - -0.9898775711140423 + - 0.9695821508467489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998684145989913 + - -0.010977168346908225 + - -0.011943837841464309 + - 0.09190307156527008 + - - -0.010998019192364707 + - -0.9999381062176955 + - -0.0016814599649889923 + - -0.03352015853097428 + - - -0.011924640923060793 + - 0.0018125972672161357 + - -0.9999272560691621 + - 0.9689101358006473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9652988552207026 + - 0.03584206785962267 + - -0.258676373643105 + - 0.1000510719973342 + - - 0.001244815924702932 + - -0.9911569473311873 + - -0.1326889452457713 + - -0.0894918982583297 + - - -0.2611447310265223 + - 0.12776248247693017 + - -0.9568072833796872 + - 0.9738508630941249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997053176319415 + - 0.02248777162513337 + - -0.009142101823701686 + - 0.012778391655813067 + - - 0.020649010641372537 + - -0.985773936283999 + - -0.16680337197635894 + - -0.09275409730320691 + - - -0.012763081835966063 + - 0.16656544260586267 + - -0.9859477963216725 + - 0.971482368766795 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9737150488342644 + - -0.011962646572726061 + - 0.22745526760368098 + - 0.054463728193430413 + - - -0.008181705920739017 + - -0.9998123634430736 + - -0.017558405240850145 + - -0.09325294706717202 + - - 0.22762263367669003 + - 0.015235911306889888 + - -0.9736302191513654 + - 0.9743822146386506 + - - 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: + - - 0.9997293416346438 + - -0.014139054281130263 + - -0.018475135149626776 + - 0.02386946954368251 + - - -0.0149391934535857 + - -0.998923616689675 + - -0.04391387615066683 + - -0.03426646836582792 + - - -0.017834348143906605 + - 0.04417799411081286 + - -0.9988644757236226 + - 0.9691930846170256 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997631522185882 + - -0.012143974488710626 + - -0.018059993066706533 + - 0.09185380084755265 + - - -0.011888054329517936 + - -0.9998283455462877 + - 0.01421103818983786 + - -0.033477754461177775 + - - -0.01822947147369809 + - -0.013992974158203313 + - -0.9997359066493506 + - 0.9684760556933973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9793120058370729 + - 0.01750388578676386 + - -0.20159764186550644 + - 0.10005723719731126 + - - 0.005045562070424408 + - -0.9980542658245116 + - -0.06214680018221778 + - -0.08944976115113729 + - - -0.20229319693643322 + - 0.05984393412751985 + - -0.9774948419410603 + - 0.9737944019505196 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989692706644222 + - 0.01524854579252733 + - 0.042753691295672504 + - 0.012780097488378536 + - - 0.027679794121323542 + - -0.9511375446431897 + - -0.3075243082546901 + - -0.09304593611758195 + - - 0.03597534246666192 + - 0.3083907473017595 + - -0.9505792558819431 + - 0.9745602850963294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9959367317032621 + - -0.0027330090520845864 + - 0.09001420502201624 + - 0.05452983236090736 + - - -0.00615073261647067 + - -0.9992696732529824 + - 0.037713241774719256 + - -0.09338489943176925 + - - 0.08984539460932336 + - -0.03811365606182342 + - -0.9952261824776798 + - 0.9757327043698774 + - - 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: + - - 0.9997225306427253 + - -0.013368572495619211 + - -0.019394406274346125 + - 0.0238827987925165 + - - -0.014860288295702961 + - -0.9967694787801068 + - -0.07892894275361452 + - -0.034262803461604874 + - - -0.018276584940125337 + - 0.07919524885915909 + - -0.9966915666348656 + - 0.9687683067558749 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993457437689924 + - -0.011534710534808928 + - -0.034278781537233606 + - 0.0918896350900347 + - - -0.011605078993804687 + - -0.9999309389731295 + - -0.0018545689156967897 + - -0.03348899625098956 + - - -0.03425502229377136 + - 0.0022511635199788317 + - -0.9994105891526562 + - 0.968733538627541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.974736918053961 + - 0.038478585894371815 + - -0.22001667893647356 + - 0.10004104650068589 + - - -0.0020632394066831955 + - -0.9834557574954681 + - -0.18113673313871223 + - -0.08950520014950389 + - - -0.22334655498981074 + - 0.1770146080881004 + - -0.9585312435688255 + - 0.9737922573922649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975191328710378 + - 0.010500859724112464 + - 0.06960827178767931 + - 0.012753108192760274 + - - 0.026487844313851233 + - -0.9721325420682316 + - -0.23293070805620025 + - -0.09284591832169256 + - - 0.06522249351119672 + - 0.23419661098532601 + - -0.969998955537154 + - 0.9725629994301739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9840352991894481 + - -0.002641357594307182 + - 0.17795379506824846 + - 0.05444371418541155 + - - -0.02011623281710432 + - -0.9951329307924112 + - 0.09646650833193221 + - -0.0932553663605733 + - - 0.17683287908751935 + - -0.09850620936045446 + - -0.9792990654499031 + - 0.9745084898150601 + - - 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: null + base_right_marker_pose: + - - 0.9999039055279937 + - -0.012682938361988914 + - -0.005596676189596679 + - 0.09190248698089848 + - - -0.012686510783023594 + - -0.9999193410013898 + - -0.0006032706686476724 + - -0.03349757846410716 + - - -0.005588573522593622 + - 0.0006742149904997015 + - -0.9999841565145571 + - 0.9689393074604715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9785114615633671 + - 0.021398591074577433 + - -0.2050790576561784 + - 0.09992772184880831 + - - 0.004607199267567714 + - -0.9966210359801367 + - -0.08200783106988613 + - -0.08935837394527602 + - - -0.20614095494110835 + - 0.07930076255560897 + - -0.9753036941148465 + - 0.9727280104461782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9941514945290251 + - 0.0071058191125273965 + - 0.10776044385787378 + - 0.012807392865312975 + - - 0.018034442090398426 + - -0.994744899939484 + - -0.10078364422302873 + - -0.09281217951736197 + - - 0.10647800159748488 + - 0.10213761001279599 + - -0.9890552784332532 + - 0.9721265579128077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992741339042096 + - -0.0013585844331734326 + - -0.038070455189421086 + - 0.054308212834248984 + - - 0.00023744203062910476 + - -0.9991223212539772 + - 0.04188711965924258 + - -0.09305485218642728 + - - -0.03809394874876942 + - -0.04186575474541877 + - -0.9983967696503848 + - 0.9727847228217689 + - - 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: null + base_right_marker_pose: + - - 0.9996928561723178 + - -0.010976619827742078 + - -0.02221952148878864 + - 0.09187979578184613 + - - -0.010816553353145816 + - -0.9999147700364858 + - 0.007311281449963494 + - -0.033519911002223575 + - - -0.022297880876712715 + - -0.007068697195328838 + - -0.9997263815806647 + - 0.9686505927198147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9863189000102073 + - 0.020631355359881223 + - -0.16355236060255784 + - 0.09988912635488902 + - - 0.003739444747906155 + - -0.9946822602940876 + - -0.10292335793794824 + - -0.08932814987151888 + - - -0.16480608009303593 + - 0.10090365817085106 + - -0.9811510626463739 + - 0.9723694568021597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992415745093857 + - 0.028553419006623292 + - -0.026475989783877066 + - 0.012691760035115877 + - - 0.02478563091790559 + - -0.9907938383500202 + - -0.13309110559175508 + - -0.09290496643442159 + - - -0.030032453646099605 + - 0.1323339417937308 + - -0.9907501095520145 + - 0.9724444285445998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9908827544740252 + - -0.00314003696601824 + - 0.1346904118852591 + - 0.054319690255313274 + - - -0.013805528012085507 + - -0.9968323170476434 + - 0.07832457523494261 + - -0.09302004112706386 + - - 0.1340178133020989 + - -0.07946994310604923 + - -0.987787301933187 + - 0.9722037053386432 + - - 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: + - - 0.9988763715814979 + - -0.01061399557503956 + - -0.04618806549439428 + - 0.023910815481762947 + - - -0.01565562315798008 + - -0.9937859627284299 + - -0.11020145982455554 + - -0.03433550266129109 + - - -0.04473137332696966 + - 0.11080073728031259 + - -0.992835485293723 + - 0.9695458815497602 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.983793971288599 + - 0.01957405170763171 + - -0.17823096968808277 + - 0.09989989438073969 + - - 0.0035855872480601153 + - -0.9959722658855974 + - -0.08959011748399102 + - -0.08930751033328162 + - - -0.1792667443233515 + - 0.08749915477566471 + - -0.979901695219092 + - 0.9721275064290558 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995574448682973 + - 0.01928421925086943 + - 0.022650238326450408 + - 0.0126996189614618 + - - 0.023038725367984025 + - -0.983516670816041 + - -0.1793437352135545 + - -0.09274027338887719 + - - 0.018818383080892346 + - 0.1797861983435195 + - -0.983525694297513 + - 0.9716182030110201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970644199181681 + - -0.004262233003637245 + - 0.07644851799132331 + - 0.0543632446430899 + - - -0.010694262695378032 + - -0.9964147135572085 + - 0.08392467665775426 + - -0.09300840121305369 + - - 0.07581672162952725 + - -0.0844958695826551 + - -0.9935352398102555 + - 0.9728589163318531 + - - 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: + - - 0.9995401880946054 + - -0.013174731141325443 + - -0.02731005022248197 + - 0.023851571611607756 + - - -0.01467564117861541 + - -0.9983504479918193 + - -0.055506833367895504 + - -0.03428168361168434 + - - -0.02653371326816557 + - 0.05588210316271731 + - -0.9980847421969316 + - 0.9690487239247848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998062079963499 + - -0.01277771265776379 + - -0.014975864288747464 + - 0.09183840688863004 + - - -0.012329584207909182 + - -0.999484501339633 + - 0.02964309253645952 + - -0.03350262757519977 + - - -0.015346915169487158 + - -0.029452701762328164 + - -0.9994483531196996 + - 0.9684202851982197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9753919487122086 + - 0.027002612855108906 + - -0.21881820145133574 + - 0.1000077344834009 + - - 0.002973357441671612 + - -0.9939926065300012 + - -0.1094068430639414 + - -0.08946561529201791 + - - -0.22045794504377542 + - 0.10606392913093006 + - -0.9696126739087028 + - 0.9733301665141687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983968955244178 + - 0.01980069442877659 + - 0.053024253953666396 + - 0.01271041869541305 + - - 0.027587007699677805 + - -0.988239973361 + - -0.1504018352867673 + - -0.09285028575750419 + - - 0.04942262653261772 + - 0.1516235059335728 + - -0.9872019633464214 + - 0.971943216979837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9966875438452281 + - -0.0027002659562076203 + - 0.08128129248192473 + - 0.05439026172464023 + - - -0.01510329044188602 + - -0.9882081007418023 + - 0.15237007660990304 + - -0.09312005912442377 + - - 0.07991139193878732 + - -0.1530929723796799 + - -0.9849754876373117 + - 0.9736898096046929 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9867173301431141 + - 0.015526041621096552 + - -0.1617029759368227 + - 0.09986937573907408 + - - 0.005206909946140417 + - -0.9979334511181038 + - -0.06404463465681093 + - -0.0892698986467145 + - - -0.1623631684959907 + - 0.0623519780848337 + - -0.9847590732483005 + - 0.9718527088334779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997524499188768 + - 0.02172753138503652 + - -0.004790956179731026 + - 0.01277843558624832 + - - 0.019727411255512795 + - -0.9652111759241291 + - -0.2607263222544226 + - -0.09286878651371974 + - - -0.010289223797727266 + - 0.2605672662693329 + - -0.9654008657664277 + - 0.9722343686270162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933941394464519 + - -0.0035846837910350256 + - 0.11469626740030167 + - 0.054255589346772125 + - - -0.016824770839717437 + - -0.993260263441095 + - 0.11467770557138281 + - -0.09297389276979522 + - - 0.11351216146137913 + - -0.11584989905495845 + - -0.9867592361307397 + - 0.97173887108653 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9828717601204624 + - 0.02412901156378005 + - -0.18270438954403675 + - 0.09996894936215596 + - - 0.004055813719681313 + - -0.9939837238836284 + - -0.1094527616348998 + - -0.08939228267358265 + - - -0.18424617644004285 + - 0.1068370135083807 + - -0.9770563950007364 + - 0.9727681907986017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997644491744324 + - 0.014817610776741316 + - 0.01585826528384156 + - 0.01275890685334732 + - - 0.018420486452689445 + - -0.9657137146305134 + - -0.25895502901735923 + - -0.09304941053108198 + - - 0.011477449446195765 + - 0.2591861489073135 + - -0.9657591875663444 + - 0.9729077655320357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999787939442843 + - -0.005755381958445776 + - -0.01977249916288871 + - 0.05445859397504514 + - - -0.003906769377932662 + - -0.995724369637309 + - 0.09229147773988645 + - -0.0932667285649355 + - - -0.020219131971024012 + - -0.09219465976344131 + - -0.9955357007227026 + - 0.9747965386104261 + - - 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: + - - 0.9991634003975038 + - -0.010451987536653775 + - -0.0395380229985134 + - 0.02387064143692769 + - - -0.013495190932268185 + - -0.9969007980151469 + - -0.07750276600525374 + - -0.03428329295066921 + - - -0.038605428734816136 + - 0.07797150039147074 + - -0.9962078427712281 + - 0.9694295234907218 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998435188411309 + - -0.011969673331636543 + - -0.01302554228119109 + - 0.09192010724392141 + - - -0.011905382006878506 + - -0.9999166165176154 + - 0.005002188644379466 + - -0.03342334505922128 + - - -0.013084330730132184 + - -0.0048463318393991844 + - -0.9999026519402009 + - 0.9688373803927739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9775312753272802 + - 0.022089467082929276 + - -0.20962981944612055 + - 0.10003505892209963 + - - 0.0048790066551252075 + - -0.996598644361481 + - -0.08226382771861503 + - -0.08941459624724177 + - - -0.21073395799225184 + - 0.0793926791388911 + - -0.974314118469023 + - 0.9737855500566562 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9947510059834178 + - 0.01774664111326011 + - 0.1007744651396145 + - 0.012656144355324589 + - - 0.030500459296805296 + - -0.9915019405068366 + - -0.12646590035998792 + - -0.0928525781179351 + - - 0.09767373279271227 + - 0.1288757490778448 + - -0.9868388334586166 + - 0.9718667691633713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9945786402719224 + - -0.0018415050376092684 + - 0.10397084771247334 + - 0.0544193598390723 + - - -0.010361306649507821 + - -0.9966224512663154 + - 0.0814636910312541 + - -0.09321811535171665 + - - 0.10346966531002566 + - -0.08209932089315493 + - -0.9912384828433136 + - 0.9740157389706814 + - - 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: + - - 0.9996878198591826 + - -0.014502661272975798 + - -0.020345408356573145 + - 0.02387836827039858 + - - -0.015827898371822767 + - -0.9976565770710217 + - -0.06656449398938515 + - -0.034277020452704594 + - - -0.019332368150995847 + - 0.06686573893207919 + - -0.9975746751490541 + - 0.9691254086590766 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9830545572080635 + - 0.01184192773695994 + - -0.1829303318204257 + - 0.09987832411823917 + - - 0.004168922534006913 + - -0.9990974116607538 + - -0.04227271102836337 + - -0.08928973231939347 + - - -0.18326581142527346 + - 0.04079375883949264 + - -0.9822166317072732 + - 0.9719747125288144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985922278416033 + - 0.036699878831436536 + - -0.03829727651023559 + - 0.012556599996008467 + - - 0.03267644909933788 + - -0.9943640598526723 + - -0.10085814864238382 + - -0.09279772096860119 + - - -0.041782917186356745 + - 0.09946474434224764 + - -0.9941634435364887 + - 0.9717896612437692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979578208914699 + - -0.004397366535324503 + - 0.0637248059165577 + - 0.05434535387257687 + - - -0.011965628110839944 + - -0.992837055386457 + - 0.11887558704571456 + - -0.09304249087892036 + - - 0.06274560913292672 + - -0.11939532913436852 + - -0.9908621215464009 + - 0.9725993122569728 + - - 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: + - - 0.9997571096159689 + - -0.013772984062941201 + - -0.017205425955945073 + - 0.023892643460248275 + - - -0.014350354417932061 + - -0.9993222877322189 + - -0.033897382933271554 + - -0.034240457152641915 + - - -0.01672689751278696 + - 0.03413605354529254 + - -0.9992772091606765 + - 0.9688002925212277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996682420463392 + - -0.012601556615415687 + - -0.022463450644332923 + - 0.09184645423161622 + - - -0.012335333054801504 + - -0.999852497590566 + - 0.011950841825385144 + - -0.03347244539668593 + - - -0.02261073644110314 + - -0.011669782893298687 + - -0.9996762329698627 + - 0.9685313380942363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9799830935304514 + - 0.03218318838333775 + - -0.19646215610129333 + - 0.09996252374649213 + - - 0.0002843895126908892 + - -0.9870719840603259 + - -0.160277314071006 + - -0.08943071571818388 + - - -0.1990805252079957 + - 0.15701318628922037 + - -0.9673230090379399 + - 0.9730637172456258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994384685157542 + - 0.014049727428811502 + - 0.03041961226018092 + - 0.012796397005164054 + - - 0.019068918560197854 + - -0.9849854115726934 + - -0.17158122080786492 + - -0.09279389483195412 + - - 0.027552204917722815 + - 0.1720649416590982 + - -0.9847002243607056 + - 0.9714896384872337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9878567024031131 + - -0.007761661667525228 + - 0.15517374818379 + - 0.05441147238978618 + - - -0.006479473556312238 + - -0.9999405762553879 + - -0.008767005217058137 + - -0.09315987624658778 + - - 0.15523257370693969 + - 0.0076551006656832175 + - -0.9878482917402438 + - 0.9732867590375166 + - - 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: null + base_right_marker_pose: + - - 0.9989890717810926 + - -0.011986456043184589 + - -0.043326196849894076 + - 0.0918248115252569 + - - -0.011565624025039975 + - -0.9998836025256299 + - 0.009950765863996602 + - -0.0334571915437673 + - - -0.04344042820763149 + - -0.009439611850784202 + - -0.9990114228202022 + - 0.9683109562845463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9881730265647332 + - 0.02272605276571358 + - -0.1516495832357785 + - 0.09988046975635471 + - - 0.0029060844008364905 + - -0.9915546642863058 + - -0.12965686408951446 + - -0.08931156900881079 + - - -0.1533154403292458 + - 0.12768270931399292 + - -0.9798936174396117 + - 0.9721414943322432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9966619162156531 + - 0.011336173733734278 + - 0.08084872250333235 + - 0.012816662315571579 + - - 0.01677945845952531 + - -0.9976139849644339 + - -0.06696855065766182 + - -0.09271795634193052 + - - 0.07989664911088142 + - 0.06810160180540063 + - -0.9944740807544417 + - 0.9713002036633347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965854223370253 + - -0.0026138787064890487 + - 0.08252674489788579 + - 0.0543336673152953 + - - -0.00611149123904134 + - -0.9990922876226569 + - 0.04215744878147837 + - -0.09306824932365976 + - - 0.08234163989239028 + - -0.04251786037697115 + - -0.9956967841109049 + - 0.9726649222893218 + - - 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: null + base_right_marker_pose: + - - 0.9999105570695894 + - -0.012277649978185185 + - -0.005304448302746573 + - 0.09191383791693082 + - - -0.012207036160613924 + - -0.9998390783915421 + - 0.013145553975597225 + - -0.03345056660808387 + - - -0.005464991212875436 + - -0.013079626606484044 + - -0.9998995235716828 + - 0.9687820150771096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9858419388941967 + - 0.01926811807858924 + - -0.16656653668441496 + - 0.09993815218841218 + - - 0.005060943189101239 + - -0.9963423433138514 + - -0.08530135857007387 + - -0.08930064263054838 + - - -0.16760089012701485 + - 0.08325067294366556 + - -0.9823335823858713 + - 0.9725321657619161 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997089983483521 + - 0.02396705248087812 + - 0.0027384332588577106 + - 0.01272809149504418 + - - 0.024014859236564597 + - -0.9780580924381608 + - -0.2069436018631027 + - -0.09286522793636685 + - - -0.0022814813570073405 + - 0.2069491440224028 + - -0.9783490413094974 + - 0.9727371845516928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986366796950881 + - -0.004635202043685095 + - 0.05199323869104636 + - 0.05436571355858789 + - - -0.008418817528455311 + - -0.9973117413337864 + - 0.07279020613512292 + - -0.09312093103633351 + - - 0.051516070104312854 + - -0.07312869135835352 + - -0.9959911089067124 + - 0.9728448833518011 + - - 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: + - - 0.999480199633725 + - -0.011996244489737459 + - -0.02992358030502742 + - 0.023859422932318804 + - - -0.013631190320819171 + - -0.9983907851791677 + - -0.05504571481744344 + - -0.03423929874393847 + - - -0.029215084983045782 + - 0.05542499605293762 + - -0.9980353443751208 + - 0.9690405524327046 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996340542003533 + - -0.01139980659658381 + - -0.02453165490800479 + - 0.09187466129358013 + - - -0.012216075472039773 + - -0.9993678842314094 + - -0.033385617665367816 + - -0.03354326959629996 + - - -0.02413555847761513 + - 0.03367308088662479 + - -0.9991414306496238 + - 0.9689135955832622 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9755738042994165 + - 0.03569293186106069 + - -0.21675277848259614 + - 0.09998680329119077 + - - 0.0009903312174862101 + - -0.9874159492296202 + - -0.15814158988402624 + - -0.0894546009434144 + - - -0.21966968750568064 + - 0.1540641354181094 + - -0.9633324818405257 + - 0.9733663401459266 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994881381795111 + - 0.028969219016798328 + - -0.013573724176193545 + - 0.01267527398474964 + - - 0.024128745211965907 + - -0.9612153637695354 + - -0.274741384046699 + - -0.09297358626419026 + - - -0.02100631554915434 + - 0.2742732374894723 + - -0.9614223452282004 + - 0.9731557959552628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985413077188976 + - -0.0019093153010204473 + - 0.05395934853308719 + - 0.054374917021490075 + - - -0.006910053705012852 + - -0.9956754813048245 + - 0.09264225324440073 + - -0.09312066712844552 + - - 0.05354911704993583 + - -0.09287997870094034 + - -0.9942362906370321 + - 0.9733460469493872 + - - 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: null + base_right_marker_pose: + - - 0.9996237216875136 + - -0.01044018979644942 + - -0.02536567516583257 + - 0.0918542675380522 + - - -0.010521867930798578 + - -0.9999398733358155 + - -0.003088690402035716 + - -0.033481878594780516 + - - -0.025331903498380343 + - 0.0033544224788938726 + - -0.9996734679458994 + - 0.9686770635962899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9864826447868811 + - 0.019911447620396178 + - -0.1626515471427815 + - 0.09997870910510859 + - - 0.005109629255842259 + - -0.9958451586675356 + - -0.09091925894604909 + - -0.08938013521173208 + - - -0.16378608983411289 + - 0.08885918192337304 + - -0.9824857060358492 + - 0.9727824103372436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9932459546909613 + - 0.002709052343441246 + - 0.11599626944622551 + - 0.012719161636070193 + - - 0.022692937625430343 + - -0.9849557167132701 + - -0.17131043954113712 + - -0.09299090878862427 + - - 0.11378709976077772 + - 0.17278569717789077 + - -0.9783647575310457 + - 0.9723319765407208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9929572029611051 + - -0.006681003586055351 + - 0.1182850678604099 + - 0.05443071995793361 + - - -0.012083460429475501 + - -0.9989132240454985 + - 0.045015117583740744 + - -0.09319293942088594 + - - 0.1178557723308789 + - -0.04612737818380555 + - -0.9919588105915393 + - 0.9740690268510619 + - - 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: + - - 0.9996782491708573 + - -0.014475304142306408 + - -0.0208293952067019 + - 0.023861931063914217 + - - -0.015368316560697596 + - -0.9989408078363445 + - -0.04337138786529175 + - -0.034274237041120016 + - - -0.02017951884410124 + - 0.043677545824589506 + - -0.9988418588595301 + - 0.9689881633326474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996862226991642 + - -0.01061852498245378 + - -0.022687068401936628 + - 0.09189974139311617 + - - -0.011155945470153356 + - -0.9996569953284898 + - -0.023694652803590958 + - -0.033480472444832356 + - - -0.02242768436874639 + - 0.023940313657359647 + - -0.9994617853404117 + - 0.9686240033911913 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9695093452352432 + - 0.031247946949967804 + - -0.2430538938444351 + - 0.09999901129186674 + - - 0.0039822915350081044 + - -0.993714760492978 + - -0.11187097984962203 + - -0.089420409639546 + - - -0.24502198035209033 + - 0.10749204896082469 + - -0.9635401852307689 + - 0.9734552141996319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990383689377623 + - 0.03042755943302753 + - -0.031567404345702044 + - 0.012677320067333565 + - - 0.023507363060470375 + - -0.9794815434047363 + - -0.20015821245059964 + - -0.09272535042616051 + - - -0.03701001583515878 + - 0.19922366766131408 + - -0.9792549152143459 + - 0.9714817693507961 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9759165465481585 + - -0.020683244464097965 + - 0.21716145507882914 + - 0.054560103480682826 + - - 0.0024632981467704214 + - -0.9943866158681011 + - -0.10577896929270074 + - -0.09338749330677025 + - - 0.21813029669387077 + - 0.10376637981940186 + - -0.9703874030939498 + - 0.975880999800697 + - - 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: null + base_right_marker_pose: + - - 0.9999263249805288 + - -0.010169845911137223 + - -0.006627129474936016 + - 0.09192128451613371 + - - -0.010273390311203267 + - -0.9998226735913637 + - -0.01578223127859524 + - -0.0334939769552665 + - - -0.006465451449629413 + - 0.015849151610137387 + - -0.999853490432869 + - 0.9690406592331496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9548747382097453 + - 0.037133607062993304 + - -0.2946783493155909 + - 0.10008290319778072 + - - 0.00037097476002360616 + - -0.9923018978852294 + - -0.12384185815425917 + - -0.08954740923824996 + - - -0.2970085801901986 + - 0.11814414365453514 + - -0.9475377905991609 + - 0.9745147170751863 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960600762984108 + - 0.004600751440756362 + - 0.0885616028004491 + - 0.012803974813155343 + - - 0.027094824719811728 + - -0.9666882224716564 + - -0.25451866534302103 + - -0.0929028065821928 + - - 0.08444048127413069 + - 0.25591544232572294 + - -0.9630042011857599 + - 0.973039052648891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961201225715198 + - -0.0029835969753427664 + - 0.08795339423347448 + - 0.05446597863814988 + - - -0.004705951621570929 + - -0.9998010813456766 + - 0.019381737779469308 + - -0.09335161356389761 + - - 0.08787807136843462 + - -0.019720443430749707 + - -0.9959360163602177 + - 0.975296783412191 + - - 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: + - - 0.999450298700818 + - -0.012269042892720367 + - -0.030798880066364425 + - 0.02387780464189333 + - - -0.014809620497671584 + - -0.9963838417661851 + - -0.08366549472735312 + - -0.03427381905562962 + - - -0.029661010899169598 + - 0.08407562342174095 + - -0.9960178281429931 + - 0.9693609991218879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996332255294655 + - -0.010369207520092752 + - -0.02501787267059228 + - 0.09183554031059973 + - - -0.010325063936575375 + - -0.9999449032539415 + - 0.0018930164209390462 + - -0.033503413546217296 + - - -0.025036123347322498 + - -0.001634010975962576 + - -0.9996852117221035 + - 0.9685365155816241 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9803892689033991 + - 0.030864297779333826 + - -0.19463883615981478 + - 0.10000234653443937 + - - 0.0013582075704292942 + - -0.9886944449560775 + - -0.14993815320054105 + - -0.08942964622338878 + - - -0.19706607189278993 + - 0.14673339645623246 + - -0.9693473441822407 + - 0.973509680389161 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951077428529809 + - 0.01109681539414232 + - 0.0981704680754547 + - 0.012693522851653233 + - - 0.031462837213583374 + - -0.9775316200207953 + - -0.20842749754768658 + - -0.09289694168188826 + - - 0.09365185523264928 + - 0.21049653808941293 + - -0.9730984212626466 + - 0.9723619500831567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999937228193563 + - -0.003094300759482414 + - 0.0017261589423707233 + - 0.05441043894684767 + - - -0.003224617343186852 + - -0.9966723306538954 + - 0.08144855524760275 + - -0.09316579010608053 + - - 0.0014683885298102895 + - -0.08145361018237096 + - -0.9966760522975273 + - 0.973980898681051 + - - 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: + - - 0.999193555902487 + - -0.011904322824534911 + - -0.03834742417728702 + - 0.023874526753168885 + - - -0.014759517807963599 + - -0.9970701515838303 + - -0.0750551094508216 + - -0.03428827931870834 + - - -0.03734159178476362 + - 0.07556057119085098 + - -0.9964417723099995 + - 0.9691592203487219 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994132025228237 + - -0.011958104754895208 + - -0.03209757551193288 + - 0.09187218805331 + - - -0.011763223313974976 + - -0.9999112560886031 + - 0.006253520974531548 + - -0.03349788791909171 + - - -0.03216950730643595 + - -0.005872280475616182 + - -0.9994651765427739 + - 0.9687171051513452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9728105091876071 + - 0.03002196120215673 + - -0.22964841619250206 + - 0.09998836105817874 + - - 0.0016160070322535844 + - -0.9924185568953711 + - -0.12289343534535238 + - -0.08946838877781489 + - - -0.2315968517390082 + - 0.11918091195861355 + - -0.965483717361041 + - 0.9733846117568099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9943457889713473 + - 0.010694926367303723 + - 0.10565070044702408 + - 0.012704144250008093 + - - 0.036561113091963304 + - -0.9685666497679211 + - -0.24605269754022902 + - -0.0929872127837704 + - - 0.09969822949493905 + - 0.24852417087145606 + - -0.9634811879472432 + - 0.9727173262747034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934160131756825 + - -0.005766718548271297 + - 0.11441752367236906 + - 0.05442848866846178 + - - -0.012662228823990183 + - -0.9981401575466065 + - 0.059631316051596744 + - -0.09319680767371252 + - - 0.11386084808809839 + - -0.06068748511861018 + - -0.9916414354103192 + - 0.9741597845356004 + - - 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: + - - 0.9988361866259778 + - -0.010840220666336687 + - -0.04699746697833896 + - 0.023868935103477176 + - - -0.01611673835145888 + - -0.993419708969278 + - -0.11339106038972405 + - -0.03424086081863888 + - - -0.04545902585170022 + - 0.11401654023561913 + - -0.9924382628261137 + - 0.9690899529041223 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9820766244831853 + - 0.031000312040226574 + - -0.18591526106568293 + - 0.10001346485894098 + - - 0.0008829724623279286 + - -0.9871273686120773 + - -0.15993366905260467 + - -0.08941377623539537 + - - -0.18848003608696393 + - 0.15690295978854538 + - -0.9694620865233731 + - 0.973367159274012 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956190565615033 + - 0.010590357432802297 + - 0.0929006918221148 + - 0.012755186742898161 + - - 0.021552398611806044 + - -0.9928032581710288 + - -0.11780146297507707 + - -0.09284617760629538 + - - 0.09098454992832508 + - 0.11928761417027386 + - -0.9886820908562596 + - 0.9720454345343006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999980096387713 + - -0.00470186695687074 + - 0.004207050693795173 + - 0.05446735316290498 + - - -0.0049086205752558836 + - -0.9987087364704873 + - 0.050564465206022154 + - -0.09333772265316831 + - - 0.003963870894523427 + - -0.050584109606107895 + - -0.9987119382398956 + - 0.975344238159496 + - - 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: + - - 0.9995291380380679 + - -0.012408438660877664 + - -0.028063015926239103 + - 0.023878277145016905 + - - -0.014988631612931026 + - -0.9954889673374757 + - -0.09368594788834995 + - -0.03431028352990771 + - - -0.026773926407028123 + - 0.09406246094678798 + - -0.995206214965213 + - 0.9691835922725643 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994404054318 + - -0.010714583789948379 + - -0.031687121745710825 + - 0.09186323649813044 + - - -0.01151903302900067 + - -0.9996131656674242 + - -0.025314638105814732 + - -0.03349698420315071 + - - -0.031403628268022094 + - 0.025665477173817577 + - -0.9991772092141838 + - 0.9686034216388899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9848044408129932 + - 0.020444181930586645 + - -0.17245941197915773 + - 0.09994088268325763 + - - 0.005121323371834091 + - -0.9960336246561821 + - -0.08883012215003071 + - -0.08935687583022624 + - - -0.17359143239782568 + - 0.08659707835404924 + - -0.9810030380272092 + - 0.972610162080557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9893419425181088 + - -0.006457548858455868 + - 0.14546759377000706 + - 0.012831371860713873 + - - 0.03048356756300013 + - -0.9676935331077355 + - -0.2502797996045644 + - -0.09295846680371347 + - - 0.14238424380220988 + - 0.25204667433673783 + - -0.9571829506801008 + - 0.9734064372519118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931152128817131 + - -0.00311786385129162 + - 0.11710018303962758 + - 0.05447093252003856 + - - -0.012412694137275814 + - -0.9968187004501918 + - 0.07872994002948094 + - -0.0932268653681348 + - - 0.11648218304600885 + - -0.07964142990803239 + - -0.9899945169924127 + - 0.9740668598824517 + - - 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: null + base_right_marker_pose: + - - 0.9997923279574279 + - -0.01306039483951189 + - -0.015643754156312698 + - 0.09184111218578872 + - - -0.012876420553043152 + - -0.9998474224917845 + - 0.011803793046094083 + - -0.0334928933522559 + - - -0.015795529469070275 + - -0.011599906170737001 + - -0.9998079532718375 + - 0.9684564443763677 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9715249180646641 + - 0.019906570151882724 + - -0.23609968666695808 + - 0.10000508803500957 + - - 0.006743951186453064 + - -0.9983839299785384 + - -0.05642736466470586 + - -0.08945431432983236 + - - -0.23684140833444295 + - 0.053228346070464456 + - -0.9700891147068709 + - 0.9733833193427598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955956190130437 + - 0.019650442699278767 + - 0.09166909786703728 + - 0.012661231750281483 + - - 0.03218589805490787 + - -0.9900003606692844 + - -0.13734392538837098 + - -0.0927975122257094 + - - 0.0880535710146566 + - 0.13968946265345034 + - -0.9862724890491257 + - 0.9716009732390471 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9922913867428964 + - -0.0009695367587737296 + - 0.12392281385738807 + - 0.05444835180165773 + - - -0.018412112588461503 + - -0.9900246160796523 + - 0.139686268710874 + - -0.09321251651952084 + - - 0.12255120524045973 + - -0.14089116208907523 + - -0.9824107504192431 + - 0.9743271745162907 + - - 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: + - - 0.9990774287507825 + - -0.010005529844298575 + - -0.04176338986791864 + - 0.023891385789828218 + - - -0.015875035142627624 + - -0.9896426217084352 + - -0.14267257815458667 + - -0.03434918713876987 + - - -0.03990331590162974 + - 0.14320394781775797 + - -0.9888884440165457 + - 0.9696506621164269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999635095040999 + - -0.009791591432404701 + - -0.025175414586332295 + - 0.09187989218682847 + - - -0.01020385582530325 + - -0.999815083535923 + - -0.016299695099961237 + - -0.03344820924849482 + - - -0.02501115928279373 + - 0.01655063356117023 + - -0.9995501580411333 + - 0.9687097714624344 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9743882591181797 + - 0.023633249726872488 + - -0.22362689909756006 + - 0.10000474757970322 + - - 0.004033434539876339 + - -0.996138849646443 + - -0.0876990514821775 + - -0.08937719959358521 + - - -0.2248360556015328 + - 0.08455094164116901 + - -0.9707213227127217 + - 0.9735029489405553 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9917357303130465 + - 0.0008581449802735463 + - 0.1282946016309376 + - 0.01279720541820339 + - - 0.030627817670434147 + - -0.9726490495710395 + - -0.23025152150051342 + - -0.09292237115443461 + - - 0.12458803315405048 + - 0.23227804449785516 + - -0.9646370986226162 + - 0.9736857452378338 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991893510143202 + - 0.002476153461332328 + - -0.04018095921724232 + - 0.05461391605232227 + - - 0.0020012283673382643 + - -0.9999277175920448 + - -0.0118555757424798 + - -0.09349921341027069 + - - -0.04020741106566698 + - 0.0117655537566171 + - -0.9991220825505743 + - 0.9773744193634211 + - - 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: + - - 0.9996354510195465 + - -0.01319438795296616 + - -0.02355574646438638 + - 0.02388661074338535 + - - -0.014473854020960433 + - -0.9983814935250231 + - -0.054999099415578005 + - -0.03425942375216277 + - - -0.02279194188145796 + - 0.05531999198564048 + - -0.9982085082145822 + - 0.9690531838453325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997595209194505 + - -0.011411973606570414 + - -0.01872610982862117 + - 0.09186582748289061 + - - -0.011309059020938851 + - -0.9999204113534271 + - 0.005592507742993784 + - -0.03350977548308969 + - - -0.01878844099364191 + - -0.005379388180589323 + - -0.9998090100953444 + - 0.9687666471496189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9844286703476544 + - 0.008360637325744727 + - -0.17558557099333771 + - 0.09985749696801219 + - - 0.007813681548625856 + - -0.9999622289932 + - -0.003806174931350403 + - -0.08929546912753356 + - - -0.1756107609977411 + - 0.002374937990504274 + - -0.9844568148432595 + - 0.9721283273998869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9961965212528637 + - 0.01698993896265058 + - 0.08546246554913996 + - 0.012677318172677834 + - - 0.029389793309908104 + - -0.988847893371095 + - -0.14600028707077475 + - -0.09281913939353299 + - - 0.08202884305470488 + - 0.14795670228006966 + - -0.9855861622189679 + - 0.9716323680690473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942130882133127 + - -0.00585908370662268 + - 0.10726605410597748 + - 0.05439345526223216 + - - -0.011335519248595579 + - -0.9986589001040788 + - 0.05051640571415566 + - -0.09314597510865842 + - - 0.10682621976234308 + - -0.05143998815154654 + - -0.9929461649003218 + - 0.9735942029882526 + - - 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: + - - 0.9975450362218122 + - -0.008893425096318379 + - -0.06946083572258274 + - 0.02384608305240928 + - - -0.01566235544225981 + - -0.9951101081814279 + - -0.09752211655387322 + - -0.03429387831398775 + - - -0.06825387411146541 + - 0.09837062358856474 + - -0.9928064408954915 + - 0.9693207448335565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99964001034082 + - -0.01124984761126101 + - -0.024357558468137808 + - 0.09192213960244527 + - - -0.010680257626592934 + - -0.9996693730508511 + - 0.02338967039418864 + - -0.033450529358752104 + - - -0.024612635430505007 + - -0.02312110535512059 + - -0.999429653684702 + - 0.9685771562917199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9760343084241757 + - 0.0241266463749302 + - -0.2162751342934274 + - 0.10002631215056158 + - - 0.004546073711385714 + - -0.9958788519938961 + - -0.09057949748773243 + - -0.08946012992210789 + - - -0.21756921195966958 + - 0.08742549448541052 + - -0.9721216080929534 + - 0.9735948028046713 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999604662156806 + - 0.01894579956409398 + - 0.02077440909520687 + - 0.0127860341043035 + - - 0.020957901578183093 + - -0.9946296853768453 + - -0.10135361527147072 + - -0.09265655372084583 + - - 0.018742618702225898 + - 0.10174893437297164 + - -0.9946335348248359 + - 0.9707800729316088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993602545129384 + - -0.008652098665163895 + - 0.11260161411409172 + - 0.05441844006738793 + - - -0.01292938946635727 + - -0.9992200409800237 + - 0.03731140029410619 + - -0.09322087883799068 + - - 0.11219096755281951 + - -0.038528572417986726 + - -0.9929394422153822 + - 0.9740297530884062 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9757085277500154 + - 0.016270511763035334 + - -0.21846770773472762 + - 0.10007237784076539 + - - 0.006643572485722831 + - -0.9989771001196226 + - -0.044728250370618984 + - -0.08944536788597421 + - - -0.21897198866641454 + - 0.04219032926582535 + - -0.9748185699379742 + - 0.9738323194127326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964780220657156 + - -0.0018183516184635366 + - 0.08383462970271231 + - 0.012855498369480292 + - - 0.020311763867217406 + - -0.9647574353779634 + - -0.2623557186941725 + - -0.09298783922809757 + - - 0.08135713729355075 + - 0.26313453684441546 + - -0.9613226470499237 + - 0.9723599953432178 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992055686801686 + - -0.004224604134620155 + - 0.12572854490663993 + - 0.054456624174430576 + - - -0.009500247037881632 + - -0.9990978744659582 + - 0.04139060936763788 + - -0.09330710816489207 + - - 0.12544026303645273 + - -0.04225624163967876 + - -0.991200862818347 + - 0.9751062018272478 + - - 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: + - - 0.999516567241272 + - -0.014484463282192576 + - -0.0275105822121359 + - 0.02387048759105998 + - - -0.015880193005528915 + - -0.9985615098472362 + - -0.05121260120044045 + - -0.03427245588337163 + - - -0.02672922146885359 + - 0.05162471670658367 + - -0.9983087885742739 + - 0.9690045694594137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995207593857207 + - -0.013220003952051031 + - -0.027990767272438308 + - 0.09186131396874922 + - - -0.013334580872858817 + - -0.9999034431062659 + - -0.003910679887066385 + - -0.03343554122943278 + - - -0.027936365367335028 + - 0.004282050880322756 + - -0.9996005319778098 + - 0.9685748003287188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9847491365619183 + - 0.015866639714492134 + - -0.1732552676969066 + - 0.09990386294152007 + - - 0.004060336415921529 + - -0.9976574652504242 + - -0.06828686329220071 + - -0.0893549757373565 + - - -0.17393289426886974 + - 0.06654195499283641 + - -0.9825067513849384 + - 0.9723904418798825 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993255254590949 + - 0.03394394117559144 + - -0.014010818083602536 + - 0.012591609514544237 + - - 0.03183199254423227 + - -0.9909558419115923 + - -0.13035813604049362 + - -0.09284243592709927 + - - -0.01830897093142477 + - 0.12982422053975862 + - -0.991367970707485 + - 0.9721260793027098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931500571738653 + - -0.004496151073801729 + - 0.116759361770565 + - 0.054338252945658604 + - - -0.011741880223464472 + - -0.9980414944941821 + - 0.06144349857094122 + - -0.09310512797320072 + - - 0.1162544286656037 + - -0.062393588559570716 + - -0.9912577605861621 + - 0.9730943095144382 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9823094556290695 + - 0.0254614627356328 + - -0.1855258669217938 + - 0.10004100268566503 + - - 0.0025319779902430277 + - -0.9924289223888334 + - -0.12279423070158924 + - -0.08946056354868645 + - - -0.18724775691360918 + - 0.12015218650320175 + - -0.974936782365565 + - 0.97354783983004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990090490579948 + - 0.012996352513784868 + - 0.04256776622725507 + - 0.012814361820643569 + - - 0.017806543806583273 + - -0.9932465589666127 + - -0.11464815785108382 + - -0.09273034462358984 + - - 0.04079027945362755 + - 0.11529253194513614 + - -0.992493720473724 + - 0.9714210142944332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9804803851752382 + - -0.004734089804824718 + - 0.19655992134801187 + - 0.054357705641617175 + - - -0.024493251532558744 + - -0.9948636330302913 + - 0.0982162527443079 + - -0.09310689447667261 + - - 0.1950853528996464 + - -0.10111350091600435 + - -0.9755602313627441 + - 0.9729614923994372 + - - 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: null + base_right_marker_pose: + - - 0.999843438149553 + - -0.01346094907012086 + - -0.011484861314467121 + - 0.09183171967755466 + - - -0.013106490075444382 + - -0.9994518977230183 + - 0.030399408806102816 + - -0.0334654709680734 + - - -0.011887771329530571 + - -0.030244123197571717 + - -0.9994718474798716 + - 0.9683533083332521 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9823244875422619 + - 0.021006265359719584 + - -0.1860035967137991 + - 0.09995157445858274 + - - 0.004574159014392181 + - -0.9960803245351395 + - -0.0883349542552807 + - -0.08940513807286682 + - - -0.18713011046900932 + - 0.08592277864226996 + - -0.9785701803479647 + - 0.9728680193513026 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970508088130705 + - 0.01767553775661785 + - 0.07468105522966582 + - 0.012627516999170401 + - - 0.0368679598543033 + - -0.9637886432802463 + - -0.2641064266923548 + - -0.0929034125084415 + - - 0.06730852978177061 + - 0.26608086449242657 + - -0.9615979073238357 + - 0.9726034283598637 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9973824547718556 + - -0.004316679730791277 + - 0.07217759478792098 + - 0.05441950764872406 + - - -0.009325116720350272 + - -0.9975593434512591 + - 0.06919825497254412 + - -0.09323851216388648 + - - 0.07170272736388335 + - -0.06969018990643633 + - -0.9949884402943513 + - 0.9742862547489424 + - - 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: null + base_right_marker_pose: + - - 0.9997680188726822 + - -0.01090547242357042 + - -0.018573613289045676 + - 0.09190152298729636 + - - -0.010720183161439379 + - -0.9998920673203351 + - 0.010046461210337298 + - -0.03348837437876121 + - - -0.01868116999487614 + - -0.009845018084511855 + - -0.9997770198932047 + - 0.9687577508771531 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9857255177809471 + - 0.023797346095626684 + - -0.16667000304280521 + - 0.09994913565188768 + - - 0.00383138496858384 + - -0.9928743792680803 + - -0.11910410354915092 + - -0.08940914612839883 + - - -0.1683167373873028 + - 0.11676537719645032 + - -0.9787927883895878 + - 0.9728495879256581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986420966739029 + - 0.01399725904566575 + - 0.050180070645222695 + - 0.012764527238169213 + - - 0.025084547038281283 + - -0.9734109868879569 + - -0.22768797971280294 + - -0.09281044670031256 + - - 0.045658824455249235 + - 0.228637545790323 + - -0.9724403037741404 + - 0.972175649218611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921815600409158 + - -0.007371593432668861 + - 0.12458495705757475 + - 0.05442705483319435 + - - -0.010050333749865473 + - -0.9997313365056443 + - 0.0208864932469543 + - -0.09324359980119434 + - - 0.12439751889121675 + - -0.02197531385218846 + - -0.9919890840502267 + - 0.9741892261719951 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9704228126899708 + - 0.009174126286412187 + - -0.24123722767799927 + - 0.1000228259987647 + - - 0.010587512208428813 + - -0.9999335380607208 + - 0.004563337222455122 + - -0.08941546136395861 + - - -0.2411793299520551 + - -0.006982468635836076 + - -0.9704554476819778 + - 0.9734295274825412 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993871561419585 + - 0.026664008058488835 + - 0.02267912724831941 + - 0.012620727945561691 + - - 0.030300047743649194 + - -0.9833721772213352 + - -0.179056047576464 + - -0.0928015504252222 + - - 0.017527670844159553 + - 0.17963349281586996 + - -0.9835774443395654 + - 0.9716854473623677 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9879011810555388 + - -0.00035297774618788663 + - 0.15508427346375964 + - 0.0544353061664659 + - - -0.02329061551229224 + - -0.9889937901004315 + - 0.14611238952204691 + - -0.0931919172584499 + - - 0.15332580897595177 + - -0.14795661036092472 + - -0.9770363543657808 + - 0.9744935722366749 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9707487400926391 + - 0.02443537009858006 + - -0.23885099182691136 + - 0.10004710315128748 + - - 0.004191615927356059 + - -0.996380845998981 + - -0.08489782142241685 + - -0.08946607711680502 + - - -0.24006106299121352 + - 0.08141328156081455 + - -0.9673378745924447 + - 0.9737221239913824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999120453099218 + - 0.020782960076575725 + - 0.03641962066343626 + - 0.012666087618048754 + - - 0.03018811198728019 + - -0.9593105729503693 + - -0.28073457663828805 + - -0.0929269105850784 + - - 0.029103231666888198 + - 0.28158709699858564 + - -0.9590942126352623 + - 0.9728887806628828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.989719201645013 + - -0.0024015853777714508 + - 0.1430039659688893 + - 0.05440801609757179 + - - -0.015189874132903406 + - -0.9959690721947748 + - 0.08840178140346165 + - -0.09317349867816593 + - - 0.14221522288062038 + - -0.08966515275820446 + - -0.9857661947753447 + - 0.9739874367211608 + - - 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: + - - 0.9988634059195675 + - -0.01233220217216476 + - -0.04604142813104557 + - 0.02387206719080984 + - - -0.01455742097286932 + - -0.998726174837801 + - -0.048312619350153636 + - -0.03427111685821155 + - - -0.04538697841209574 + - 0.0489279519644858 + - -0.9977705536380501 + - 0.9692459999850207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999331774934078 + - -0.011558176966965405 + - -0.0002215697120826826 + - 0.09189744361022942 + - - -0.011555653964222293 + - -0.9998910244733324 + - 0.009187275936257393 + - -0.03347607330940414 + - - -0.00032773372752222056 + - -0.009184101636528798 + - -0.9999577715422456 + - 0.968741919785435 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9910496536476798 + - 0.01349207608694521 + - -0.1328101949689025 + - 0.09986198616348023 + - - 0.0030808281578909016 + - -0.9969260806926554 + - -0.07828727950722555 + - -0.08927980880011728 + - - -0.13345820507812683 + - 0.07717741585233981 + - -0.9880448137507121 + - 0.97166382745277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996335296476708 + - 0.014137149893984765 + - 0.0230856534890034 + - 0.012755270774086096 + - - 0.019132423011064513 + - -0.9722755430730506 + - -0.23305411116676336 + - -0.09295010896934551 + - - 0.019150895380243126 + - 0.2334103882325708 + - -0.9721897108441621 + - 0.971777890699846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999259406162063 + - -0.0011030733650372968 + - 0.03846326072751149 + - 0.05437007235485379 + - - -0.0001808204819534641 + - -0.9997125962067547 + - -0.023972740550560617 + - -0.09314394887333481 + - - 0.038478649932066074 + - 0.02394803154128816 + - -0.9989724146765534 + - 0.9732491647684569 + - - 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: + - - 0.9989189874423662 + - -0.009972153826518837 + - -0.04540278268099995 + - 0.023849329297920868 + - - -0.0136397519962198 + - -0.9966044792659746 + - -0.08120017901752276 + - -0.03428647450009584 + - - -0.044438875915120545 + - 0.08173168330002979 + - -0.9956631550139559 + - 0.969124121778357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998016785352608 + - -0.01366401898204464 + - -0.014487863311515829 + - 0.09186073971175227 + - - -0.013199564681641057 + - -0.9994108009867787 + - 0.03168315582736397 + - -0.03344812501006525 + - - -0.014912246319385173 + - -0.0314856388886136 + - -0.9993929554752156 + - 0.9682660111350899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9863234236210714 + - 0.020003571987175735 + - -0.16360305964181288 + - 0.09992453809910187 + - - 0.003974121545194515 + - -0.9952056481076867 + - -0.09772371427910242 + - -0.08934570804539654 + - - -0.1647735123566671 + - 0.09573700999254942 + - -0.9816741386750159 + - 0.9725878565319397 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994937846853736 + - 0.021364243058577155 + - 0.02357421247554488 + - 0.012725845270620558 + - - 0.027147277101552493 + - -0.9590871655127576 + - -0.28180637731370745 + - -0.09298865579481644 + - - 0.016589144681978682 + - 0.28230369828827634 + - -0.9591816419278896 + - 0.9734556028787843 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979390600336367 + - -0.006455290318287708 + - 0.06384325873644112 + - 0.0544041278539394 + - - -0.0021415144173763095 + - -0.997723252967477 + - -0.06740715395265505 + - -0.09321166462737904 + - - 0.06413303653486019 + - 0.06713151059601884 + - -0.9956808293373514 + - 0.9739844506661531 + - - 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: + - - 0.9985215124801894 + - -0.009858726257308204 + - -0.053456474171594354 + - 0.02384242120818344 + - - -0.014777728121460304 + - -0.9956104802411523 + - -0.0924196428555728 + - -0.034312382794660534 + - - -0.0523106859622685 + - 0.09307296680866517 + - -0.9942841721477775 + - 0.9693844386209588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996481753618269 + - -0.011050696057260227 + - -0.02411239541024786 + - 0.09186345229446648 + - - -0.01109402868650555 + - -0.9999370747104297 + - -0.001664075434376474 + - -0.03348570770997021 + - - -0.02409248893894279 + - 0.0019309935780205364 + - -0.999707868949989 + - 0.9687465687147949 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9842569194484728 + - 0.021276783040648187 + - -0.17545829994971332 + - 0.09992515483754183 + - - 0.004336661515120462 + - -0.9953359985173931 + - -0.0963713827974196 + - -0.08938877944603725 + - - -0.17669043518172015 + - 0.09409329709827736 + - -0.9797586139230771 + - 0.9726899155031747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960416187552953 + - 0.03417521402552672 + - -0.08205576429258492 + - 0.012769975870460809 + - - 0.0161111671542407 + - -0.9772563842098839 + - -0.2114483147578943 + - -0.09280544334752933 + - - -0.08741581092833796 + - 0.20928930758004546 + - -0.9739386334530569 + - 0.9719304507372859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9882443452330173 + - -0.001941112273492888 + - 0.1528703574866839 + - 0.05435878050847968 + - - -0.02095603655446901 + - -0.992201066029239 + - 0.12287346785359951 + - -0.09312200218248803 + - - 0.15143962046602136 + - -0.12463256658507635 + - -0.9805777708573267 + - 0.9733214335756144 + - - 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: null + base_right_marker_pose: + - - 0.9999011495794567 + - -0.01337120874223474 + - -0.004347625380877288 + - 0.09185356785825416 + - - -0.013205948559089834 + - -0.9992629114892554 + - 0.036044925366441376 + - -0.033453804245085754 + - - -0.004826385017332979 + - -0.0359839477932764 + - -0.9993407134250442 + - 0.9682008556282257 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9796237790135236 + - 0.029242226323508577 + - -0.19870114189633586 + - 0.10000086545885567 + - - 0.0006831989237513127 + - -0.9898232064133033 + - -0.1423009251021166 + - -0.08941965290526285 + - - -0.20084019724769664 + - 0.1392656175993641 + - -0.9696743282794354 + - 0.9732000842584305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992617000488879 + - 0.026323506345184104 + - 0.02798442118575014 + - 0.012609944150035862 + - - 0.030554135406091875 + - -0.9860749717424795 + - -0.16347047107246648 + - -0.0927325583243394 + - - 0.023291621347441914 + - 0.1642048206258359 + - -0.986151244616283 + - 0.970796994346383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9701065069825602 + - -0.014860017480111898 + - 0.24222416268941213 + - 0.05440701180705349 + - - -0.00849102351425892 + - -0.9995907693672189 + - -0.027316594142241184 + - -0.0931422276386728 + - - 0.24253096220849066 + - 0.02444327466487238 + - -0.9698356864406885 + - 0.9733286996751443 + - - 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: + - - 0.9990090490583673 + - -0.011941886041905337 + - -0.042875532151320624 + - 0.023876325369903934 + - - -0.014494831332366164 + - -0.9981090361634347 + - -0.05973484572295736 + - -0.03428466594043228 + - - -0.042081109350194636 + - 0.06029712502815874 + - -0.9972930546981642 + - 0.9690264462140428 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997179814192332 + - -0.012794312413793165 + - -0.020006578840772844 + - 0.0918833343426215 + - - -0.012924005304279854 + - -0.999896212194741 + - -0.006366704446169131 + - -0.03348298612056234 + - - -0.01992304479613364 + - 0.006623474048275701 + - -0.9997795766455642 + - 0.9688173481949374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9711476857476357 + - 0.024015963472362734 + - -0.23726652938310888 + - 0.10010820062042537 + - - 0.004235357869257156 + - -0.9964963370748076 + - -0.08352910834081013 + - -0.08951134179731046 + - - -0.23844125945551214 + - 0.08011419159540721 + - -0.9678468278060757 + - 0.9744825671353872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988356681112132 + - 0.017078185828167863 + - 0.0451181080902671 + - 0.012737673682922248 + - - 0.025230171823526763 + - -0.9820707837228969 + - -0.18681652546723795 + - -0.09275389869606938 + - - 0.04111868843460083 + - 0.187737346648754 + - -0.9813582129552413 + - 0.971527593892981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9863114581901194 + - -0.006799798331885771 + - 0.16475275471301193 + - 0.0544558884620985 + - - -0.016035888974169868 + - -0.9983688330964896 + - 0.0547952859866755 + - -0.09326837170442377 + - - 0.16411141857801453 + - -0.05668717530622903 + - -0.9848116603940635 + - 0.9746727507687276 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9765244977558345 + - 0.021750552612190947 + - -0.2143054333043832 + - 0.09991184851340945 + - - 0.0055895678652755805 + - -0.9971126754689056 + - -0.07573023933885756 + - -0.08937690092132214 + - - -0.21533383852473023 + - 0.07275455917195489 + - -0.9738265308081825 + - 0.9726454646742891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9912608175247019 + - 0.0038192031090830587 + - 0.1318613109591717 + - 0.012684542446768433 + - - 0.039467964734592756 + - -0.9623802726437505 + - -0.2688242745472396 + - -0.09305065648740043 + - - 0.12587402988690216 + - 0.2716792677289754 + - -0.954120592004113 + - 0.9740395560004111 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997691426422061 + - -0.002162394465462127 + - 0.021377218496429977 + - 0.054378153399537464 + - - -0.002839190573705638 + - -0.9994940236254394 + - 0.03168021044620445 + - -0.09319846964282241 + - - 0.021297897017183418 + - -0.031733590833773584 + - -0.9992694225259973 + - 0.9737451715868315 + - - 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: + - - 0.9993585141102699 + - -0.013158408773513944 + - -0.033307905275814245 + - 0.02386631339385683 + - - -0.015242361124520456 + - -0.9978904175808657 + - -0.0631061401738051 + - -0.03430438305418176 + - - -0.032407263115900586 + - 0.06357334959584356 + - -0.9974508501768408 + - 0.9690013135384917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998308848298691 + - -0.012648402911991673 + - -0.013349893036904346 + - 0.09192753380430294 + - - -0.01274319762074879 + - -0.9998940206958133 + - -0.007039764993124439 + - -0.033454626334589115 + - - -0.01325943644049056 + - 0.007208694787255077 + - -0.999886104546285 + - 0.969010019018292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9666757639310213 + - 0.023802382753357124 + - -0.25489490776325624 + - 0.10001865675244538 + - - 0.006237246989286203 + - -0.997562514545479 + - -0.06949911023672409 + - -0.08944509073037242 + - - -0.25592784955602405 + - 0.06559326298458076 + - -0.9644679671573677 + - 0.9735716488015017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986646375716619 + - 0.0147965793251689 + - 0.04949750401924507 + - 0.012718049000855406 + - - 0.026680026826072196 + - -0.9681673247003312 + - -0.24887789687146505 + - -0.0928060483533072 + - - 0.04423932450231655 + - 0.24986614941379615 + - -0.9672692435639113 + - 0.9718381567398054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9823046896261756 + - -0.007421485147118809 + - 0.18714277516547104 + - 0.05443482638395993 + - - -0.011179966133101665 + - -0.9997562891369947 + - 0.01903603656988016 + - -0.09324144164825066 + - - 0.18695589077556676 + - -0.020791437882893286 + - -0.9821482632551346 + - 0.9745857175373189 + - - 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: null + base_right_marker_pose: + - - 0.9998238478411136 + - -0.012903714824160346 + - -0.013629652670796648 + - 0.09189296375243225 + - - -0.012793129912766986 + - -0.9998847883085916 + - 0.008169818609879084 + - -0.03346143771519634 + - - -0.013733503384966131 + - -0.00799401356140985 + - -0.9998737353445961 + - 0.9688638829719305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9847885129096406 + - 0.01788678006132168 + - -0.17283416311671865 + - 0.09988979700127712 + - - 0.0023870592639027586 + - -0.9959862589040226 + - -0.08947443222753092 + - -0.0893163927593468 + - - -0.17374086102379374 + - 0.08770082766659794 + - -0.9808785235885755 + - 0.9721016556497497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975142356606886 + - 0.020008203256325584 + - 0.06756494251256022 + - 0.012659608116086372 + - - 0.031625616756165736 + - -0.9839661493979639 + - -0.17552902097299 + - -0.09279242425520993 + - - 0.06296959598936723 + - 0.17722948017019574 + - -0.982153013200865 + - 0.9715610251771291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918053092377445 + - -0.0039613258697645745 + - 0.12769704955548328 + - 0.05426480209201749 + - - -0.016261968193834676 + - -0.9953034105268053 + - 0.09542887081052812 + - -0.09292223283892358 + - - 0.1267192840821188 + - -0.09672346608276242 + - -0.9872116258182194 + - 0.9713793407586017 + - - 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: + - - 0.9990484155987416 + - -0.013678949589594336 + - -0.04141436499295278 + - 0.02387170623147826 + - - -0.015389548292841318 + - -0.999029444077538 + - -0.04127143890718115 + - -0.03427833237385308 + - - -0.04080962010343248 + - 0.04186951401977599 + - -0.9982892960974603 + - 0.9690167718994549 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997633444614231 + - -0.011215396346595035 + - -0.018640546024693207 + - 0.09187599650672693 + - - -0.011306806809585549 + - -0.999924527778021 + - -0.004805711983940334 + - -0.033481820183775504 + - - -0.01858524121663835 + - 0.005015339738308923 + - -0.9998147004201473 + - 0.9686932125294084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9808430455266219 + - 0.027893763315773798 + - -0.19279226646871642 + - 0.09998102458706747 + - - 0.002227839890625166 + - -0.9912364517198984 + - -0.13208078403449733 + - -0.0894324338184313 + - - -0.1947869522619077 + - 0.12912100816609737 + - -0.9723095229805621 + - 0.9729977172521399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995642369909387 + - 0.02431038203683899 + - 0.016743400310134708 + - 0.012692828710019824 + - - 0.02714402833443496 + - -0.9798762833555561 + - -0.19775153866173154 + - -0.09293222427896723 + - - 0.011599045413389627 + - 0.19811984918863088 + - -0.9801091712166422 + - 0.9728164373251029 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9787054025932074 + - -0.0054604311620361345 + - 0.2051972675899768 + - 0.054428733300425275 + - - -0.017869594884235986 + - -0.9981174842503248 + - 0.058669968574026884 + - -0.09323562107981845 + - - 0.2044906171772709 + - -0.061087407256558854 + - -0.9769605499512922 + - 0.9745825444415601 + - - 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: + - - 0.9994812501698319 + - -0.013185796137582117 + - -0.029383079130136432 + - 0.023877602866674213 + - - -0.014962567555625401 + - -0.9980198844954242 + - -0.06109363079637161 + - -0.03428469750036652 + - - -0.028519329078593007 + - 0.061501584792248605 + - -0.9976994552153212 + - 0.9690775475359135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996559535308875 + - -0.009471551460319723 + - -0.024459441595965428 + - 0.09186412669232744 + - - -0.009718342377662769 + - -0.9999028649733218 + - -0.009990717670614201 + - -0.03351783647063495 + - - -0.02436243813091072 + - 0.010224985627271766 + - -0.9996508997031114 + - 0.9685988108037243 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9780682363760941 + - 0.02734168464589749 + - -0.2064823413100534 + - 0.09997066903893177 + - - 0.003896358710596539 + - -0.9935748929072886 + - -0.11310946279188443 + - -0.08941359213508948 + - - -0.20824827341650506 + - 0.10982424352115804 + - -0.9718905762245307 + - 0.9729971635205954 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987554068067773 + - 0.020310961800145105 + - 0.04555328972732745 + - 0.012680480315345698 + - - 0.027644278083782163 + - -0.9856311117116783 + - -0.16663464680320064 + - -0.09287320674575397 + - - 0.041514229650269456 + - 0.16768654226488763 + - -0.9849658838151657 + - 0.9719766412219526 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830943261217366 + - -0.014912610173024931 + - 0.1824915340641202 + - 0.05435689685445962 + - - -0.0059139629104366575 + - -0.9987439356672956 + - -0.04975516064183061 + - -0.09313456086388663 + - - 0.18300429227190965 + - 0.047834767958335314 + - -0.981947689026472 + - 0.9732334080841543 + - - 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: + - - 0.999477933804666 + - -0.011893387080764203 + - -0.03004009289770505 + - 0.02388935614742418 + - - -0.013946574614031051 + - -0.9975129016941856 + - -0.06909054935504842 + - -0.034276658805410434 + - - -0.029143659586450408 + - 0.06947343591182335 + - -0.9971580059391371 + - 0.9689557400370132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999908213971574 + - -0.01350392822445006 + - 0.0010988879314368983 + - 0.09188785071247985 + - - -0.013536237695414859 + - -0.9991662605852495 + - 0.038516931045242904 + - -0.03347748599453431 + - - 0.0005778418729950128 + - -0.038528270537355656 + - -0.9992573434647211 + - 0.9686850865824794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9807476954581567 + - 0.022651228533575284 + - -0.19396102623835215 + - 0.09994785000701728 + - - 0.0027515203721910336 + - -0.9947542162419568 + - -0.10225692350394378 + - -0.08934275065439946 + - - -0.19525979358064577 + - 0.09975455435602795 + - -0.9756652304433492 + - 0.9726807671452652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994377625107053 + - 0.02398489009818113 + - 0.023428271694113576 + - 0.012687402120129206 + - - 0.028109733569805555 + - -0.9802869016260817 + - -0.1955695103511052 + - -0.09288467055044408 + - - 0.01827571465715028 + - 0.19611811631594533 + - -0.9804099564500839 + - 0.9722536288199168 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9818508358439403 + - -0.005535571921426074 + - 0.18957397921671232 + - 0.054337406135959526 + - - -0.01832498448243429 + - -0.9976660177024841 + - 0.0657777474940042 + - -0.09311699922413699 + - - 0.18876739945306842 + - -0.06805787658433923 + - -0.9796606526438408 + - 0.9730123579316774 + - - 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: + - - 0.9995858602712012 + - -0.012967541397661838 + - -0.025689507896851798 + - 0.02389467141250559 + - - -0.014416604646015253 + - -0.9982672829495747 + - -0.057049042962654256 + - -0.03427415476350938 + - - -0.024905209422186676 + - 0.05739577216637308 + - -0.9980408087253062 + - 0.9689595088489248 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995073897279618 + - -0.014239862478301548 + - -0.02796791368327807 + - 0.09181598284002036 + - - -0.013272075933741063 + - -0.9993169319373069 + - 0.034489441048202764 + - -0.03337957278228042 + - - -0.028439934592140753 + - -0.03410125892115278 + - -0.9990136506877109 + - 0.9681316447636913 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9839130904751975 + - 0.028663630006677536 + - -0.17633328303637438 + - 0.09995981974195295 + - - 0.002253436819290369 + - -0.9889571186721052 + - -0.14818481518113855 + - -0.08936327481544605 + - - -0.17863357023260576 + - 0.14540362355390948 + - -0.9731124466593493 + - 0.9727233560279497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9939635443516022 + - 0.008143713174133763 + - 0.10940819181276143 + - 0.012785583387347827 + - - 0.02610267951100977 + - -0.9861587080015247 + - -0.16373653457646262 + - -0.09286244250023087 + - - 0.10656041770913846 + - 0.16560399321423705 + - -0.9804183774334062 + - 0.972471141789701 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997801283445051 + - 0.0002258238364810385 + - -0.020967688738625163 + - 0.05442629772425368 + - - 0.0006945793650010365 + - -0.9997499327511945 + - 0.02235149935659412 + - -0.09323879845186915 + - - -0.020957397905052678 + - -0.022361148619357403 + - -0.9995302729309765 + - 0.9741527095848502 + - - 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: + - - 0.9983810435378163 + - -0.008312532021040077 + - -0.056268940950937096 + - 0.02384574594874575 + - - -0.015652847053446925 + - -0.9912194491912246 + - -0.13129734164928128 + - -0.03430897504232124 + - - -0.054683455299224276 + - 0.13196554609611508 + - -0.9897448228508665 + - 0.969587374190959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9823374992977252 + - 0.011257802912519162 + - -0.18677874436636127 + - 0.09989057584971825 + - - 0.006486254429295588 + - -0.9996373001239157 + - -0.026138031763072694 + - -0.08931229709671357 + - - -0.18700525654903422 + - 0.024464874300756764 + - -0.9820542265824624 + - 0.9721319307165491 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990374658859754 + - 0.024644204942514458 + - 0.03628780675212691 + - 0.012634718527652909 + - - 0.030562312566291182 + - -0.9844795287786359 + - -0.17281783029073047 + - -0.0928826151718645 + - - 0.03146564486433864 + - 0.17376052652586763 + - -0.9842851175420285 + - 0.9723362767825509 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998104366644722 + - -0.0025005245525749602 + - 0.019309016385079862 + - 0.05435026258340822 + - - -0.002619317037944162 + - -0.9999777849437654 + - 0.006129339052179167 + - -0.09307469464193678 + - - 0.01929326087140399 + - -0.006178753589827239 + - -0.9997947754859622 + - 0.9726396732732685 + - - 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: + - - 0.9996659847792754 + - -0.012600580967648283 + - -0.02256422466116152 + - 0.023876264832150183 + - - -0.014082883579912718 + - -0.9976679017681613 + - -0.06678645200629142 + - -0.03423827712787437 + - - -0.021670054576679188 + - 0.06708191366375725 + - -0.997512118018549 + - 0.9689289593838302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9799467249954036 + - 0.02023866267574432 + - -0.19822919236046024 + - 0.09994442303072876 + - - 0.0053088537066981085 + - -0.997127151864454 + - -0.07555963927258301 + - -0.08935451740580168 + - - -0.19918893604591545 + - 0.07299205126436319 + - -0.9772389309729309 + - 0.9726861201323849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972421761167373 + - 0.011739459982188834 + - 0.07328183440172015 + - 0.012735660310169164 + - - 0.034535851404857223 + - -0.9473922570267265 + - -0.31820620090367063 + - -0.09314956444429773 + - - 0.06569107353131146 + - 0.3198594947865893 + - -0.945184948278998 + - 0.97452428111937 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942933676115597 + - -0.006130547773618622 + - 0.10650406333872468 + - 0.05438823486582819 + - - -0.011708447310901508 + - -0.9985874603184931 + - 0.05182659892594724 + - -0.09312861591727772 + - - 0.10603589668235726 + - -0.052777840791932096 + - -0.9929606679703437 + - 0.9731344575869687 + - - 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: null + base_right_marker_pose: + - - 0.9998762897132218 + - -0.011789341930813433 + - -0.010412333367673528 + - 0.09193579357304477 + - - -0.011795007610834676 + - -0.9999303198792812 + - -0.000482888785687951 + - -0.033470368928818585 + - - -0.01040591489401847 + - 0.0006056425986960487 + - -0.9999456735904514 + - 0.9691023609718938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9643083469653423 + - 0.03437025852887195 + - -0.2625416106098754 + - 0.10003514800919355 + - - 0.0019257428458983074 + - -0.9924235668574298 + - -0.12284850613852895 + - -0.08945034814968145 + - - -0.264774816565814 + - 0.11795825225322397 + - -0.9570685175252107 + - 0.9741070861319386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971162066481776 + - 0.011856290144440104 + - 0.07495798038607732 + - 0.01278893850034831 + - - 0.021458499720036793 + - -0.9914609434553225 + - -0.12862632076074798 + - -0.09274553500908743 + - - 0.07279287897393452 + - 0.12986387483319795 + - -0.9888561931767397 + - 0.9714744535641471 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9865926702286828 + - -0.011060569013490035 + - 0.16282680020234788 + - 0.054489107178678636 + - - 0.0007899857869030462 + - -0.9973654734580796 + - -0.07253611704658637 + - -0.09332783256690165 + - - 0.1632001194040433 + - 0.07169223226289868 + - -0.9839847279605856 + - 0.975198482398439 + - - 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: + - - 0.9998269798018253 + - -0.01450992713413047 + - -0.011639264363463379 + - 0.023885651781308342 + - - -0.01513163976021981 + - -0.9983586423069658 + - -0.05523635405382151 + - -0.034258313345265926 + - - -0.010818684694883165 + - 0.055402918204318564 + - -0.9984054650871651 + - 0.9687889217261345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998534520704783 + - -0.011408276193651909 + - -0.012764231940747748 + - 0.09190266932536849 + - - -0.011306164269277212 + - -0.9999037308282316 + - 0.008043613945227998 + - -0.03351231047834089 + - - -0.01285476690819282 + - -0.007898120667165203 + - -0.9998861808514324 + - 0.968883923858169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9571226645993007 + - 0.026055318591944272 + - -0.288508795851022 + - 0.10005564139665522 + - - 0.0052835140989860915 + - -0.9973512807250502 + - -0.07254314106011735 + - -0.08944873525999773 + - - -0.2896347516944406 + - 0.0679083441793021 + - -0.9547251789922194 + - 0.973905622673425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995715769882391 + - 0.024656881461357614 + - 0.015770246473827264 + - 0.012663035128219712 + - - 0.027197520116863657 + - -0.9815638847008068 + - -0.18918941606378104 + - -0.09275561786147422 + - - 0.010814683385910972 + - 0.18953727456007752 + - -0.981813966174652 + - 0.9713972221451526 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9594206059251793 + - -0.00799703959135313 + - 0.2818654790568298 + - 0.0545272122873399 + - - -0.023931677326684574 + - -0.9983004964273196 + - 0.053135615676289126 + - -0.09333304933908693 + - - 0.28096152004588326 + - -0.057724918282672184 + - -0.9579814497487752 + - 0.9754290361512179 + - - 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: + - - 0.998760361223893 + - -0.012756289554162104 + - -0.04811463316631494 + - 0.02387194732519194 + - - -0.015704960281468398 + - -0.9979888859358899 + - -0.06141284695403443 + - -0.03425983981408934 + - - -0.04723446909277354 + - 0.06209235561043348 + - -0.996952077235547 + - 0.9690490632428518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997405925913982 + - -0.011128711742599636 + - -0.019872073368172 + - 0.09186281969930721 + - - -0.011134815881588706 + - -0.999937986699287 + - -0.00019654785544763633 + - -0.03345632083507833 + - - -0.01986865371088353 + - 0.00041776874761780604 + - -0.999802511533648 + - 0.9685482144549646 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9706755448313188 + - 0.03050068734457674 + - -0.23845061278581559 + - 0.10003380877777307 + - - 0.0035000177579329033 + - -0.9936062802934355 + - -0.11284639842342148 + - -0.08947402785802208 + - - -0.24036791912007877 + - 0.10870265789276637 + - -0.9645760704189856 + - 0.9737981206950007 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995761205557263 + - 0.020785666611216478 + - 0.020384682442743152 + - 0.012742068422010568 + - - 0.02543887291482615 + - -0.9640890153911564 + - -0.2643581550603919 + - -0.09283784768595191 + - - 0.014157787948244061 + - 0.2647646624186057 + - -0.9642091218064547 + - 0.9725965767551941 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9847819043219437 + - -0.005927740147205753 + - 0.17369358887648528 + - 0.0543846761605786 + - - -0.019235771202147214 + - -0.9969953479610111 + - 0.07503506680453136 + - -0.09317931966032975 + - - 0.17272691170256282 + - -0.07723430611359854 + - -0.9819370020183807 + - 0.9741052703019292 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.970548592945471 + - 0.01760474382088046 + - -0.24026131966375192 + - 0.10001169827345163 + - - 0.00957845450645131 + - -0.9993576367713186 + - -0.03453356390692801 + - -0.08939639045899105 + - - -0.24071493917252884 + - 0.03121516973920228 + - -0.9700937744555004 + - 0.9734377864304232 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991765384715782 + - 0.016221764038759457 + - 0.03719004355235088 + - 0.012751925440980099 + - - 0.020381134241692325 + - -0.9932324024927228 + - -0.11434161099773112 + - -0.0926383612853155 + - - 0.03508353367289363 + - 0.11500543035007156 + - -0.9927451317709991 + - 0.9707194670305015 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971036896215104 + - -0.003399803558980237 + - 0.07597811184104852 + - 0.05442965412366749 + - - -0.013048018413124068 + - -0.9918354860002979 + - 0.1268547118795536 + - -0.09322997764719218 + - - 0.07492650638232981 + - -0.12747866506327293 + - -0.9890071832878796 + - 0.9744545427241262 + - - 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: + - - 0.9994454650451667 + - -0.011119070331543213 + - -0.03138675955896829 + - 0.023865287984498117 + - - -0.014164228345173962 + - -0.995033300714287 + - -0.09852971686256591 + - -0.03423835193563747 + - - -0.030135312111144 + - 0.0989196479198841 + - -0.9946390130189798 + - 0.9687430774287014 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999572832862503 + - -0.010243677960806448 + - -0.027371862652475445 + - 0.0919426902024908 + - - -0.01081845619281814 + - -0.9997223267173636 + - -0.02093395491597986 + - -0.03346896004287346 + - - -0.027149821524915532 + - 0.021221133915403548 + - -0.9994060989740402 + - 0.969008410927666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9689375042019337 + - 0.024324293004673182 + - -0.24610656578147302 + - 0.0999994755696712 + - - 0.005969377588091265 + - -0.9971615990043716 + - -0.07505406053143655 + - -0.08941438473971915 + - - -0.24723365361968522 + - 0.07125359107349295 + - -0.9663324719148136 + - 0.9733294821312083 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957062625471067 + - 0.007840775837627106 + - 0.09223644051423657 + - 0.012774520909267353 + - - 0.0231010009762189 + - -0.9859278328530785 + - -0.16556766640720913 + - -0.09278994878992541 + - - 0.0896402949480252 + - 0.1669875164193307 + - -0.9818756473615866 + - 0.9719639573194108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.975976601106123 + - -0.0050828801930850945 + - 0.21781606557433353 + - 0.05438501331757296 + - - -0.023610786679535728 + - -0.9963076724995552 + - 0.08254424553469172 + - -0.09305831546208163 + - - 0.2165922548146934 + - -0.08570406085746907 + - -0.9724929866620249 + - 0.9727546137635843 + - - 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: + - - 0.9992907550929411 + - -0.01198186113652243 + - -0.03569904465787019 + - 0.023850234593841783 + - - -0.013932647627360456 + - -0.9983942352823167 + - -0.054907488424891175 + - -0.03427773038374977 + - - -0.03498382648984133 + - 0.05536592777821794 + - -0.997853068304841 + - 0.9690190724893105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99969141893267 + - -0.012459764947699379 + - -0.02149002489140305 + - 0.09191740892852425 + - - -0.011938634346744942 + - -0.9996356050943049 + - 0.024210040018085466 + - -0.03344993509553324 + - - -0.021783845443809107 + - -0.02394600770881567 + - -0.9994758890501008 + - 0.9686497322805612 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9790583770753027 + - 0.0233857859372522 + - -0.20223204319486884 + - 0.09988823157692472 + - - 0.004082148951346754 + - -0.995435648736375 + - -0.09534781216541986 + - -0.08932971576072403 + - - -0.2035387686378526 + - 0.09252553291330014 + - -0.9746850749962767 + - 0.9722989430987545 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995350898920131 + - 0.015249899949154004 + - 0.026401602718510206 + - 0.012782863408159506 + - - 0.021632524032790455 + - -0.9649258637892826 + - -0.26162972173374777 + - -0.09288302857120556 + - - 0.021485762228415264 + - 0.2620792207368763 + - -0.9648071538288966 + - 0.9727114897653153 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901801380189862 + - -0.008913273001266209 + - 0.1395128948775215 + - 0.05431775633680762 + - - -0.009537899373978947 + - -0.9999472577598213 + - 0.0038092222494804507 + - -0.09312994325319264 + - - 0.1394715840170797 + - -0.005102476165449849 + - -0.9902129276013054 + - 0.9733143571011427 + - - 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: + - - 0.9990531496476162 + - -0.012598911110466127 + - -0.041642185557537875 + - 0.023864159095604083 + - - -0.014728959325477901 + - -0.998577404041244 + - -0.05124671594784695 + - -0.03426708314874094 + - - -0.04093729273371971 + - 0.0518115390340942 + - -0.9978174695236364 + - 0.9689633442779526 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998509775976685 + - -0.012034477110599406 + - -0.012377154667410267 + - 0.09187942315220857 + - - -0.011992932075755146 + - -0.9999222152356648 + - 0.003425355226341052 + - -0.03349872972555909 + - - -0.012417414272418398 + - -0.003276406396459017 + - -0.9999175330915604 + - 0.968632204160206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9793130960974016 + - 0.0182837303465376 + - -0.20152311285988167 + - 0.09998954939446669 + - - 0.0037455913251164853 + - -0.997376781973378 + - -0.07228779513897304 + - -0.08942261132686362 + - - -0.20231616435111338 + - 0.07003756124426394 + - -0.9768126277117886 + - 0.973221070851669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984797181585662 + - 0.03081054960113269 + - -0.045705168846273785 + - 0.012633026408292202 + - - 0.025913009798293914 + - -0.9942265795857648 + - -0.10412504198502777 + - -0.09267141089657191 + - - -0.04864944346222038 + - 0.10278238408631322 + - -0.9935134690442547 + - 0.9704881165376891 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9884139871234097 + - -0.01068084123123224 + - 0.15140577825630513 + - 0.05433930543384761 + - - -0.008427851316721252 + - -0.9998441251650888 + - -0.015514402825818549 + - -0.0931153009827621 + - - 0.15154788477899478 + - 0.0140586273672694 + - -0.9883499347981771 + - 0.9727823707365907 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9750708276119652 + - 0.029973690914437384 + - -0.21986008958672534 + - 0.09997320484778513 + - - 0.0034013441684259665 + - -0.9927371157791893 + - -0.12025576831181088 + - -0.08940915506680505 + - - -0.22186778044133634 + - 0.11651007169932477 + - -0.9680909519227275 + - 0.9731667371750721 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996446370181834 + - 0.026230881907304823 + - 0.004747685241191533 + - 0.012661023435639395 + - - 0.026605630190869024 + - -0.9928236001876329 + - -0.11659090596017535 + - -0.09272691652579379 + - - 0.0016553316680104253 + - 0.11667578902597042 + - -0.9931686765762585 + - 0.9705950070032465 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9927245365643069 + - -0.004838610205079464 + - 0.12031035846703074 + - 0.05437382089657604 + - - -0.01388303634597033 + - -0.9971279745383943 + - 0.07445175414169974 + - -0.0930984012035491 + - - 0.11960458103684239 + - -0.07558035620611311 + - -0.9899405810202746 + - 0.9730053080411658 + - - 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: + - - 0.9993724171227331 + - -0.011828397452983395 + - -0.03338953291018477 + - 0.023845683506047852 + - - -0.013499729931045479 + - -0.9986438051000809 + - -0.05028228144208245 + - -0.03426060307872365 + - - -0.03274949138620157 + - 0.050701474820030734 + - -0.9981767535186437 + - 0.9688331718254058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9744264917505345 + - 0.026998904853030622 + - -0.22307862136807824 + - 0.09991545569528064 + - - 0.003343673122776199 + - -0.9943877686893788 + - -0.10574396120349223 + - -0.08936953127801085 + - - -0.22468162369182185 + - 0.10229381514878917 + - -0.969048060396135 + - 0.9725938610420182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955766665831317 + - 0.0020401777668740233 + - 0.09393049893351596 + - 0.012767901859350587 + - - 0.028081712919597147 + - -0.9605235918252034 + - -0.27677761279899643 + - -0.09299528030350701 + - - 0.08965778468555322 + - 0.2781910624407072 + - -0.956332167410147 + - 0.9740432223587224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906050155111107 + - -0.007568572688373457 + - 0.13654457130070385 + - 0.054446439796709094 + - - -0.0099383667201942 + - -0.999811450416921 + - 0.0166821006515752 + - -0.09323782497382795 + - - 0.13639256618733708 + - -0.017882402597949657 + - -0.9904934565993655 + - 0.9744559734137946 + - - 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: + - - 0.9994419030786262 + - -0.012494479992522664 + - -0.030980160430349683 + - 0.023882096277817896 + - - -0.014400198350111394 + - -0.9979676361028356 + - -0.062074403571812126 + - -0.03424089592301108 + - - -0.030141610077286888 + - 0.0624858804933979 + - -0.9975905964276698 + - 0.9692840887525191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9804225873939947 + - 0.020972412443896055 + - -0.19578485141590518 + - 0.09996021391056144 + - - 0.0035257436930711955 + - -0.996022001493585 + - -0.08903786650703675 + - -0.08938370258691222 + - - -0.19687335842890402 + - 0.08660444825179157 + - -0.9765964111565884 + - 0.9728835594097084 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987507556860076 + - 0.020968854202025072 + - 0.04535675440420017 + - 0.012648763693120508 + - - 0.029848310394170907 + - -0.9783122826475699 + - -0.2049735494826443 + - -0.09277851182453667 + - - 0.040075009460285166 + - 0.206071309925363 + - -0.9777160164599956 + - 0.9713272367615238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935470184509154 + - -0.007454595022866241 + - 0.11317575332349873 + - 0.05440996441723806 + - - -0.006640542228395887 + - -0.999949312191516 + - -0.007568107202370388 + - -0.0932239099896035 + - - 0.11322643386687258 + - 0.006767721977056788 + - -0.9935461602829692 + - 0.9741791298763441 + - - 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: null + base_right_marker_pose: + - - 0.9997164555653932 + - -0.01060175860621959 + - -0.021321613124303525 + - 0.09187596964538401 + - - -0.010983419589840887 + - -0.9997801063242412 + - -0.017863468095616754 + - -0.033472784756855806 + - - -0.021127540459800875 + - 0.01809258723193195 + - -0.9996130678024248 + - 0.9686990311743883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9783839566297741 + - 0.02937684190514203 + - -0.204699376083926 + - 0.09995592476586414 + - - 0.0014463950178196083 + - -0.9908064184093625 + - -0.13527952239812607 + - -0.08942066654448863 + - - -0.20679154081083853 + - 0.13205923821714616 + - -0.9694315944152984 + - 0.9730109151581199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983862109667234 + - 0.020909266563259 + - 0.052799396997464665 + - 0.012668741275718242 + - - 0.0256777715332463 + - -0.995490998723985 + - -0.09131442114260796 + - -0.09269587110051494 + - - 0.05065200687628979 + - 0.09252282978438209 + - -0.9944213896372578 + - 0.9705748790382394 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9618139522899992 + - -0.012440122284335364 + - 0.27342122181323464 + - 0.05439999290996348 + - - -0.017938866506889552 + - -0.9996838175581331 + - 0.01761993135189245 + - -0.09313047256786508 + - - 0.2731155767230043 + - -0.021851962610900395 + - -0.9617330052989305 + - 0.9733650141477926 + - - 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: null + base_right_marker_pose: + - - 0.9999157639026974 + - -0.01112746015563734 + - -0.006681671150982607 + - 0.09188487403722373 + - - -0.01117273998676647 + - -0.9999146101577189 + - -0.006778073053997455 + - -0.033490103584162614 + - - -0.006605677866296494 + - 0.006852154670023161 + - -0.9999547054723553 + - 0.968883713870279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9761768340781788 + - 0.023020409920700573 + - -0.21575182348287777 + - 0.09999161591414998 + - - 0.0038565406406432905 + - -0.9960396084908991 + - -0.08882694079829423 + - -0.0894258177879875 + - - -0.21694219438226167 + - 0.08587874617377406 + - -0.972399570779538 + - 0.9733104185965268 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9980591989115248 + - 0.01657295480739953 + - 0.06002643281952653 + - 0.0127441109374597 + - - 0.022081147362584014 + - -0.9954868529212416 + - -0.0922949001414193 + - -0.09270184653261555 + - - 0.05822592549060159 + - 0.09344122660750234 + - -0.993920760810865 + - 0.9710772242281109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9742071797305708 + - -0.012464757333206788 + - 0.2253108980631687 + - 0.05443697031713351 + - - -0.009322416155485604 + - -0.9998439552618887 + - -0.01500525518900954 + - -0.0931840443894216 + - - 0.22546277634774056 + - 0.012517785382711442 + - -0.974171361481481 + - 0.9738745245375593 + - - 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: + - - 0.9987653077693038 + - -0.008870286484738775 + - -0.048879218632938065 + - 0.02384485277056894 + - - -0.014262418051706884 + - -0.9937072062912521 + - -0.11109712685823006 + - -0.03429162259242017 + - - -0.04758616845057233 + - 0.11165709194902929 + - -0.9926067954581412 + - 0.9696402690998469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999206701870132 + - -0.012158632039665879 + - 0.003289528792754797 + - 0.09188694210907375 + - - -0.012198638040796175 + - -0.9998483583701576 + - 0.012427932026319685 + - -0.03347655245935637 + - - 0.0031379233107252497 + - -0.012467073891863818 + - -0.9999173593381961 + - 0.9687659054704114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9660389621492045 + - 0.02521588932257085 + - -0.2571631438121717 + - 0.10002759082753786 + - - 0.005586420450542364 + - -0.9970325948407434 + - -0.07677757961595684 + - -0.08948161830765226 + - - -0.25833605152250355 + - 0.07273351188280879 + - -0.9633131997086702 + - 0.9738240097142263 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9946331227261956 + - -0.00023477346493505635 + - 0.1034644676077577 + - 0.012863103004329695 + - - 0.014851379645096086 + - -0.9893179338977925 + - -0.14501538604865707 + - -0.09291960749807228 + - - 0.10239329909019342 + - 0.14577369635714113 + - -0.984004899251931 + - 0.9723688520120355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9917062754495471 + - -0.006224423567156278 + - 0.12837413986174784 + - 0.05447810207038073 + - - -0.00472270220722399 + - -0.9999168555268043 + - -0.011999088184063273 + - -0.09330548337646521 + - - 0.1284381536687944 + - 0.011293298218132502 + - -0.9916532166526293 + - 0.9749453830465479 + - - 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: null + base_right_marker_pose: + - - 0.9998406173901808 + - -0.014337404277785449 + - -0.01063854573696109 + - 0.0918937815500802 + - - -0.014132700771428669 + - -0.9997181921135907 + - 0.0190736238307861 + - -0.03347908190552568 + - - -0.010909013966776874 + - -0.018920232443297613 + - -0.9997614806635449 + - 0.9687476775189159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.980327392527089 + - 0.024602437070218832 + - -0.19583902458714583 + - 0.09999422747726752 + - - 0.0013042068517836146 + - -0.9929870201824927 + - -0.11821622897716612 + - -0.08940587177139392 + - - -0.19737401679432517 + - 0.1156351929098574 + - -0.9734844629757445 + - 0.9729927060734738 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.992766466862027 + - 0.014152607213284221 + - 0.11922435146963203 + - 0.012665823223342944 + - - 0.028842533386643228 + - -0.9920610561346901 + - -0.12240493931522767 + - -0.09275120127013757 + - - 0.11654548700884229 + - 0.12495825146820314 + - -0.9852931466563045 + - 0.9712724824084605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9784789107704337 + - -0.004286298939465055 + - 0.20630232383302674 + - 0.054387421493749144 + - - -0.025664845984341496 + - -0.994548913720697 + - 0.10106321733242866 + - -0.0930817967392891 + - - 0.2047445649049213 + - -0.1041829441817768 + - -0.9732551450074699 + - 0.9730521652211119 + - - 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: null + base_right_marker_pose: + - - 0.9996531835661255 + - -0.011405971687501525 + - -0.023736393912593967 + - 0.09188284991354562 + - - -0.011289380364591085 + - -0.9999235704842722 + - 0.005040146919417992 + - -0.033450610380921 + - - -0.02379206752456582 + - -0.0047704297342741585 + - -0.9997055469102178 + - 0.9685438628214689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9791694220438709 + - 0.02844456277726421 + - -0.20104265662461343 + - 0.0999784703726446 + - - 0.004395903703798198 + - -0.9928764570383354 + - -0.11906727967678161 + - -0.08943801809529305 + - - -0.20299733733450517 + - 0.1157032752665726 + - -0.9723193061580585 + - 0.9732392969926305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981055386514737 + - 0.00864236053593349 + - 0.06091505000916059 + - 0.012738823121432128 + - - 0.022665029196886257 + - -0.972103828522719 + - -0.2334532994476139 + - -0.09305273199439779 + - - 0.057198165746428345 + - 0.23439167258211185 + - -0.9704580947467052 + - 0.9724936796154325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9879978392735083 + - -0.006299766819863497 + - 0.15433918014844566 + - 0.05447431977047874 + - - -0.0105121027928684 + - -0.9995937568125569 + - 0.026491829612752555 + - -0.09324630674329545 + - - 0.1541095885587629 + - -0.02779629974248896 + - -0.9876626956784763 + - 0.974552102145455 + - - 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: + - - 0.9994107728710704 + - -0.011312440354160784 + - -0.03240579828492594 + - 0.023874274953993066 + - - -0.013516449514820152 + - -0.997551172543373 + - -0.06862188972809738 + - -0.03424736910104 + - - -0.031550161041792986 + - 0.06901946718553681 + - -0.9971162923589514 + - 0.9688874848151745 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999305433318483 + - -0.01170535793805961 + - -0.0013759024734956566 + - 0.09191283181751693 + - - -0.011708687380424672 + - -0.9999284807825543 + - -0.002437203257812096 + - -0.03348438039977978 + - - -0.0013472757335269753 + - 0.0024531439897223133 + - -0.9999960834586619 + - 0.9689096494640497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9684929160296292 + - 0.0193403535066017 + - -0.2482889895397402 + - 0.10006864763398068 + - - 0.006697838263318732 + - -0.998642129598335 + - -0.051662713381125894 + - -0.08943802280787447 + - - -0.24895102040968614 + - 0.04837197243798955 + - -0.967307366724473 + - 0.9738064680450449 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9921339470419535 + - 0.018160011886464086 + - 0.12385655047367407 + - 0.012629873148454943 + - - 0.030605763911845572 + - -0.9945831837989993 + - -0.0993356820061084 + - -0.09276931509521166 + - - 0.12138170513848724 + - 0.10234502661355754 + - -0.9873155408404872 + - 0.971535028864098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.977975436345278 + - -0.005681758905758266 + - 0.20864266946384677 + - 0.0544519341716407 + - - -0.019947676157637935 + - -0.9975980214689639 + - 0.06633458959788838 + - -0.09320392413821826 + - - 0.20776461710592878 + - -0.06903553560990974 + - -0.9757396982299538 + - 0.9740653964699848 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9808686039969722 + - 0.016273053851985065 + - -0.19398961160681075 + - 0.0999528488104299 + - - 0.005340271228109386 + - -0.9983742598997392 + - -0.05674785170257462 + - -0.08938389980169634 + - - -0.1945976957629281 + - 0.0546262289379156 + - -0.9793608690956467 + - 0.9728476198352496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997655661051714 + - 0.01877772660124508 + - 0.06580713453081313 + - 0.01269903422627497 + - - 0.026389131293267993 + - -0.9928078056416358 + - -0.11677446127739943 + - -0.09282322882718338 + - - 0.06314107792122581 + - 0.11823729547282907 + - -0.9909758555273771 + - 0.9713492242028808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964652854638821 + - -0.004675332426132504 + - 0.08387536069722173 + - 0.05441064612495022 + - - -0.005507237767273999 + - -0.99993788784684 + - 0.009689725516045425 + - -0.09317325816617172 + - - 0.08382484833006623 + - -0.010117396656588337 + - -0.9964291410267645 + - 0.9737216110495781 + - - 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: null + base_right_marker_pose: + - - 0.9997627031780016 + - -0.013024228556828511 + - -0.017461580819460722 + - 0.09187700505463317 + - - -0.012575988179051032 + - -0.9995947272739247 + - 0.025538710372465294 + - -0.03347043910649983 + - - -0.017787126117938066 + - -0.025313053483682887 + - -0.9995213191662282 + - 0.9685811831867129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9770006571005677 + - 0.013002040688360096 + - -0.2128395239681697 + - 0.09997111091533449 + - - 0.0072269545182768475 + - -0.9995848982716804 + - -0.027889106754880714 + - -0.08938310212091989 + - - -0.21311378921470478 + - 0.025709494066056684 + - -0.9766890675959355 + - 0.9730353735164641 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998335193703588 + - 0.018192448990643893 + - 0.0014029765519552096 + - 0.01272712269557615 + - - 0.01823258067536012 + - -0.9931157524495553 + - -0.11570944316896148 + - -0.09288411593645193 + - - -0.0007117200285230597 + - 0.11571575967117642 + - -0.9932821132076851 + - 0.9711618607644673 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9623316624271778 + - -0.017336957272878376 + - 0.27132490007860066 + - 0.05436063168225118 + - - -0.0074313757295679074 + - -0.9992692501145216 + - -0.037493205122101275 + - -0.09316350213986196 + - - 0.27177664753416586 + - 0.034064581137603356 + - -0.9617572761185692 + - 0.973154186245375 + - - 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: null + base_right_marker_pose: + - - 0.9998463097064171 + - -0.011504036128350669 + - -0.01322929020080723 + - 0.09190072403617094 + - - -0.011406235688458544 + - -0.9999072338329676 + - 0.007444562842889686 + - -0.03344860075457841 + - - -0.013313705490167124 + - -0.007292522283819343 + - -0.9998847755440927 + - 0.9688520523896353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9781149073996402 + - 0.022589494436491553 + - -0.2068355449715956 + - 0.10000413470646789 + - - 0.003699047320471535 + - -0.9958197160474394 + - -0.09126560239278347 + - -0.08940517536757836 + - - -0.2080325574796266 + - 0.08850315176478435 + - -0.9741096689573432 + - 0.9733668991401717 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994521474254553 + - 0.026004268966206515 + - -0.020473959123216347 + - 0.012762329483267845 + - - 0.021464826708567343 + - -0.9801518427573539 + - -0.1970827906077406 + - -0.09283383861927644 + - - -0.025192582658733483 + - 0.19653534830888958 + - -0.9801730411738973 + - 0.9720899750414229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9833057465761686 + - -0.018537846979671226 + - 0.18101424523954462 + - 0.05449717911646391 + - - 0.007023325660081355 + - -0.9901889428927256 + - -0.13955834002186496 + - -0.09328965707410548 + - - 0.1818254152943316 + - 0.13849983971956187 + - -0.9735282804062237 + - 0.9746077413189225 + - - 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: null + base_right_marker_pose: + - - 0.9998032991987267 + - -0.011846266073523081 + - -0.01590688188981821 + - 0.09189451782184452 + - - -0.012005728514554337 + - -0.9998782537550115 + - -0.00996695292781745 + - -0.03349015209969902 + - - -0.015786874110353427 + - 0.010155966125672536 + - -0.999823799955712 + - 0.9689707537741322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9852260609076514 + - 0.004516330877225713 + - -0.17119933312895866 + - 0.0999159954368789 + - - 0.007084351629003642 + - -0.9998713297363636 + - 0.01439221780105235 + - -0.08928464825371485 + - - -0.17111230484798393 + - -0.015392424326392264 + - -0.9851312868866602 + - 0.9724391179551958 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955121840854845 + - 0.009841159116556 + - 0.09412036402708603 + - 0.012822443363320491 + - - 0.019618256431738437 + - -0.9944333266441695 + - -0.1035252764980124 + - -0.0927398543403024 + - - 0.09257761798581295 + - 0.10490715155152193 + - -0.9901635593180653 + - 0.9714693516911588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991480771217424 + - -0.0016487493617376237 + - 0.04123592619872735 + - 0.05440545370791545 + - - -0.004028657972957359 + - -0.998325945546694 + - 0.057698148698518394 + - -0.09315303596354314 + - - 0.04107176522699805 + - -0.0578151197684618 + - -0.9974820910809862 + - 0.9736459493839044 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9760364465025151 + - 0.023581600098727375 + - -0.2163255954239502 + - 0.0999600677824437 + - - 0.005714306019808076 + - -0.9965455717903959 + - -0.08285089046995421 + - -0.08938103569558581 + - - -0.2175320707515443 + - 0.07962933807169355 + - -0.972799551147516 + - 0.9730285007672306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967705188493083 + - 0.007783399659237662 + - 0.07992466104166515 + - 0.012777881291185358 + - - 0.019718362360354597 + - -0.9885429005479783 + - -0.14964665035347893 + - -0.09276078439230008 + - - 0.07784419656407432 + - 0.15073935274484632 + - -0.985503895778885 + - 0.9718151530074189 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.974535631988255 + - -0.020989593290660285 + - 0.2232481555550799 + - 0.054418127099292744 + - - -0.001380407692809834 + - -0.9961520045117012 + - -0.08763149195307007 + - -0.0931776021540449 + - - 0.2242284470352817 + - 0.08509183792122499 + - -0.970814597469225 + - 0.9734005740356673 + - - 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: null + base_right_marker_pose: + - - 0.99949214033732 + - -0.011682322893539902 + - -0.029647676734172835 + - 0.09187528218984885 + - - -0.011752201940844845 + - -0.9999285557860452 + - -0.0021838207745021373 + - -0.03351656935733737 + - - -0.02962004647978363 + - 0.0025311371840771313 + - -0.9995580254247828 + - 0.9687673687946253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9784703640134008 + - 0.02462808625647458 + - -0.20491267436356042 + - 0.10007908051670492 + - - 0.0021934764182686313 + - -0.994039565528448 + - -0.10899784780085249 + - -0.08949461796629514 + - - -0.20637571419303535 + - 0.10620169269535658 + - -0.972692276652774 + - 0.9740879731268981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998892400451189 + - 0.014781496124045135 + - -0.0017363796616643417 + - 0.012823173614732368 + - - 0.014219074645869524 + - -0.9832129805556888 + - -0.18190671450777607 + - -0.09290102528362243 + - - -0.004396084417955753 + - 0.18186187681626187 + - -0.9833142591270894 + - 0.9715635969828916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9801477879528578 + - -0.012890801816804371 + - 0.1978487831644144 + - 0.05441403515254603 + - - -0.005054673050672053 + - -0.9991844624380722 + - -0.04006070771580993 + - -0.09314319839084999 + - - 0.1982038446939675 + - 0.038265353139107665 + - -0.9794135994040869 + - 0.9730572330200882 + - - 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: + - - 0.9991189590228867 + - -0.011844876546639002 + - -0.04026170166073547 + - 0.023846512572883647 + - - -0.014432668444038625 + - -0.9978066221221962 + - -0.06460373774540895 + - -0.034284196948155 + - - -0.039408169236944256 + - 0.06512790299624277 + - -0.9970984667768298 + - 0.9690492255272369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996006321789905 + - -0.011605784288772018 + - -0.025765906124273538 + - 0.09188568419594935 + - - -0.01136338813045009 + - -0.9998899801086696 + - 0.009534206232366223 + - -0.03350560844363785 + - - -0.025873723302979223 + - -0.009237610585375287 + - -0.9996225372574961 + - 0.9687273367762045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9755535858893948 + - 0.026812618808960922 + - -0.2181198856843379 + - 0.10003570559881172 + - - 0.0007679430734264785 + - -0.9929390190689457 + - -0.11862341536912419 + - -0.08940703347989092 + - - -0.2197603497489464 + - 0.11555599457840837 + - -0.9686858111871028 + - 0.973327527636716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969317401849517 + - 0.01780523910506996 + - 0.07622387337452241 + - 0.012643107305065382 + - - 0.033575694796274314 + - -0.9769231609935747 + - -0.21093555943289743 + - -0.09291506685088197 + - - 0.07070910924874799 + - 0.21284762384093758 + - -0.9745235301902747 + - 0.9727907786559067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9745044729855429 + - -0.010411147923773498 + - 0.22412639320276098 + - 0.0544603034325798 + - - -0.013879294875959354 + - -0.9998070006876636 + - 0.01390419180263572 + - -0.09318548653340028 + - - 0.22393837836537864 + - -0.01666041340566376 + - -0.9744608936844191 + - 0.974079109498456 + - - 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: + - - 0.9987642837854663 + - -0.011377267576030555 + - -0.048378334169418634 + - 0.023828649325945153 + - - -0.014152778929748032 + - -0.998249727896023 + - -0.05742107282245149 + - -0.03426094744577099 + - - -0.04764036401068127 + - 0.058034804540198125 + - -0.9971771944739362 + - 0.9692475843288249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997162346046173 + - -0.01247081394025984 + - -0.0202960357615261 + - 0.0918896665612364 + - - -0.012475226699646694 + - -0.9999221772072928 + - -9.081750445045543e-05 + - -0.03346531107059672 + - - -0.020293323699141736 + - 0.0003439893808145719 + - -0.9997940101263596 + - 0.968549203925139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.981212559252257 + - 0.018664903475660355 + - -0.19202482897760992 + - 0.09994089984102805 + - - 0.004983965983670065 + - -0.9974293359340383 + - -0.07148342396148288 + - -0.08938299683299854 + - - -0.19286542885833552 + - 0.06918338815371627 + - -0.978783216629128 + - 0.9727624365659346 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988339914452502 + - 0.014964113511049301 + - 0.04589915947354901 + - 0.012793904017261819 + - - 0.02056139874310768 + - -0.992067766885088 + - -0.12401118816204384 + - -0.09277299723500722 + - - 0.04367935914452937 + - 0.12481034097567134 + - -0.9912186904867463 + - 0.9714984831167417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992554617654392 + - -0.0036374860219018663 + - 0.12174604580184151 + - 0.05430305778330074 + - - -0.022009577265070447 + - -0.9884555536355404 + - 0.14990395923947286 + - -0.09302133601251467 + - - 0.11979528154963581 + - -0.15146744594960698 + - -0.9811761836367339 + - 0.9725569055700845 + - - 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: + - - 0.9993486439481746 + - -0.013114645213392444 + - -0.03361984413811801 + - 0.023867962245815333 + - - -0.014911591724588415 + - -0.9984421209952644 + - -0.053767791982913926 + - -0.034291930149739504 + - - -0.03286232297302934 + - 0.05423409539584448 + - -0.9979873399123917 + - 0.9688743522021033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993139244085183 + - -0.011608507320900931 + - -0.035169916704859173 + - 0.09185452246388717 + - - -0.012075537797379687 + - -0.9998413245654005 + - -0.013096071098244158 + - -0.033482530925016005 + - - -0.03501231026582218 + - 0.013511781862019566 + - -0.9992955368061862 + - 0.9685960556855611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9737788750247829 + - 0.02645665714510326 + - -0.22595297707305112 + - 0.10001142973615955 + - - 0.005233550593474166 + - -0.9955570989533866 + - -0.09401421526398823 + - -0.0894255157990967 + - - -0.227436392214733 + - 0.09036652043884633 + - -0.9695909340954685 + - 0.9734700109962265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997598344980893 + - 0.02098347213049741 + - -0.006321963437246223 + - 0.012778365291506097 + - - 0.018459946183860796 + - -0.9618075622862626 + - -0.27310335683738174 + - -0.09291080820863118 + - - -0.01181116891938316 + - 0.27292106372778546 + - -0.9619639230566042 + - 0.972754833731776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.989770868486371 + - -0.002527212009237752 + - 0.14264375589276695 + - 0.05440193651407425 + - - -0.01730425070097564 + - -0.994587737059236 + - 0.10244899315789027 + - -0.09315051517235035 + - - 0.14161282005317422 + - -0.10386937224633655 + - -0.9844576998051967 + - 0.9735475648402688 + - - 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: null + base_right_marker_pose: + - - 0.9997690316571667 + - -0.010848785742734963 + - -0.01855228253340798 + - 0.09185139939417536 + - - -0.010648380118361698 + - -0.9998842524680693 + - 0.010867091019439263 + - -0.033478144387552124 + - - -0.018668029894609757 + - -0.010667029308956114 + - -0.999768832853663 + - 0.9684827492111705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9826549627917913 + - 0.009850911248972166 + - -0.1851814884059098 + - 0.09992749779193318 + - - 0.006412006059182317 + - -0.999795865992885 + - -0.01916018063156148 + - -0.08931990599270695 + - - -0.1853324318055538 + - 0.017640461759883954 + - -0.982517533599242 + - 0.9725946836691304 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997891411797543 + - 0.039658029695569676 + - -0.05138064753748832 + - 0.012636338737736445 + - - 0.025390651306134986 + - -0.9670560127209176 + - -0.2532942618508575 + - -0.09289266134538281 + - - -0.05973311549682099 + - 0.251455580453061 + - -0.9660238330248678 + - 0.9724668356032669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9789804535958316 + - -0.015124844212837664 + - 0.20339250370856132 + - 0.05436326585180599 + - - -0.0017800681080210445 + - -0.9978421469930081 + - -0.06563445011512914 + - -0.09309657326738396 + - - 0.20394632341582075 + - 0.06389279123595995 + - -0.9768948809330756 + - 0.9729669987331656 + - - 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: + - - 0.9989701053968869 + - -0.012452541684714264 + - -0.04363098358876343 + - 0.023891263140665874 + - - -0.01576673139213817 + - -0.9969481040623765 + - -0.07645840691279335 + - -0.0343045873239552 + - - -0.042545724867965935 + - 0.07706758081077006 + - -0.9961176884703112 + - 0.9693395214167618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999902076160615 + - -0.012750016231670139 + - -0.005768463901574621 + - 0.09187428757128273 + - - -0.012690836466214576 + - -0.9998676256127439 + - 0.010182039153461735 + - -0.033460018520741784 + - - -0.005897521469178377 + - -0.010107835457058916 + - -0.9999315231069048 + - 0.9686292791096678 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9720779810521637 + - 0.026386022031377132 + - -0.2331698449519343 + - 0.10004494402650914 + - - 0.004724091287616238 + - -0.9956571244879127 + - -0.09297619812601633 + - -0.0894710642315244 + - - -0.234610489354282 + - 0.08927859932717165 + - -0.9679810173692062 + - 0.9738674645980883 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9946331051695491 + - -0.004283193293227131 + - 0.10337620788166675 + - 0.012842157186442134 + - - 0.03150962397552777 + - -0.9391420009940894 + - -0.3420810511643977 + - -0.09310380957932869 + - - 0.09855013798925687 + - 0.34350248357767554 + - -0.9339667628338107 + - 0.9747174501871445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999891609836332 + - 0.001392347468238202 + - 0.004442891375779186 + - 0.054579261320092595 + - - 0.0017310564475938668 + - -0.9970166887167814 + - -0.07716687024753695 + - -0.09354874436362667 + - - 0.004322193751386685 + - 0.07717372473032937 + - -0.9970082922686365 + - 0.9773435258660845 + - - 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: null + base_right_marker_pose: + - - 0.9998758015367551 + - -0.012079800331686822 + - -0.010122249017775801 + - 0.0918987006086017 + - - -0.012005463642252953 + - -0.9999007507551688 + - 0.007372752673549578 + - -0.033464675311591675 + - - -0.010210305772396178 + - -0.007250314696436901 + - -0.9999215882222154 + - 0.9686888544383693 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.97807876145127 + - 0.02062881071913605 + - -0.20721097597922647 + - 0.09997310838969617 + - - 0.00609021896076389 + - -0.9974891178793015 + - -0.07055755767727692 + - -0.0893808263154216 + - - -0.2081462121465569 + - 0.06774888840923049 + - -0.9757485549506868 + - 0.9731202210603909 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997560141916021 + - 0.014355725781598253 + - 0.06832039518161095 + - 0.012729364840433882 + - - 0.03119766607727433 + - -0.9671450885211874 + - -0.25230355403893073 + - -0.09306516933176731 + - - 0.06245373401021608 + - 0.2538194060481355 + - -0.9652332568978096 + - 0.9739852496519129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967215962274844 + - -0.0029156712495748615 + - 0.08085516974751847 + - 0.05445873360589243 + - - -0.010718069394561575 + - -0.9953010968778719 + - 0.09623330786249482 + - -0.09323580599474605 + - - 0.08019465444896554 + - -0.09678442754321973 + - -0.9920693483738633 + - 0.9747043491583558 + - - 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: + - - 0.9995216062284978 + - -0.01295393471386333 + - -0.028084769143302005 + - 0.023881747680223567 + - - -0.015236483950221789 + - -0.9964625145192582 + - -0.08264566966751855 + - -0.0342693628294828 + - - -0.026914833070971027 + - 0.0830340456282056 + - -0.9961831854771368 + - 0.969386144050225 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999539800259232 + - -0.012874252762494626 + - -0.02746709510563658 + - 0.09185087534721956 + - - -0.01262835333870398 + - -0.9998787837598374 + - 0.009107276151577462 + - -0.03350874195784786 + - - -0.027581015022792935 + - -0.008756220803271637 + - -0.9995812204156082 + - 0.9683747662099517 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9806344075987271 + - 0.02238837658971763 + - -0.19456340670118474 + - 0.10005661655594694 + - - 0.0016259148802247447 + - -0.9943409251012528 + - -0.1062237311978258 + - -0.08945634207026693 + - - -0.1958405347069291 + - 0.10385030217800365 + - -0.9751213256324787 + - 0.9737550045964158 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972219855828125 + - 0.008229095104455726 + - 0.07403103041316389 + - 0.01277739615078576 + - - 0.0281403205401281 + - -0.9618452492864534 + - -0.27214304838628506 + - -0.09289303883287212 + - - 0.06896690387549537 + - 0.27347028800007295 + - -0.959404798690827 + - 0.972540016597436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953902607986623 + - -0.006374634115209809 + - 0.09569531204331941 + - 0.054515408633428644 + - - 0.0009455893622916226 + - -0.9970878565494978 + - -0.07625557148356868 + - -0.0933512275150544 + - - 0.0959027349345627 + - 0.07599454165546982 + - -0.9924855137837759 + - 0.9753237562766747 + - - 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: + - - 0.9986450188884699 + - -0.011146162939821415 + - -0.05083197124809087 + - 0.023850574781242178 + - - -0.01414914152899398 + - -0.9981515073760953 + - -0.05910473853103531 + - -0.034223226868133116 + - - -0.050079217677997764 + - 0.059743881482110815 + - -0.996956739574096 + - 0.9692717100569529 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999779148004432 + - -0.013678979258318381 + - -0.015954333015907898 + - 0.09189525277530414 + - - -0.013391908828698156 + - -0.9997489550578922 + - 0.017963397189199058 + - -0.033439418094738306 + - - -0.016196048698859534 + - -0.017745770963910917 + - -0.9997113461491978 + - 0.9685578586773814 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9786345273351561 + - 0.024846595112569668 + - -0.2041007315489281 + - 0.099941307168123 + - - 0.003699934283515666 + - -0.9946388340620216 + - -0.10334360290816262 + - -0.08937551720441872 + - - -0.20557425031796478 + - 0.10038045869119329 + - -0.9734798360105629 + - 0.9728240389415213 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996623371046575 + - 0.009174686830519245 + - 0.024311250400091505 + - 0.012828900018657307 + - - 0.013123744185990337 + - -0.9857629637308573 + - -0.1676280008682856 + - -0.09295141622923062 + - - 0.022427195834404657 + - 0.16789045374326433 + - -0.9855505143973529 + - 0.9723977477103782 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9844268534842401 + - -0.011296242123711596 + - 0.17543136849777172 + - 0.054444673776929776 + - - -0.00495770202227193 + - -0.9993203504382699 + - -0.03652750183891316 + - -0.09319235391123262 + - - 0.17572476015000518 + - 0.03508891725054974 + - -0.9838137916071351 + - 0.9737810367918237 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9681759718119525 + - 0.0325582170791759 + - -0.24814360782943146 + - 0.10011480971241396 + - - 0.0036995831827304204 + - -0.9932554387110063 + - -0.11588764625826127 + - -0.08954866916712209 + - - -0.25024308320162514 + - 0.11128160661866406 + - -0.9617665014639015 + - 0.9744729357702215 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978542968927133 + - 0.003239036187278087 + - 0.06539350745545276 + - 0.012811119202262885 + - - 0.011883588346138261 + - -0.9911462981845031 + - -0.13224143043379197 + - -0.09283175188468662 + - - 0.06438619806114025 + - 0.13273478910870887 + - -0.9890580838654007 + - 0.9710909174936627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883794350306168 + - -0.012181273110039394 + - 0.15151801541063503 + - 0.054412762860465765 + - - -0.0033680887443511788 + - -0.998294180569352 + - -0.05828709136315399 + - -0.09322159249756944 + - - 0.1519695640145387 + - 0.0570994363088211 + - -0.9867344657943425 + - 0.9741133320752666 + - - 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: + - - 0.9983966300828638 + - -0.012453423957832513 + - -0.05521848667708724 + - 0.023897006816485204 + - - -0.01669513243309997 + - -0.9968886978770363 + - -0.077033736752602 + - -0.0343098508731804 + - - -0.054087351499425736 + - 0.07783210312431763 + - -0.9954982280903488 + - 0.9696275019876339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997041755428138 + - -0.010238597607163332 + - -0.022062015349951735 + - 0.09185816277099744 + - - -0.010503122441490171 + - -0.9998739372805789 + - -0.0119077271555707 + - -0.03346625928067283 + - - -0.021937315725539034 + - 0.012135924607175162 + - -0.9996856873601254 + - 0.9686011942017833 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9636371727369404 + - 0.027413225379790407 + - -0.2658042783587821 + - 0.10007865255512041 + - - 0.005537391989820263 + - -0.9965588410257029 + - -0.08270316598208141 + - -0.08951947402905859 + - - -0.26715676410959016 + - 0.07822398256152296 + - -0.9604729418066436 + - 0.9742677919539221 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993339903812456 + - 0.021746613647586663 + - 0.029302908790071545 + - 0.012657471577081067 + - - 0.027445454897685954 + - -0.9771390044319859 + - -0.2108224680225703 + - -0.09286455575020115 + - - 0.02404834036177425 + - 0.21148628989258664 + - -0.9770850661602163 + - 0.9719277167872369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9591536551880915 + - -0.015664681889854086 + - 0.2824515595294411 + - 0.05443702080780383 + - - -0.008166768175585728 + - -0.9995828166434665 + - -0.02770372842562331 + - -0.09321703445390078 + - - 0.28276769553272874 + - 0.024265415974265236 + - -0.9588814420723274 + - 0.9741262502222039 + - - 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: + - - 0.9997358366707846 + - -0.012384672024782512 + - -0.01936173481393097 + - 0.02388050736859044 + - - -0.013597586949645031 + - -0.9978686084868293 + - -0.06382276886586175 + - -0.03428962755978567 + - - -0.0185300433165511 + - 0.06406918210338677 + - -0.9977734098477916 + - 0.969133154580529 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998592531058142 + - -0.010013892278031311 + - -0.013460904134839151 + - 0.0919365189155884 + - - -0.010228514309310878 + - -0.9998201368277392 + - -0.015970957666490336 + - -0.033482176029767066 + - - -0.013298551564270731 + - 0.01610639485436107 + - -0.999781842489194 + - 0.9688585541038398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9679923942487425 + - 0.02883601499211054 + - -0.24931748618169922 + - 0.10008396607799461 + - - 0.0025747889226653276 + - -0.9944664585516141 + - -0.10502301308672296 + - -0.08949773235734682 + - - -0.25096632271799085 + - 0.10101953798738658 + - -0.9627102148654203 + - 0.9742676190597073 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997631684952258 + - 0.02020076071007283 + - 0.0657491478732079 + - 0.012656463766861 + - - 0.031992859327550055 + - -0.9824842050789944 + - -0.1835789849692625 + - -0.0928416634011327 + - - 0.06088906413606777 + - 0.18524771533552442 + - -0.9808036530476438 + - 0.9720097918009126 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911228423442349 + - -0.007391969872692186 + - 0.1327436257034071 + - 0.05447441162345401 + - - -0.004353585026109007 + - -0.9997221807283924 + - -0.023164793482531976 + - -0.09328253922299823 + - - 0.1328779804215336 + - 0.022381245297550527 + - -0.9908796708874522 + - 0.9749579127247415 + - - 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: + - - 0.9992072420983578 + - -0.01238603698505042 + - -0.0378348176419397 + - 0.0238393872129789 + - - -0.013602647328683316 + - -0.9993930729962207 + - -0.03206951251301612 + - -0.034242963323363025 + - - -0.03741464050135099 + - 0.03255874283469796 + - -0.9987692791336641 + - 0.9690880257454932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998239641216008 + - -0.01286727511643135 + - -0.013655548295323647 + - 0.09188794756623608 + - - -0.012489412066460282 + - -0.9995463980154592 + - 0.027404612760556873 + - -0.033450443012280964 + - - -0.014001976803366241 + - -0.027229238795823636 + - -0.9995311466883854 + - 0.9686221814577953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9794991520508933 + - 0.015505557216620874 + - -0.2008506629986143 + - 0.09996700702984312 + - - 0.004347262397461536 + - -0.99842816440287 + - -0.055877561120401036 + - -0.0893461600388823 + - - -0.20140137149788342 + - 0.053858873201345685 + - -0.9780269471421806 + - 0.9728811566219858 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9847951899641539 + - 0.002249240581822161 + - 0.17370484950130546 + - 0.012786148701556723 + - - 0.02150884807538865 + - -0.9938010091104935 + - -0.10907302024531541 + - -0.09281956235345935 + - - 0.17238272325826606 + - 0.11115077691033122 + - -0.9787388321274957 + - 0.9723242939770688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996755193312584 + - -0.0044832736820205115 + - -0.025075013596621454 + - 0.05432543952469481 + - - -0.0011291532126657445 + - -0.9912212882254218 + - 0.13220848226100207 + - -0.09302386066900421 + - - -0.02544761408857371 + - -0.13213726963210448 + - -0.9909047183818289 + - 0.9723952433044007 + - - 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: + - - 0.9994005757752126 + - -0.011474213904672261 + - -0.03266238747310625 + - 0.02386289151704538 + - - -0.014256748973779793 + - -0.9961693601768312 + - -0.08627485701861162 + - -0.034264407029509385 + - - -0.03154733346690543 + - 0.086688801238413 + - -0.9957358171176607 + - 0.9693220778749405 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996619462674148 + - -0.011286192078828812 + - -0.023422533022800174 + - 0.09191096188623439 + - - -0.011771979318045685 + - -0.999716280610928 + - -0.020706974293426307 + - -0.03347143233035082 + - - -0.023182184706793438 + - 0.020975703797796515 + - -0.9995111836104728 + - 0.968923292459814 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9742643330781927 + - 0.02818307678148436 + - -0.22363971801724591 + - 0.10002449884217271 + - - 0.0035349612824065353 + - -0.9939411442521071 + - -0.10985675132436867 + - -0.08938170282486593 + - - -0.22538081848381908 + - 0.10623895681877363 + - -0.9684610321089965 + - 0.9735404615019063 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985681457800022 + - 0.024008908349432638 + - 0.04780408511159673 + - 0.01267087337696004 + - - 0.028607375467130776 + - -0.9947791741535572 + - -0.09795924019330421 + - -0.09292242303253645 + - - 0.04520261388869945 + - 0.09918652625349578 + - -0.9940416272507877 + - 0.972446607020949 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968408535717949 + - -0.0022311995502938492 + - 0.07939354129160761 + - 0.054382678933138494 + - - -0.012933237845326025 + - -0.9908236769927827 + - 0.1345405978481547 + - -0.09313828634421951 + - - 0.07836481359061387 + - -0.1351423799519212 + - -0.9877223765470943 + - 0.9735707307022651 + - - 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: + - - 0.999060654431343 + - -0.011421687768565359 + - -0.04180136141005648 + - 0.023844932256006948 + - - -0.013828515902892363 + - -0.9982353460593612 + - -0.057749164718384316 + - -0.03423652812583821 + - - -0.04106800354461131 + - 0.05827296908743397 + - -0.9974556031015089 + - 0.9690780513752473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999063634405735 + - -0.012961129985785604 + - -0.004390154956186896 + - 0.091889284250333 + - - -0.012887652919488877 + - -0.999782929134747 + - 0.01637079756677754 + - -0.03350272072086844 + - - -0.004601386016685948 + - -0.016312685868280212 + - -0.9998563514457905 + - 0.9686881817869252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9817085828862823 + - 0.024355943135936475 + - -0.18882543875592175 + - 0.0999799416442674 + - - 0.0012235015001115426 + - -0.9925701974432534 + - -0.12166719439331315 + - -0.08939514177702458 + - - -0.19038582229642667 + - 0.11921070078403219 + - -0.9744444814801372 + - 0.9731009958830852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9934550260948343 + - 0.0024366651034830704 + - 0.11419795878248198 + - 0.012792186558499867 + - - 0.02297826140859394 + - -0.9835970524984 + - -0.17891013894997143 + - -0.0928401870568909 + - - 0.11188883156754434 + - 0.18036324730840603 + - -0.9772154257843132 + - 0.9726006254895478 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898226653534327 + - -0.006609538006767901 + - 0.14215275291025323 + - 0.054329707280301044 + - - -0.00889148432810721 + - -0.999841515016049 + - 0.015423564985312662 + - -0.09298422092860188 + - - 0.1420282811945193 + - -0.01653054317771287 + - -0.989724561927803 + - 0.9720816953813808 + - - 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: + - - 0.9991148117281542 + - -0.011732784597444298 + - -0.04039721216872371 + - 0.023852189780501503 + - - -0.014486402523840314 + - -0.9975418083171849 + - -0.06856008168897063 + - -0.0342988124661728 + - - -0.03949350740732175 + - 0.06908460338505987 + - -0.9968287618481908 + - 0.9691272223265377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998135660714637 + - -0.013049074863628588 + - -0.014232172872277805 + - 0.09187715320617537 + - - -0.013087909589837172 + - -0.9999108673471558 + - -0.0026389360784348573 + - -0.03344496930853626 + - - -0.014196468646506139 + - 0.002824713483033903 + - -0.9998952351480164 + - 0.9689304121972722 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9761597668162997 + - 0.01900140687018677 + - -0.2162199255066494 + - 0.0999397344920802 + - - 0.006672815740786957 + - -0.9983170605380252 + - -0.0576065983096184 + - -0.08933229460286232 + - - -0.21695064687443757 + - 0.054790447850604794 + - -0.9746437419103929 + - 0.9723992306253305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974437864976158 + - 0.011746539267260839 + - 0.07048341359881327 + - 0.012772290513195068 + - - 0.02242979927468567 + - -0.9880093468946788 + - -0.15275612771096195 + - -0.09283593931114757 + - - 0.0678439155841995 + - 0.1539465792539513 + - -0.9857472565796016 + - 0.9725943903593839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9746764636484074 + - -0.006110576402769967 + - 0.22353624329370128 + - 0.054428795813386395 + - - -0.020642279033948628 + - -0.9978170734935318 + - 0.06272945210257665 + - -0.09314121283487845 + - - 0.22266496699328234 + - -0.06575521805021077 + - -0.9726749527838428 + - 0.9734030534843949 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9798866091632373 + - 0.01261029536107244 + - -0.19915625431675396 + - 0.09999320334004765 + - - 0.005819320791996965 + - -0.99938265784825 + - -0.034647347628472235 + - -0.08941308187649388 + - - -0.1994702200532523 + - 0.03279151785256187 + - -0.9793550672094533 + - 0.9731754395175812 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9999165748017963 + - 0.011585314040071997 + - 0.005711736621783589 + - 0.01286913325946429 + - - 0.012443028585134647 + - -0.9826118291068181 + - -0.185254323401595 + - -0.09298192968050184 + - - 0.0034661904554186334 + - 0.18530993982500274 + - -0.982674010913986 + - 0.9726690548921132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989098210330266 + - -0.00499252565259437 + - 0.04641383555983112 + - 0.05444699377284036 + - - -0.009471978432268935 + - -0.995258912525022 + - 0.09679865011501862 + - -0.09321341807506343 + - - 0.04571051376155697 + - -0.09713275311201341 + - -0.9942211912871982 + - 0.9743818963939387 + - - 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: null + base_right_marker_pose: + - - 0.9997571923359444 + - -0.010472311435295204 + - -0.019387807141387024 + - 0.09187925411829127 + - - -0.010442933556970006 + - -0.9999441654418592 + - 0.0016159014538303226 + - -0.03353207351683577 + - - -0.019403646855015225 + - -0.0014130435187801205 + - -0.9998107329873689 + - 0.9689307897371864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9798452225422005 + - 0.017772592618723188 + - -0.19896601421557986 + - 0.09996710529582922 + - - 0.004686354267476393 + - -0.997805316007633 + - -0.06604990106417866 + - -0.0894035220149858 + - - -0.19970322467327645 + - 0.06378625477731853 + - -0.9777780605825528 + - 0.973096933391839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995899678243381 + - 0.028630161885939052 + - -0.0004583179287678098 + - 0.012675200999652771 + - - 0.027486899006576027 + - -0.9639131118321754 + - -0.2647942280734507 + - -0.09290647883389985 + - - -0.008022880277132216 + - 0.2646730561813901 + - -0.9643048308100824 + - 0.972438515349368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9751670378636833 + - -0.006221504267237777 + - 0.221383244959555 + - 0.05438334721103792 + - - -0.019399854157092812 + - -0.9981625921650631 + - 0.05740283321409103 + - -0.0931405093843464 + - - 0.22061934167894962 + - -0.06027215349540752 + - -0.9734959545833626 + - 0.9733659239117691 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9689549535249613 + - 0.014047563487840732 + - -0.24683793063363477 + - 0.09997723615399998 + - - 0.00881296909837571 + - -0.9997125093623469 + - -0.02229865915499039 + - -0.0893706343160797 + - - -0.2470802088697334 + - 0.01943102119021144 + - -0.9688001887904412 + - 0.9731470295519538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9936779537761047 + - 0.016899512655895545 + - 0.11098887625040066 + - 0.01263248190304397 + - - 0.02869454117777391 + - -0.9939997707831366 + - -0.10555130974871348 + - -0.09285013624903946 + - - 0.10853915185743143 + - 0.10806878436933139 + - -0.9882005820474932 + - 0.9721193514181179 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9888675476054927 + - -0.005703232895928387 + - 0.14868909316837392 + - 0.05443479982432388 + - - -0.020019096121470212 + - -0.995279515466159 + - 0.09496273945041395 + - -0.09323231752061584 + - - 0.1474456139842007 + - -0.09688219252258212 + - -0.9843137872085505 + - 0.9742667103879173 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9759365447347689 + - 0.028380283657293642 + - -0.21619995409502768 + - 0.10003327053477944 + - - 0.002906156202845643 + - -0.9930988562190611 + - -0.11724425799380457 + - -0.0894761606925456 + - - -0.21803535242543853 + - 0.11379464519881723 + - -0.9692839438558707 + - 0.9736001684520528 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975250622488502 + - 0.016330227954695742 + - 0.0683891353971897 + - 0.012652772100942306 + - - 0.03189374084419075 + - -0.9719241621243335 + - -0.2331227410054111 + - -0.09293395756087236 + - - 0.06266210561727935 + - 0.23472696209396157 + - -0.9700395423825511 + - 0.9728754323987747 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9877105520961493 + - -0.01054762240745213 + - 0.15593784960512208 + - 0.054474472289959094 + - - -0.006940091551749431 + - -0.999695954687031 + - -0.023660796935850076 + - -0.09324578258592542 + - - 0.1561400025847739 + - 0.022287795851900875 + - -0.9874834447973755 + - 0.974594309981552 + - - 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: null + base_right_marker_pose: + - - 0.999850914579188 + - -0.01183241493685587 + - -0.012575475017803516 + - 0.09191544821903859 + - - -0.011973451911861815 + - -0.9998655918992548 + - -0.011199758268263397 + - -0.033495840817677244 + - - -0.012441264585067826 + - 0.01134866039298347 + - -0.9998582013679786 + - 0.968924374848291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9630585714187213 + - 0.022215665967032172 + - -0.2683740900358544 + - 0.10004867082300614 + - - 0.007591514231708703 + - -0.9984349874338158 + - -0.0554070823966157 + - -0.08946664862348944 + - - -0.26918498644724115 + - 0.051322899895435044 + - -0.9617200231968352 + - 0.9738327569629527 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996106390924968 + - 0.02519474959172936 + - 0.01199144720624847 + - 0.012646554937536114 + - - 0.02706324555244664 + - -0.9800651041112338 + - -0.19682472518361355 + - -0.0928245394126701 + - - 0.006793449290174178 + - 0.19707261681026889 + - -0.9803653567677182 + - 0.9714934545552087 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9764055799950992 + - -0.009824989532063563 + - 0.21572114624006744 + - 0.05449381597049025 + - - -0.017958780781722805 + - -0.9991984089588668 + - 0.035777391281420705 + - -0.09332172187759147 + - - 0.21519671360703385 + - -0.03880733326015453 + - -0.9757993468628519 + - 0.9749079640017411 + - - 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: null + base_right_marker_pose: + - - 0.9998447612807642 + - -0.012352737199182466 + - -0.012564363219026632 + - 0.09183240615411503 + - - -0.012246534703703358 + - -0.9998889243528356 + - 0.008494783356892363 + - -0.03345367744153288 + - - -0.012667901450622548 + - -0.00833959472741211 + - -0.9998849811016365 + - 0.9685723766993319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9816830577012319 + - 0.02914205008079778 + - -0.18827935399147788 + - 0.10002426282584873 + - - 0.0012157654691105965 + - -0.989170529440395 + - -0.14676575077630624 + - -0.08949977522260699 + - - -0.19051744312971475 + - 0.14384854745077194 + - -0.9710873798271806 + - 0.9735128647568669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996467239546993 + - 0.02470377194540409 + - 0.009805658484091966 + - 0.012699573795793494 + - - 0.02604213287394513 + - -0.9841284906684963 + - -0.17553609648708196 + - -0.0927971245095974 + - - 0.005313624188156846 + - 0.17572944405026675 + - -0.984424160558735 + - 0.9714159836483307 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9920073729144883 + - -0.003167970667353385 + - 0.12614014446299895 + - 0.054308530809774706 + - - -0.025365229039669278 + - -0.9842841986830113 + - 0.17476046858116384 + - -0.09298033051542891 + - - 0.12360411497624413 + - -0.17656324698190623 + - -0.9764975384383445 + - 0.9721513650673268 + - - 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: + - - 0.9989447997947613 + - -0.01227128293859248 + - -0.0442572319293169 + - 0.02386752777568365 + - - -0.014064517354669012 + - -0.999083084593405 + - -0.04043735192749113 + - -0.03424001369003981 + - - -0.043720433604717966 + - 0.04101713903197742 + - -0.9982014415893454 + - 0.9686976540512199 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997543800397187 + - -0.01216419821244197 + - -0.018525978334386264 + - 0.09183715956488252 + - - -0.012202985786595467 + - -0.9999235763346481 + - -0.0019820766936009047 + - -0.033477053404026326 + - - -0.018500452137444497 + - 0.0022076621062994393 + - -0.9998264146834362 + - 0.9685444358461954 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9855490572184209 + - 0.017491061847754057 + - -0.1684847725206045 + - 0.09996871441677738 + - - 0.0026581325473871327 + - -0.9961289921143732 + - -0.08786333365268395 + - -0.08939699359272207 + - - -0.1693693896406382 + - 0.0861457707878941 + - -0.9817804826070422 + - 0.972842094324195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997523870548276 + - 0.021493411613335022 + - 0.06696387790149308 + - 0.012660710122759834 + - - 0.03330297137683806 + - -0.9829956630248085 + - -0.18058360549034086 + - -0.09286329203655791 + - - 0.0619438437930665 + - 0.18236655321532325 + - -0.9812774329844253 + - 0.9723622858472198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9804595726191293 + - -0.007059304466082493 + - 0.1965939792566632 + - 0.05437995689200235 + - - -0.006023888695579472 + - -0.999964661061373 + - -0.005864247044295422 + - -0.09310126141444672 + - - 0.19662842933944583 + - 0.004565396901519684 + - -0.9804674486828383 + - 0.9731409635937877 + - - 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: null + base_right_marker_pose: + - - 0.9996696135943576 + - -0.011475004443509143 + - -0.022999737588270768 + - 0.0918311373478701 + - - -0.011593162852935875 + - -0.9999202428515243 + - -0.005010639761110376 + - -0.03348144259181669 + - - -0.022940406081261456 + - 0.005275624017285347 + - -0.9997229143918112 + - 0.9684964220441422 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9816713163943178 + - 0.023466014945949548 + - -0.18913162800336614 + - 0.0999480964395924 + - - 0.003234796781350243 + - -0.9942993852014839 + - -0.10657517852546336 + - -0.08932131839622733 + - - -0.1905543561780485 + - 0.10400999341653422 + - -0.9761510941504198 + - 0.9726683236502894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9958593739573612 + - 0.015235990856288578 + - 0.08962126914901174 + - 0.012663757923014891 + - - 0.03151215544019559 + - -0.982586321331736 + - -0.18311500536897546 + - -0.09290882633606125 + - - 0.08527069461875787 + - 0.185180953973118 + - -0.978997917732638 + - 0.9722970694681137 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872321331154328 + - -0.012857115714859313 + - 0.15876841600219838 + - 0.05439702633080168 + - - -0.01097974275157965 + - -0.9998591164380316 + - -0.012696161816416682 + - -0.09314915151437053 + - - 0.1589092841638321 + - 0.01079082254761983 + - -0.9872342161591062 + - 0.9736627238935287 + - - 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: null + base_right_marker_pose: + - - 0.9997499035402633 + - -0.011763430868029607 + - -0.01901978089903692 + - 0.09186347311101115 + - - -0.011466222581895521 + - -0.999811618951272 + - 0.01566053478459839 + - -0.03349002706964917 + - - -0.019200419551059576 + - -0.015438533099043937 + - -0.9996964517216282 + - 0.9685592701538035 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9899612792184652 + - 0.02133078693431753 + - -0.1397199455228301 + - 0.09985419721244874 + - - 0.003504093473878431 + - -0.9919462607618597 + - -0.12661096749291173 + - -0.08927503819803775 + - - -0.14129538908636116 + - 0.1248503635930932 + - -0.9820631342910732 + - 0.9717695911719789 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970902286398979 + - 0.009646280527767954 + - 0.07561762508050322 + - 0.012839549057845644 + - - 0.020555440118615733 + - -0.9892402297158391 + - -0.14484903104019572 + - -0.09289468904925445 + - - 0.07340674241761412 + - 0.14598190704239064 + - -0.9865600503689071 + - 0.9731307803539004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950367705502304 + - -0.002014530642554793 + - 0.09948752142484144 + - 0.0542941933904994 + - - -0.018752305524419616 + - -0.9856776622848656 + - 0.1675944423606057 + - -0.09293666718742942 + - - 0.09772500340489582 + - -0.16862825308628968 + - -0.9808232949775308 + - 0.9716651924362243 + - - 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: + - - 0.9992925260834414 + - -0.011690713486564771 + - -0.03574597224792766 + - 0.023875516374183624 + - - -0.01483521553578924 + - -0.9959203675931895 + - -0.08900863886753982 + - -0.03427284017057666 + - - -0.03455956732630256 + - 0.089475966780027 + - -0.9953892141644882 + - 0.9691311284470734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999888268825821 + - -0.012930356468246001 + - -0.007500383063995987 + - 0.09187462700401278 + - - -0.012924435216974964 + - -0.9999161253543505 + - 0.0008373951667458394 + - -0.03351303163130735 + - - -0.007510581790035067 + - -0.0007403633885874947 + - -0.9999715211060904 + - 0.968801767607115 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.845876693725586 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9819682955393119 + - 0.020811015522755633 + - -0.1878966955231788 + - 0.09992494820912556 + - - 0.005552845051319386 + - -0.9966685761628867 + - -0.08136900639236917 + - -0.08934762031778797 + - - -0.18896410364790076 + - 0.07885842328094698 + - -0.9788125032968212 + - 0.9724308245096381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9920360325790278 + - -0.0057119485958113305 + - 0.12582481356275033 + - 0.01277110263261567 + - - 0.02914636976023533 + - -0.9614463711751039 + - -0.2734435307042841 + - -0.09309788116030618 + - - 0.12253570579493028 + - 0.2749331718753922 + - -0.9536229610322285 + - 0.973291992619393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963603771210003 + - -0.006257285507104517 + - 0.08501085390337212 + - 0.05441618135003479 + - - -0.00037882806766921604 + - -0.9976172568073943 + - -0.06899032837568883 + - -0.09327489696890438 + - - 0.08523998705181182 + - 0.06870702510058785 + - -0.9939886766504108 + - 0.974472731012104 + - - 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: + - - 0.9993769654510392 + - -0.010575717903964178 + - -0.033672468229821034 + - 0.02380487081632311 + - - -0.01233461908851882 + - -0.9985466458858389 + - -0.05246382717723177 + - -0.03422793951303111 + - - -0.03306868757319653 + - 0.052846477469714735 + - -0.9980549642786359 + - 0.9689422529865765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998529735710843 + - -0.012221676516302987 + - -0.01202754605858929 + - 0.09190024405014406 + - - -0.012297233214409318 + - -0.9999049893245555 + - -0.006228192284381876 + - -0.033465757601051804 + - - -0.011950284361933274 + - 0.006375182114391226 + - -0.9999082696711122 + - 0.9687194681186678 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9826674058989235 + - 0.004937319031918338 + - -0.1853116085534236 + - 0.0999079725852386 + - - 0.008848319898160907 + - -0.9997551049460991 + - 0.02028391898016511 + - -0.08930236126345067 + - - -0.18516607847783584 + - -0.02157204243902625 + - -0.982470442489823 + - 0.9723212893408093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999339149742607 + - 0.020673419265785944 + - 0.029897717765481786 + - 0.01274060459831548 + - - 0.02345961043389706 + - -0.9950989395726878 + - -0.09606116353450132 + - -0.09262595457863898 + - - 0.02776527453516646 + - 0.09669907030149487 + - -0.9949263185446516 + - 0.9702406280836249 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9854701922567395 + - -0.00764009099637013 + - 0.1696765428190711 + - 0.05435156995472622 + - - -0.018637162579976777 + - -0.9978196066826509 + - 0.06331420607294842 + - -0.09301167796617059 + - - 0.1688228549232372 + - -0.06555655214581872 + - -0.9834638692531213 + - 0.9724232356162184 + - - 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: + - - 0.9980818362750653 + - -0.006985260255607188 + - -0.061513041194166784 + - 0.023880401306522702 + - - -0.014514153018269402 + - -0.9923235431308001 + - -0.1228141893695401 + - -0.03429710875978278 + - - -0.06018294991071879 + - 0.12347142133909543 + - -0.9905214892431902 + - 0.9694254716345079 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997536884903145 + - -0.010806366395456903 + - -0.01938516946890594 + - 0.09191238961575113 + - - -0.011154408049272506 + - -0.9997769029391524 + - -0.017936653268279572 + - -0.03352727163648586 + - - -0.0191870146474481 + - 0.018148465354494835 + - -0.9996511850011458 + - 0.9688672602393309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9650735498470533 + - 0.02875071922666317 + - -0.2603966964643689 + - 0.10002823072637763 + - - 0.003472789897696898 + - -0.9952764746736936 + - -0.09701896047387092 + - -0.08946437510550524 + - - -0.26195607096598006 + - 0.09272612957011446 + - -0.9606148456998843 + - 0.973573342236267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991577007328976 + - 0.01600486759100723 + - 0.037785358004708676 + - 0.01277723293991898 + - - 0.02093017320432425 + - -0.99078941776563 + - -0.13378436939075516 + - -0.09285187325709003 + - - 0.03529613173970574 + - 0.13446253700209349 + - -0.9902898612159852 + - 0.97228152692314 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.985056273699088 + - -0.019044267483825168 + - 0.17117667341688786 + - 0.05459776224287991 + - - 0.003923476038725021 + - -0.99112890010236 + - -0.13284618819394242 + - -0.09341748516667998 + - - 0.17218810638903292 + - 0.1315325786939925 + - -0.9762430213631585 + - 0.9762318832175598 + - - 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: null + base_right_marker_pose: + - - 0.9996543683791935 + - -0.010661922364379357 + - -0.024030547057684277 + - 0.09184435107726983 + - - -0.010821089051150742 + - -0.9999203028054707 + - -0.006503235284212791 + - -0.03349092999394128 + - - -0.02395929490078322 + - 0.006761024250120093 + - -0.9996900723418962 + - 0.9685592121996807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9910057840435926 + - 0.0201325954820001 + - -0.13229593565677814 + - 0.09996170351923361 + - - 0.003769223719893647 + - -0.9924253701984435 + - -0.12279119487582121 + - -0.08937763489286768 + - - -0.13376594837511382 + - 0.12118813137283974 + - -0.9835751663546949 + - 0.9727340046436237 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998689789064408 + - 0.023049198053319557 + - 0.04568850717179356 + - 0.012661463645794404 + - - 0.027555916016229143 + - -0.994545099043806 + - -0.10060177662672823 + - -0.09268002841948605 + - - 0.04312049061634977 + - 0.10172895574538474 + - -0.9938771769448981 + - 0.9704826049296049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976416127263853 + - -0.004213950221253436 + - 0.06850879637119477 + - 0.054353386372574 + - - -0.013122894812979392 + - -0.9914117473927686 + - 0.13011739608270984 + - -0.09308527709537696 + - - 0.0673721172921299 + - -0.1307095626002555 + - -0.989128913770306 + - 0.9729104769302674 + - - 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: null + base_right_marker_pose: + - - 0.9999166029824657 + - -0.012396270911893228 + - -0.0036220915898247464 + - 0.0919205438642213 + - - -0.012380132246282326 + - -0.9999134852796443 + - 0.004444578886616477 + - -0.03349864237337659 + - - -0.003676874429551528 + - -0.00439936624910296 + - -0.9999835629504296 + - 0.9688711619803456 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9766044166133444 + - 0.017984425076637955 + - -0.21429039620564433 + - 0.09999775316985571 + - - 0.005842622616155643 + - -0.9983479494361793 + - -0.057159737731563645 + - -0.0893957452275172 + - - -0.214964362656405 + - 0.05457043440580943 + - -0.9750960929449398 + - 0.9733038253314006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986991745567219 + - 0.02214706879675093 + - 0.045928924257317115 + - 0.012636602168121784 + - - 0.02761483449669685 + - -0.9921388611421313 + - -0.12205695853705165 + - -0.0928098967803103 + - - 0.04286466674829554 + - 0.12316650338183463 + - -0.9914598493077019 + - 0.9714972243566274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950627725470702 + - -0.005300118313089043 + - 0.09910594047182493 + - 0.054413229771207716 + - - -0.013889581171920042 + - -0.9961826099339857 + - 0.08618171035655081 + - -0.09323512635800135 + - - 0.09827084117787073 + - -0.08713275165504089 + - -0.9913378462276188 + - 0.9740634822793599 + - - 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: null + base_right_marker_pose: + - - 0.9995902089384434 + - -0.010652080604880853 + - -0.026569670174586058 + - 0.091896657344155 + - - -0.011071691214117304 + - -0.9998155088913033 + - -0.015696045173349975 + - -0.03346001983062121 + - - -0.026397572768313463 + - 0.015983784258170108 + - -0.9995237299797991 + - 0.9687448444719581 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9774890737095129 + - 0.0182786615864602 + - -0.21019277178134876 + - 0.09998834773167173 + - - 0.005123039597203106 + - -0.9980026917365006 + - -0.06296333656966874 + - -0.08939317087843335 + - - -0.21092383754285332 + - 0.06046914764826407 + - -0.9756303690122038 + - 0.9731655508661139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995470875122 + - 0.01833698018890048 + - 0.023861580069858227 + - 0.01270551824303541 + - - 0.017877437084468963 + - -0.9996532833298117 + - 0.01933158998163805 + - -0.09272674434282846 + - - 0.02420778984478422 + - -0.018896250566691423 + - -0.9995283460839676 + - 0.969842476069916 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.996403920328127 + - -0.0023900103050616007 + - 0.08469660799277187 + - 0.05437440775697743 + - - -0.022493025276511397 + - -0.9711977199817712 + - 0.2372109873427451 + - -0.09309668748131222 + - - 0.08169021586854688 + - -0.2382630406776331 + - -0.9677589741657782 + - 0.973115582790788 + - - 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: + - - 0.9989165514611107 + - -0.010308620234283243 + - -0.045381224817182104 + - 0.023864873576642687 + - - -0.013651057963814564 + - -0.9971670271566946 + - -0.07397005183145346 + - -0.03428694242555589 + - - -0.044490131866638395 + - 0.07450941081732336 + - -0.9962273715704382 + - 0.9690807760341402 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998516195061484 + - -0.012118324579907677 + - -0.012242760322255079 + - 0.09185299092072687 + - - -0.011847947547315687 + - -0.9996895019438266 + - 0.021920899667225754 + - -0.03343782196475688 + - - -0.01250460354622385 + - -0.021772595451175027 + - -0.9996847447958139 + - 0.9686120162879361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9718355608524583 + - 0.026662143567500327 + - -0.23414690423529816 + - 0.09996324237047252 + - - 0.0032782074347951703 + - -0.9950126366306549 + - -0.09969506658469686 + - -0.08939133309598413 + - - -0.23563721272032212 + - 0.09611962882626361 + - -0.9670760678125063 + - 0.9729929002281066 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945805585654509 + - 0.009137065243029735 + - 0.10356653205732218 + - 0.012713807092892562 + - - 0.034724206593950556 + - -0.968123369640221 + - -0.24805517658957538 + - -0.09294571056406964 + - - 0.09799868366491647 + - 0.2503071217428889 + - -0.9631939590781988 + - 0.9727356582544067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.984601536552163 + - -0.0075361033787118645 + - 0.17465114189430594 + - 0.054376144615655334 + - - -0.005232457841469685 + - -0.9998931887254129 + - -0.013646703831409677 + - -0.09308532306805385 + - - 0.17473533015408435 + - 0.012522710824351763 + - -0.9845358023503016 + - 0.9729886515000071 + - - 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: + - - 0.9995649686835777 + - -0.01337678134822304 + - -0.02628564439689582 + - 0.02387570905951739 + - - -0.01524806247392741 + - -0.9972641817987076 + - -0.07233013405313926 + - -0.034277460444864086 + - - -0.02524618726440559 + - 0.07269947332763643 + - -0.9970343106465767 + - 0.9691945431321414 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996665896173379 + - -0.012257253357694156 + - -0.022725961871090935 + - 0.09187421240567291 + - - -0.012035950224573823 + - -0.9998790568039247 + - 0.009849247031385708 + - -0.03348395702065344 + - - -0.022843938036874577 + - -0.009572434644278028 + - -0.9996932144362831 + - 0.9688084515170499 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9784420833102067 + - 0.004765490998901407 + - -0.2064664130146158 + - 0.09992194251559641 + - - 0.009187303259464106 + - -0.9997483949235345 + - 0.020463145081710668 + - -0.08928259827836602 + - - -0.20631694808328557 + - -0.021918871854087037 + - -0.9782396843260055 + - 0.9725748982787451 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999609041349795 + - 0.02721807629534819 + - -0.006398497833427132 + - 0.012686796487936355 + - - 0.024988627364316902 + - -0.9723317201184296 + - -0.23226406212323056 + - -0.0929929811975633 + - - -0.012543243368087827 + - 0.23201336680096082 + - -0.9726317209876986 + - 0.9731494173363818 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9881396778275136 + - -1.3883960457186997e-05 + - 0.15355773152196925 + - 0.05428967902753427 + - - -0.025810646385584265 + - -0.9857876353162065 + - 0.16600165237382572 + - -0.09301874798620516 + - - 0.15137300828118558 + - -0.16799624360359308 + - -0.9740962347216966 + - 0.9720959696972973 + - - 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: + - - 0.9997871377350407 + - -0.01377713955981098 + - -0.015358048219887925 + - 0.0238709784869732 + - - -0.014336785344682836 + - -0.9992144195722096 + - -0.036945910530837844 + - -0.034248872629090654 + - - -0.014836974272249679 + - 0.037158231181283086 + - -0.9991992444202121 + - 0.9688327044556385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995860840163474 + - -0.011819395641915677 + - -0.0262290397750948 + - 0.0918405416909453 + - - -0.011407791988843712 + - -0.9998102951682676 + - 0.015787208666559006 + - -0.03347415118351302 + - - -0.026410659264829297 + - -0.015481458658733271 + - -0.9995312909133938 + - 0.9683636597760081 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9726187329641837 + - 0.030953953596607645 + - -0.2303359569061791 + - 0.09999793663266848 + - - 0.003248271317626677 + - -0.9928044384787557 + - -0.11970294762590705 + - -0.08944085554617678 + - - -0.2323838398438954 + - 0.11567713556975132 + - -0.9657207418740601 + - 0.9733400135564859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994085819663545 + - 0.013222431628853457 + - 0.03174355987945674 + - 0.01284022148738681 + - - 0.02167155024997524 + - -0.9589105844252183 + - -0.28287954147843597 + - -0.09293527375292181 + - - 0.026698880159346725 + - 0.28340017356929703 + - -0.9586300180044073 + - 0.9736065460838514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9772077337334633 + - -0.005805217705952534 + - 0.21220590137622283 + - 0.05437958960931282 + - - -0.01687423166948867 + - -0.9985871608929224 + - 0.050387919240402784 + - -0.09311507105708598 + - - 0.21161357573906533 + - -0.052820275909913825 + - -0.9759250550199681 + - 0.9733069106604052 + - - 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: + - - 0.998357354545901 + - -0.011144000576425356 + - -0.05619967860462045 + - 0.023882704935109352 + - - -0.015897583523678156 + - -0.9962660906064463 + - -0.08485955188342414 + - -0.03428444286273756 + - - -0.055044159201659885 + - 0.0856135968109068 + - -0.9948067413215903 + - 0.969278067107674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9657670522808195 + - 0.0322775094036197 + - -0.25739495549741503 + - 0.10006454283987541 + - - 0.003172524930100406 + - -0.9936242667945532 + - -0.11269761098867671 + - -0.0895129186203637 + - - -0.259391472131188 + - 0.10802304765042715 + - -0.9597119804201306 + - 0.9741607629685687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9918191185337635 + - 0.014787707456480824 + - 0.12679179712855979 + - 0.01266127521479241 + - - 0.03252153529099188 + - -0.9897636710980949 + - -0.13896123602191945 + - -0.09284687893493772 + - - 0.12343899648500505 + - 0.14194787452654717 + - -0.9821474507751732 + - 0.9721377206049171 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901500784226748 + - -0.005971525630189182 + - 0.1398826761297445 + - 0.05450702445592497 + - - -0.018104665624312802 + - -0.9961627624670765 + - 0.08562693359331928 + - -0.09329005177118674 + - - 0.13883458964610665 + - -0.08731604409048131 + - -0.9864587498533257 + - 0.9753182608630486 + - - 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: null + base_right_marker_pose: + - - 0.9999170157487692 + - -0.012178484842859664 + - -0.004200728866262815 + - 0.09190361737349623 + - - -0.012120573266109724 + - -0.9998347781520238 + - 0.013546516208804402 + - -0.03348867649671896 + - - -0.004365010856399158 + - -0.013494476819305427 + - -0.9998994178294124 + - 0.9689397145598262 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9664794866637701 + - 0.03286548499291963 + - -0.25463161970642123 + - 0.10013201343615874 + - - 0.0015596324625792302 + - -0.9925062709206826 + - -0.12218375395159149 + - -0.0895572467654723 + - - -0.25673910766518804 + - 0.11769096005769329 + - -0.9592882093072874 + - 0.9747779344666556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971987969984171 + - 0.009986700298170736 + - 0.074127087370706 + - 0.012759837559750329 + - - 0.02296202469059583 + - -0.9840649094424399 + - -0.17632072886121616 + - -0.09281036938223114 + - - 0.07118500324519367 + - 0.17752892671673695 + - -0.9815376587231814 + - 0.9720910851496627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9750840833553639 + - -0.01046134055909106 + - 0.22158878748875446 + - 0.0544511635496322 + - - -0.012915416155454029 + - -0.9998702307150585 + - 0.009628798229671515 + - -0.0932525856733945 + - - 0.22145930193279553 + - -0.01225079930139273 + - -0.9750926599579737 + - 0.9742917882204669 + - - 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: + - - 0.9997125364207364 + - -0.012552003730547993 + - -0.020427719539046877 + - 0.023865147609262477 + - - -0.013549192788641664 + - -0.9986855603549182 + - -0.049432488439885826 + - -0.03427471147828226 + - - -0.019780391755318424 + - 0.049695057510093836 + - -0.9985685441476088 + - 0.9690583691991463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996527232205742 + - -0.011643257299595157 + - -0.02364037895520048 + - 0.09186263106912756 + - - -0.011860035390071884 + - -0.9998887086085064 + - -0.009050412021500528 + - -0.03349620805501402 + - - -0.023532371708697448 + - 0.009327644754604614 + - -0.9996795599216256 + - 0.9688384085836983 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9693779082892059 + - 0.016175081698218 + - -0.24504048166149994 + - 0.1000318711372239 + - - 0.007200186180026265 + - -0.9992715176860121 + - -0.03747787694717761 + - -0.089378035114081 + - - -0.24546818172589474 + - 0.03456588887256917 + - -0.9687881972271509 + - 0.973361965895762 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976853194775803 + - 0.009714483787051857 + - 0.0673025415840262 + - 0.01280018975799065 + - - 0.027248097780125997 + - -0.9639210885783533 + - -0.2647898717120553 + - -0.09298367181653686 + - - 0.06230204223204213 + - 0.26601083398740194 + - -0.9619546204135845 + - 0.9735966729202274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9878618118731902 + - -0.003889362831458772 + - 0.15528655286077728 + - 0.054424291700025135 + - - -0.01968846297237451 + - -0.994759004688119 + - 0.10033387771679086 + - -0.09318985254684307 + - - 0.15408246191050798 + - -0.10217335977967923 + - -0.9827610083244699 + - 0.9741108750061145 + - - 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: null + base_right_marker_pose: + - - 0.9997716119998594 + - -0.011932243677947698 + - -0.01772978849316968 + - 0.09184816862212189 + - - -0.011623116337856733 + - -0.999780395876583 + - 0.017437407704698638 + - -0.03346220259553519 + - - -0.017933962356353455 + - -0.01722734981572362 + - -0.9996907478878294 + - 0.9684198939619089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9648904772079164 + - 0.029467047627288304 + - -0.2609943679423186 + - 0.1001591282257967 + - - 0.003581518029699398 + - -0.9950704713639661 + - -0.09910564942574296 + - -0.08955906888323104 + - - -0.26262813962346493 + - 0.09469134133397017 + - -0.9602395587322428 + - 0.9750143895949054 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995700039832418 + - 0.005236062068001812 + - 0.09248791451720148 + - 0.012816309250987704 + - - 0.026960379715055098 + - -0.9715621808377093 + - -0.23524469535250986 + - -0.09284269877105271 + - - 0.08862600410342994 + - 0.2367266618272964 + - -0.967525668381343 + - 0.9725302718363559 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9703104527526288 + - -0.012311679192486845 + - 0.2415492658536758 + - 0.05448687424124375 + - - -0.014457651444778695 + - -0.9998701767640252 + - 0.0071137846873442325 + - -0.09325174657296248 + - - 0.24143032451142038 + - -0.01039481473321633 + - -0.9703624818762172 + - 0.9747887439747058 + - - 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: null + base_right_marker_pose: + - - 0.999830750165676 + - -0.010640479990411929 + - -0.015008371287892461 + - 0.09189472425240701 + - - -0.010646749797943054 + - -0.9999432646569981 + - -0.0003379139599100645 + - -0.03347787118017886 + - - -0.01500392421607064 + - 0.0004976471420051573 + - -0.9998873109533095 + - 0.968955587912036 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9582105071135607 + - 0.02259728106688899 + - -0.2851701017735852 + - 0.10005698281807762 + - - 0.006369423125532632 + - -0.9983133232795341 + - -0.05770562374345813 + - -0.08951171046671337 + - - -0.2859931022004217 + - 0.05347776594957617 + - -0.956738247402508 + - 0.9742068275926292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994072693513645 + - 0.027859509402366513 + - 0.020222702675674133 + - 0.012622328556606532 + - - 0.03124741679636288 + - -0.980646773028102 + - -0.19327572401397197 + - -0.0927545653390767 + - - 0.014446761270390152 + - 0.19379307078796737 + - -0.9809360513322806 + - 0.9711654536704494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9692742061408569 + - -0.018091384887173677 + - 0.24531656100409474 + - 0.05452134580899098 + - - -0.00472297051986119 + - -0.9984766298038998 + - -0.05497375087179764 + - -0.09331346837906207 + - - 0.24593740435216463 + - 0.052126015849190833 + - -0.967883087780859 + - 0.9750842809765146 + - - 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: + - - 0.9983126632098661 + - -0.011303445296000547 + - -0.056956637885894966 + - 0.023872828418752868 + - - -0.01559309103113085 + - -0.99702826026854 + - -0.0754420554994554 + - -0.03428438174099568 + - - -0.05593462243476315 + - 0.07620288938306977 + - -0.9955221934556515 + - 0.9693914312463787 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999909944413995 + - -0.011998203648233185 + - -0.0060121685951759546 + - 0.09194615402996685 + - - -0.01195654753680989 + - -0.9999045912330212 + - 0.006917326226620675 + - -0.03347043589223622 + - - -0.006094590470351677 + - -0.006844818503146213 + - -0.9999580013313851 + - 0.9688436998101806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9798268658079434 + - 0.02243241182250994 + - -0.19858524603003058 + - 0.10003378609229997 + - - 0.003648655783967945 + - -0.9955226590364239 + - -0.09445275356504278 + - -0.08941529314095793 + - - -0.1998149152389595 + - 0.09182277628602774 + - -0.9755216949935936 + - 0.9734836790086139 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9958053295452776 + - 0.005656059175834347 + - 0.09132225711085205 + - 0.01280518910864163 + - - 0.027430531662724203 + - -0.9706334193449351 + - -0.23899441663657994 + - -0.09292330874072954 + - - 0.08728866811861315 + - 0.24049693188346155 + - -0.9667170807287517 + - 0.9729681094593143 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9914474208915377 + - -0.007320549653046118 + - 0.13030127075472156 + - 0.0544057635399991 + - - -0.01068819522416989 + - -0.9996261845422488 + - 0.025164531792895795 + - -0.09320061848498946 + - - 0.13006834392106328 + - -0.026341995563793526 + - -0.9911550459839009 + - 0.9741094687180203 + - - 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: + - - 0.9994724766428901 + - -0.012058790771218414 + - -0.03015549698585089 + - 0.023895412239248563 + - - -0.014168492797324688 + - -0.997393065438377 + - -0.07075540140010421 + - -0.03420706260884178 + - - -0.029223658997118124 + - 0.07114533421506773 + - -0.9970377721903252 + - 0.968909132639333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998858611216664 + - -0.011197638645177558 + - -0.010142860432623253 + - 0.09184220044013208 + - - -0.011221446226493353 + - -0.9999344076649901 + - -0.002293362651500145 + - -0.03349540435197892 + - - -0.010116514892469952 + - 0.002406918452586999 + - -0.9999459299732126 + - 0.9685751279539927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9847946701576203 + - 0.01941989567890467 + - -0.17263349988042395 + - 0.0998894419683763 + - - 0.003323404057038782 + - -0.995656364293313 + - -0.09304493123054089 + - -0.08931879548210124 + - - -0.17369056570412086 + - 0.09105642148713558 + - -0.9805816210246551 + - 0.9722317186058954 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995320485731749 + - 0.012524754546710848 + - 0.09581367964053934 + - 0.012705767516651176 + - - 0.02992306421578577 + - -0.9827735693905013 + - -0.18237522182410704 + - -0.09286495286505789 + - - 0.09187894704802192 + - 0.18438883326004024 + - -0.9785494454846666 + - 0.972237763549261 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998843571987238 + - -0.006014834914379478 + - 0.013967605029052315 + - 0.054353748419982174 + - - -0.007495875814764239 + - -0.9940651716015149 + - 0.10852762991340349 + - -0.0931207965081515 + - - 0.013231933912489077 + - -0.10861977890699188 + - -0.9939953015759844 + - 0.9730714932176974 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9816541765567244 + - 0.035763850981727366 + - -0.1872859434439653 + - 0.10007111906027115 + - - -0.00033594887520964 + - -0.9819254264199363 + - -0.18926791616219896 + - -0.08948987336764358 + - - -0.1906697794279225 + - 0.18585855889085312 + - -0.9638991810868626 + - 0.9737924476319227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9891381408288022 + - 0.003926493542448516 + - 0.14693645227172727 + - 0.012711982294648221 + - - 0.03718282717119656 + - -0.973814558413254 + - -0.22428250753448414 + - -0.09297329635848614 + - - 0.14220821256628394 + - 0.2273098952330499 + - -0.9633831199516849 + - 0.9733103298117706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987491905562772 + - -0.002929887105435037 + - 0.04991462836414394 + - 0.054505950347295495 + - - -0.002948527823710768 + - -0.9999956081353613 + - 0.0002998227170429588 + - -0.0933181609995019 + - - 0.04991353069914009 + - -0.00044662236649889995 + - -0.9987534430386749 + - 0.9753866643562731 + - - 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: + - - 0.9993161387049685 + - -0.012290351318300986 + - -0.03487409050089774 + - 0.023882605814306405 + - - -0.014777190672174418 + - -0.997297192269359 + - -0.07197183426516084 + - -0.03428352993867205 + - - -0.03389527341135148 + - 0.0724379565982249 + - -0.996796796184781 + - 0.9690962816771609 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997170131128097 + - -0.01216213049904924 + - -0.02044446806660201 + - 0.09190202916489035 + - - -0.012261862617898432 + - -0.9999134911381142 + - -0.004759933311366123 + - -0.03342511407318491 + - - -0.020384808508838094 + - 0.005009273571383791 + - -0.9997796591051178 + - 0.9687178921673056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9679120482994548 + - 0.03657195359689978 + - -0.24861367413491187 + - 0.10004970531247798 + - - 5.94650929616955e-05 + - -0.9893860721805027 + - -0.14531069003738412 + - -0.08949323291270743 + - - -0.2512892023558845 + - 0.14063318379864764 + - -0.957640874437803 + - 0.9740577945358049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993411756613114 + - 0.022081719282845826 + - 0.028802991188095105 + - 0.0126652361633199 + - - 0.02862403447815706 + - -0.9674494923772976 + - -0.25144014068780407 + - -0.0929417762688814 + - - 0.022313208600763034 + - 0.25209894361623775 + - -0.9674441809993567 + - 0.972822479581637 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9856805981006945 + - -0.006522863337915331 + - 0.16849691623804866 + - 0.054577283758752815 + - - -0.007469557642790645 + - -0.9999596757273294 + - 0.004985241008869691 + - -0.0934268708289551 + - - 0.1684576036766466 + - -0.006172452767771359 + - -0.9856895741511891 + - 0.9762817088755741 + - - 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: null + base_right_marker_pose: + - - 0.9990857902751052 + - -0.011077528473454796 + - -0.04129009606780071 + - 0.09185348952748136 + - - -0.010938945214434958 + - -0.9999337566225912 + - 0.0035807602862625233 + - -0.03350719723791866 + - - -0.04132702684641135 + - -0.003125816621601877 + - -0.9991407839351188 + - 0.9684985338260783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9803383564364113 + - 0.018126497172565953 + - -0.1964895340719414 + - 0.09994079386124256 + - - 0.005724681419538175 + - -0.9979652881671585 + - -0.06350206009323846 + - -0.08932784698110563 + - - -0.19724080440466787 + - 0.06112866523729626 + - -0.9784474188039469 + - 0.9724254528473663 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992810524814062 + - 0.01691548158959802 + - 0.03392999608377693 + - 0.012761644344436003 + - - 0.021812139552537295 + - -0.9885085084350271 + - -0.14958328556258732 + - -0.0927771937996806 + - - 0.03100981650693511 + - 0.1502158288402054 + - -0.9881667855408096 + - 0.9717564996813555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960160442620816 + - -0.0055601718700970994 + - 0.08900069697081085 + - 0.0544211323332586 + - - -0.004056968462371949 + - -0.9998462063631475 + - -0.01706178853806014 + - -0.09321363555463276 + - - 0.08908187570662417 + - 0.01663274210697508 + - -0.9958854207741934 + - 0.9740858370102868 + - - 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: + - - 0.9989194823557126 + - -0.010638154904981859 + - -0.04524044021020115 + - 0.02381369491379814 + - - -0.013126144017064785 + - -0.9983968604043142 + - -0.05505827347503547 + - -0.03423589156191097 + - - -0.04458219502714563 + - 0.055592614572676204 + - -0.9974577129340049 + - 0.969099608804932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996909264251121 + - -0.010401428307488117 + - -0.02258012206488992 + - 0.091883654205387 + - - -0.010874224621341083 + - -0.9997220599317195 + - -0.02091779445264974 + - -0.03351186781330983 + - - -0.022356271204871422 + - 0.021156870634450403 + - -0.9995261797285605 + - 0.9686771000293001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9758462947588905 + - 0.020017529587590024 + - -0.21753920914298336 + - 0.0999781943214221 + - - 0.003802650746227437 + - -0.9971986391347246 + - -0.07470216834306184 + - -0.08939223495236812 + - - -0.21842515618089164 + - 0.0720706085520505 + - -0.9731887168120528 + - 0.9732043095587513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999289075536702 + - 0.015183038966312986 + - 0.03450824308409545 + - 0.012812788391516632 + - - 0.018951272390709466 + - -0.9935682766292158 + - -0.1116374890026785 + - -0.0927488840110627 + - - 0.03259129926493777 + - 0.11221209829513684 + - -0.9931496625425725 + - 0.9720116541061563 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9848358844004039 + - -0.009218832251557244 + - 0.17324345277438863 + - 0.05437476291758045 + - - -0.011049861720834605 + - -0.999892791396398 + - 0.009607615181182003 + - -0.09317029639389643 + - - 0.1731363085930407 + - -0.011376240391135061 + - -0.9848321683420675 + - 0.9732740097479345 + - - 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: + - - 0.9970856278231913 + - -0.00677073446743151 + - -0.07598952522028286 + - 0.023878129575484047 + - - -0.01596226729031366 + - -0.9925227036064218 + - -0.12101193680274784 + - -0.03431017192803024 + - - -0.07460198932592248 + - 0.12187222809389837 + - -0.9897381993275012 + - 0.9698614033231532 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999231016466295 + - -0.01199818698946607 + - -0.003135969124557508 + - 0.09188171440392777 + - - -0.011965264586062242 + - -0.9998752160282067 + - 0.010314301524202756 + - -0.03347761440343966 + - - -0.0032593307242278447 + - -0.010275985671090324 + - -0.9999418887524001 + - 0.9688936793028432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9710401240791366 + - 0.014356519514748374 + - -0.23848473279394106 + - 0.10000668400653324 + - - 0.00916142004366034 + - -0.9996962867171263 + - -0.022877996126708426 + - -0.08942515059388173 + - - -0.23874075021068025 + - 0.02003059338643557 + - -0.9708767324008901 + - 0.9737135852976889 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987543699941773 + - 0.012341831572597968 + - 0.04834653670085871 + - 0.012757761288856239 + - - 0.021559150618146665 + - -0.98055440198474 + - -0.1950596518323923 + - -0.09307363368827729 + - - 0.04499901601321878 + - 0.1958589899437441 + - -0.9795990734050637 + - 0.9731496923282362 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9820263453303777 + - -0.0036758987633878073 + - 0.18870809427616803 + - 0.054411767061939884 + - - -0.018302803041485627 + - -0.9969530075981625 + - 0.07582682930073506 + - -0.09322738617322866 + - - 0.18785437039868513 + - -0.07791783113806205 + - -0.9791013977688185 + - 0.9741380725766671 + - - 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: + - - 0.9988121461046959 + - -0.011017768155979027 + - -0.047464782508641584 + - 0.023853721243965478 + - - -0.014791178464146832 + - -0.9966934154926502 + - -0.0798965365534484 + - -0.034268577436724935 + - - -0.0464275546779422 + - 0.0805036912101293 + - -0.995672455111705 + - 0.969232577250902 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996774873529898 + - -0.010729433130801902 + - -0.023017396557922055 + - 0.09187975184094452 + - - -0.011242120686805005 + - -0.9996889745257238 + - -0.02226137763413806 + - -0.03347817171043499 + - - -0.022771385598516016 + - 0.02251296240831139 + - -0.99948718377052 + - 0.9688435669419486 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9820090248858471 + - 0.02120264459101774 + - -0.18763987557311723 + - 0.09996542463221567 + - - 0.0019210053385957365 + - -0.9947466635092284 + - -0.10234932914165402 + - -0.08936069792278567 + - - -0.18882421661756477 + - 0.10014750770540688 + - -0.9768909314345988 + - 0.9728366748551979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993725477296479 + - 0.025690677488969058 + - -0.02438236933750309 + - 0.012753318397288205 + - - 0.019239787975145046 + - -0.97173570487427 + - -0.2352861033532942 + - -0.09311530309783572 + - - -0.029737878253569078 + - 0.23466936093717766 + - -0.97162027028789 + - 0.9733386922506034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9810788361048339 + - -0.0046362688251180674 + - 0.19355315124938113 + - 0.05436994552852835 + - - -0.013771108404947885 + - -0.9988521799642307 + - 0.04587678229784841 + - -0.09302491529466378 + - - 0.1931182899688265 + - -0.047674181608982465 + - -0.9800165807206687 + - 0.9723622973910382 + - - 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: + - - 0.9997014701207674 + - -0.01405354849023446 + - -0.019986705911907824 + - 0.02387280894125708 + - - -0.014494312805191183 + - -0.9996510955887562 + - -0.02208171153928644 + - -0.03420554170896132 + - - -0.019669406058184197 + - 0.02236481305603992 + - -0.9995563663957557 + - 0.9688128069019861 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998925923925172 + - -0.012479421847633263 + - -0.007685551959388554 + - 0.0918886519372695 + - - -0.012374769417249652 + - -0.9998320634127177 + - 0.013517028287944405 + - -0.033450591697461424 + - - -0.007852945972152765 + - -0.013420469522933992 + - -0.9998791038107269 + - 0.9687670051142638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9804347202492132 + - 0.017045492746158956 + - -0.19610510066514772 + - 0.09992103073447522 + - - 0.0064351623191850815 + - -0.9984867052914546 + - -0.05461582226920947 + - -0.08931382819586511 + - - -0.19673928945630767 + - 0.05228528027329278 + - -0.9790607240876179 + - 0.9724594005694571 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992903130313392 + - 0.025844494933943404 + - 0.027403145135867134 + - 0.012592476832187458 + - - 0.02962765251673357 + - -0.988527221242567 + - -0.14810852463243462 + - -0.09276321265944683 + - - 0.023260964899928717 + - 0.1488153048045065 + - -0.9885913880708581 + - 0.9711430001013917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939264544404314 + - -0.0031532128669858415 + - 0.11000118368494313 + - 0.05432672961353563 + - - -0.018025726462198334 + - -0.990753290449671 + - 0.13447301085593807 + - -0.09302775427076568 + - - 0.10856001266112272 + - -0.135639134145595 + - -0.9847927441544497 + - 0.9727856255054935 + - - 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: + - - 0.9985132480702974 + - -0.011500023740045277 + - -0.05328266962233764 + - 0.023877419841996882 + - - -0.015673101283345096 + - -0.9967848995637998 + - -0.07857619167246277 + - -0.03431007109793304 + - - -0.05220773241835728 + - 0.07929447304550297 + - -0.9954831687277135 + - 0.9690390587536135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997695391249586 + - -0.007960745209298667 + - -0.01993728099767759 + - 0.09188840490550373 + - - -0.008732136332002292 + - -0.9992046609830212 + - -0.0389075219576385 + - -0.03349390378224115 + - - -0.019611691231177727 + - 0.03907265035184361 + - -0.9990438977149776 + - 0.9687521862876282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9667417580786475 + - 0.021762784300014812 + - -0.2548269106796158 + - 0.09999405450569704 + - - 0.0087374741102492 + - -0.9986018066204873 + - -0.05213528901302387 + - -0.08941658766805768 + - - -0.2556052224293913 + - 0.04817481742373116 + - -0.9655802179171916 + - 0.9733508997662244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963676253182896 + - 0.021362833229051335 + - 0.08243290953266347 + - 0.012628865313467418 + - - 0.02189281806388387 + - -0.9997450256193127 + - -0.0055306660233513365 + - -0.09281646561814223 + - - 0.08229374055670469 + - 0.007315265262990318 + - -0.9965812697212998 + - 0.9724660678707837 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.998921109911814 + - -0.004829719194101551 + - 0.04618755227391638 + - 0.05439414170640056 + - - -0.014441774678249863 + - -0.9775694973715805 + - 0.2101173789880737 + - -0.09309378657131073 + - - 0.04413673432292303 + - -0.21055771565340764 + - -0.9765845570467138 + - 0.9731015263318628 + - - 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: null + base_right_marker_pose: + - - 0.9997738570520114 + - -0.01151615996356709 + - -0.01787771839575266 + - 0.09187542939639669 + - - -0.01125902801206721 + - -0.9998326717037909 + - 0.014417450602739046 + - -0.03343085317133029 + - - -0.018040760615001365 + - -0.014212904465747635 + - -0.9997362273635377 + - 0.9685902103349626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9758823166274235 + - 0.020144266041278936 + - -0.21736584975462736 + - 0.10007363819014292 + - - 0.006220618070393906 + - -0.9978949944650448 + - -0.06455140534823274 + - -0.08944212857519529 + - - -0.2182086341204567 + - 0.06164242505991906 + - -0.9739533887348091 + - 0.9739290574320647 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948681576734779 + - 0.01475133307840503 + - 0.10009868640391749 + - 0.012675017186385909 + - - 0.033509502782684546 + - -0.981520119772229 + - -0.18840214358007243 + - -0.09296183875276182 + - - 0.09546969189558076 + - 0.1907895506958359 + - -0.976977423114088 + - 0.9732793128870295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993832817421637 + - -0.0031359159858743123 + - 0.11084447233263733 + - 0.054463583875554424 + - - -0.01258992750245418 + - -0.9963274492632287 + - 0.0846942003333806 + - -0.09325487129051244 + - - 0.11017179648736883 + - -0.08556739960731188 + - -0.9902223969307036 + - 0.9748030972115559 + - - 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: + - - 0.999463091554843 + - -0.011644309691806753 + - -0.03062578442157231 + - 0.023875020805530205 + - - -0.013320538255459941 + - -0.9983913943872651 + - -0.05511067840298629 + - -0.0342592259941566 + - - -0.029934793806207425 + - 0.05548904094732443 + - -0.9980104580887548 + - 0.9693071359552572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9693274761655122 + - 0.026547538022971124 + - -0.24433475433412538 + - 0.099984506953425 + - - 0.003547338384801209 + - -0.9955567601284844 + - -0.09409651296864814 + - -0.08940105276524621 + - - -0.2457471471675352 + - 0.09034359737908466 + - -0.9651146947755088 + - 0.9732565262752876 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.994646342140569 + - 0.013495677687120292 + - 0.10245252925209526 + - 0.012679859359752837 + - - 0.026827620863189457 + - -0.9911654251797898 + - -0.12988987137952268 + - -0.09280711220587165 + - - 0.09979445287793824 + - 0.13194304306000126 + - -0.9862211215355616 + - 0.9714620295589836 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889277025579573 + - -0.010164541773602112 + - 0.14804959035395268 + - 0.05442580246762098 + - - -0.004990036521686156 + - -0.9993649822046824 + - -0.035280757907776156 + - -0.09329892037005906 + - - 0.14831418896704637 + - 0.034151345999353655 + - -0.9883504373032268 + - 0.9748119125996979 + - - 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: + - - 0.9992730730232522 + - -0.011106095863575338 + - -0.03646889311913723 + - 0.02384337163226785 + - - -0.01437189924345744 + - -0.9957885254706632 + - -0.09054645798207558 + - -0.03431939919301634 + - - -0.03530968766219672 + - 0.0910047645765481 + - -0.9952242756191022 + - 0.9691410530247602 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9713068239650455 + - 0.017351924769320383 + - -0.2371960463956676 + - 0.0999899515716602 + - - 0.008706802036130846 + - -0.9992607088685324 + - -0.037446325719112473 + - -0.08935813520333824 + - - -0.23767045528891362 + - 0.03430665268367176 + - -0.9707398252180666 + - 0.9730904218548562 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962737955587938 + - 0.014719199804766794 + - 0.08498158294584811 + - 0.012690100607422346 + - - 0.026987482340949002 + - -0.9890522595923124 + - -0.14507688855306516 + - -0.09271828416196849 + - - 0.08191581092665613 + - 0.14682974137567933 + - -0.9857640828148385 + - 0.971251475217138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9909503363198429 + - -0.00486327123141539 + - 0.13414089436305396 + - 0.05447996884791078 + - - -0.005605205705331536 + - -0.9999710090146782 + - 0.0051539110554797455 + - -0.09328093248008956 + - - 0.13411194061898898 + - -0.005859157200192275 + - -0.9909488673288408 + - 0.9748485609678761 + - - 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: + - - 0.998606466930836 + - -0.010758319404568359 + - -0.05166606978958517 + - 0.023878366071414622 + - - -0.013803726773251855 + - -0.9981652714721593 + - -0.05895377811540933 + - -0.03424201520007202 + - - -0.050937033002349155 + - 0.05958480838687655 + - -0.9969228000594719 + - 0.9689934530834744 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9753170362468558 + - 0.018855760567793912 + - -0.2200025888485389 + - 0.09998265061314776 + - - 0.006832240161597422 + - -0.9984472293997534 + - -0.05528517521299064 + - -0.08940110302491094 + - - -0.22070341932336135 + - 0.05241746271393578 + - -0.9739314197116808 + - 0.9730787072916279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981247039603853 + - 0.017630679659882187 + - 0.05861940360259379 + - 0.012683287458462958 + - - 0.02775690861328023 + - -0.9838718306758687 + - -0.17670816287525945 + - -0.09279104057828301 + - - 0.05455849492267157 + - 0.17800387618601407 + - -0.9825161528924231 + - 0.9710809715841182 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.988276491212003 + - -0.00824707569546418 + - 0.15245183718199373 + - 0.05443378812169755 + - - -0.006239523570126714 + - -0.9998874734995605 + - -0.013642165674232605 + - -0.09319809310012159 + - - 0.15254719028323555 + - 0.012531004793657256 + - -0.9882167417401667 + - 0.9740870163519457 + - - 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: + - - 0.9995416128140024 + - -0.013083818844221176 + - -0.027301610531879798 + - 0.023882137057863684 + - - -0.014265126267460383 + - -0.998950167632165 + - -0.04353238748612691 + - -0.03427495956507283 + - - -0.02670337854572449 + - 0.043901893719069676 + - -0.9986789040037458 + - 0.9691272145299616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997743815753601 + - -0.011492771083717457 + - -0.017863430757371793 + - 0.09190111060864561 + - - -0.01162745179072163 + - -0.9999046157606167 + - -0.007453975145387494 + - -0.03351333794404987 + - - -0.017776060037606563 + - 0.007659999571206122 + - -0.9998126504981365 + - 0.9688637342241365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.964536786633435 + - 0.013184459992412856 + - -0.26361896222683967 + - 0.10004236254825521 + - - 0.009104652980953316 + - -0.9998192263861012 + - -0.01669190950112724 + - -0.08950242636755755 + - - -0.2637913806873604 + - 0.013699801582718957 + - -0.9644824637657491 + - 0.9739653693460687 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988050116262377 + - 0.018236539975589952 + - 0.04534288654276218 + - 0.012681199191863479 + - - 0.026291660664885398 + - -0.9825817355916635 + - -0.1839616304047036 + - -0.09278650489278024 + - - 0.04119826852907306 + - 0.18493393818170034 + - -0.9818870307621002 + - 0.9713115122086193 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9670025762280589 + - -0.012830580835363613 + - 0.2544433016680226 + - 0.05446196917739418 + - - -0.017612021914983986 + - -0.9997083698303125 + - 0.01652246880117217 + - -0.09324103737618013 + - - 0.25415710545322806 + - -0.02045853090147931 + - -0.9669465415735197 + - 0.9747657747278736 + - - 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: + - - 0.9990840669846481 + - -0.012434226482838808 + - -0.04094407294332739 + - 0.023858024654086558 + - - -0.015235717751758573 + - -0.9975115553146456 + - -0.06883727128776981 + - -0.03427471520533954 + - - -0.039986247660962045 + - 0.06939803329728256 + - -0.996787345913092 + - 0.9691456409074666 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997705383639204 + - -0.010936592351074331 + - -0.01841905446170481 + - 0.09190646130602559 + - - -0.011172345498518536 + - -0.9998563548326381 + - -0.012745524581297225 + - -0.033483041233200055 + - - -0.018277016046897757 + - 0.012948384012576303 + - -0.9997491135459363 + - 0.9688193955208869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9652593126999893 + - 0.016095899503517783 + - -0.26079758677011766 + - 0.10001294491673927 + - - 0.008465480234958443 + - -0.9995033302149032 + - -0.030355041322821706 + - -0.08942722968038258 + - - -0.2611566481833 + - 0.027092709508119366 + - -0.9649161570836988 + - 0.9734537821800333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957962803600571 + - 0.009607742093109443 + - 0.09109039089249102 + - 0.012743534059156545 + - - 0.024914851984301222 + - -0.9853981090270084 + - -0.16843341971413228 + - -0.09274875820326017 + - - 0.08814203407951782 + - 0.1699948764459358 + - -0.9814951471150822 + - 0.9716529440282117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9816511308334717 + - 0.0006910923277283453 + - 0.190684503105944 + - 0.05437887675273336 + - - -0.02399244891913417 + - -0.9915986849592501 + - 0.12710786907957017 + - -0.0931054419880841 + - - 0.18917034579507688 + - -0.12935057162023278 + - -0.9733873894258599 + - 0.9731911621794884 + - - 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: null + base_right_marker_pose: + - - 0.9997160197801988 + - -0.011798023927175693 + - -0.02070474405181027 + - 0.0918512022848345 + - - -0.011502194955509143 + - -0.9998308831832036 + - 0.014349374352260113 + - -0.03345369875790558 + - - -0.0208705367933516 + - -0.014107149411189708 + - -0.9996826541605333 + - 0.9684261995716575 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9774328316380436 + - 0.02253407685619356 + - -0.21004112696392377 + - 0.09997708675885333 + - - 0.0045800103096164755 + - -0.9963211006539578 + - -0.08557621104752046 + - -0.08935868253380012 + - - -0.21119678771610093 + - 0.08268300775809452 + - -0.9739401609372493 + - 0.972771289196476 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995338608437895 + - 0.015589203705680076 + - 0.026249528653496404 + - 0.012755363680214848 + - - 0.021862534861677146 + - -0.9656260287706856 + - -0.25901428943202687 + - -0.09305413610468259 + - - 0.0213094015901402 + - 0.2594674339649943 + - -0.9655167321779008 + - 0.9728174049898408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9861403797854813 + - -0.010366392023425803 + - 0.16558891651606145 + - 0.05447041874350645 + - - -0.013763279272845373 + - -0.9997174599092317 + - 0.019379692884357713 + - -0.09327703489942649 + - - 0.16534123351482588 + - -0.021390144203604935 + - -0.9860044311415367 + - 0.974709499020648 + - - 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: null + base_right_marker_pose: + - - 0.9998346427896002 + - -0.01137593611777105 + - -0.014187147537007767 + - 0.09188746322073241 + - - -0.011259956332946408 + - -0.9999027499183035 + - 0.008228249461122937 + - -0.03350201406096031 + - - -0.014279371875981573 + - -0.008067142198989798 + - -0.9998655013328385 + - 0.9686534956900295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.980185040340772 + - 0.01655354624509576 + - -0.19739115177451755 + - 0.10004406469838628 + - - 0.006085823992651866 + - -0.9985482576968584 + - -0.053519527248456156 + - -0.08946077514180939 + - - -0.19799052865854366 + - 0.0512577521676405 + - -0.9788628062217046 + - 0.9737781999074473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951636785668656 + - 0.004009435693824512 + - 0.09814875081569531 + - 0.012848246592852745 + - - 0.010322645686847797 + - -0.9979029246147691 + - -0.0638998906987677 + - -0.09289823424504216 + - - 0.09768672298366941 + - 0.06460400506708344 + - -0.9931181332963387 + - 0.9718739372990354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932432686712902 + - -0.0011833497332260912 + - 0.11604485737239706 + - 0.054410259508776274 + - - -0.017843408669701587 + - -0.9896148447732461 + - 0.14263264623314642 + - -0.09328673789559534 + - - 0.11467092921144889 + - -0.14373955157795903 + - -0.9829493981410996 + - 0.9747833104243169 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9805892707203943 + - 0.03109525476184585 + - -0.1935917541615377 + - 0.0999877973268235 + - - 0.0020690942185364845 + - -0.9889306014403443 + - -0.14836436359164368 + - -0.08942123289594658 + - - -0.19606223756032207 + - 0.1450839435159333 + - -0.9697990762713198 + - 0.9731807828361814 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989124173433221 + - 0.015824906353416972 + - 0.04385834944712705 + - 0.012787895599149932 + - - 0.020245280979117496 + - -0.9945525916971734 + - -0.102251019293269 + - -0.09272124516650179 + - - 0.04200132230534308 + - 0.10302773746589543 + - -0.9937913132228826 + - 0.9710783161942651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9815164356320594 + - -0.013121587824207716 + - 0.19092750068313655 + - 0.05439925626365849 + - - -0.0011242100521804453 + - -0.998024841881647 + - -0.06281043813628244 + - -0.09322274608422579 + - - 0.1913745613604276 + - 0.06143483474450624 + - -0.9795925368968562 + - 0.9737831978419873 + - - 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: + - - 0.9995931053381354 + - -0.012865829149775422 + - -0.025457694332993087 + - 0.02385569691453561 + - - -0.014196181902336171 + - -0.9985049318825052 + - -0.05278607227015141 + - -0.03424777539760695 + - - -0.02474049675853543 + - 0.05312599595868913 + - -0.9982812912068114 + - 0.9688161366177767 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9696036007073263 + - 0.019254275875256993 + - -0.24392238592615326 + - 0.10002513465705992 + - - 0.005972417725579719 + - -0.9984644020926927 + - -0.055074204308303724 + - -0.08944031096438437 + - - -0.244608233144142 + - 0.05194334042205118 + - -0.968229674025693 + - 0.9737195570212449 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996062503957421 + - 0.022780913656228575 + - -0.01638212876131714 + - 0.012743810563011711 + - - 0.020756370627249412 + - -0.9931930525013158 + - -0.11461559030735478 + - -0.09274330280556296 + - - -0.018881664337371682 + - 0.11423042692779627 + - -0.9932748322170178 + - 0.9714005901714988 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9589349872769212 + - -0.022279494485721793 + - 0.28274956109899063 + - 0.05450036677463451 + - - -0.00044479551998184014 + - -0.9970268926572844 + - -0.07705308219082309 + - -0.09329550421971913 + - - 0.2836256200225159 + - 0.07376313065225083 + - -0.9560938804443959 + - 0.9747497519029868 + - - 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: + - - 0.9995618421546384 + - -0.01289962118999416 + - -0.02664063590796082 + - 0.02384366892635752 + - - -0.014130250339846311 + - -0.9988167509446965 + - -0.046534224583776033 + - -0.03422085443762566 + - - -0.026008839531189216 + - 0.046890274102789016 + - -0.9985613864258952 + - 0.9689875186877824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997644777459003 + - -0.01217315618077415 + - -0.01796672775064282 + - 0.09192412030030438 + - - -0.01236136817662735 + - -0.999869489291938 + - -0.010401969038703067 + - -0.03343224319086721 + - - -0.017837758106586804 + - 0.01062161248016292 + - -0.9997844746414366 + - 0.9689681720178964 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9768142069681996 + - 0.021741648162403295 + - -0.21298193773245053 + - 0.09998853608683797 + - - 0.005317585890967232 + - -0.9969870162051634 + - -0.07738612794692058 + - -0.0894114401220924 + - - -0.21402272857194246 + - 0.07445931945369393 + - -0.9739866946735531 + - 0.9729125853098571 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978272247498704 + - 0.02102264451331059 + - 0.062440995873213605 + - 0.012619369231737053 + - - 0.03002269736873716 + - -0.9886959049462873 + - -0.14689807754067855 + - -0.09276623965335186 + - - 0.058646970856787904 + - 0.1484535481560106 + - -0.9871788474482291 + - 0.9713162046931432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9812120033161775 + - -0.01218236716940859 + - 0.19254764210034717 + - 0.054401540769546675 + - - -0.01414582939925092 + - -0.9998609908621333 + - 0.008825783976471803 + - -0.09312433560306459 + - - 0.19241335727766137 + - -0.011383711272769253 + - -0.9812479355691895 + - 0.9730330995103404 + - - 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: null + base_right_marker_pose: + - - 0.9997808242534599 + - -0.01266923435549621 + - -0.016667152003804656 + - 0.09185715404258059 + - - -0.01249209322987424 + - -0.9998648299953073 + - 0.010689684054811533 + - -0.03344887317127063 + - - -0.0168003292172667 + - -0.010479133518620528 + - -0.9998039491314739 + - 0.9685130683599977 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9779553896479484 + - 0.023679149904035468 + - -0.20746699428668586 + - 0.09995516873009513 + - - 0.005763120674818342 + - -0.9962318519613486 + - -0.08653833588502376 + - -0.08938002849590436 + - - -0.20873438216694684 + - 0.08343497466580742 + - -0.9744067747629319 + - 0.97297029563034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993130916718157 + - 0.018465811518675514 + - 0.03213033797323156 + - 0.012721574129405193 + - - 0.024234973953874164 + - -0.9815550371128184 + - -0.18963748352029028 + - -0.0928186448437984 + - - 0.02803588505420109 + - 0.1902858978574347 + - -0.9813283172444467 + - 0.9722785424692756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9974184947728549 + - -0.004079452354533055 + - 0.07169173141680633 + - 0.054360323893883386 + - - -0.010832678545301698 + - -0.9955072442277526 + - 0.09406370057359968 + - -0.09305751381218676 + - - 0.07098590959188002 + - -0.0945974881196787 + - -0.9929815284691154 + - 0.9726117583456013 + - - 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: + - - 0.9992284437624958 + - -0.0129521894397234 + - -0.03707772868850426 + - 0.023849893274620372 + - - -0.014628243979528742 + - -0.9988665301977988 + - -0.04529535659076714 + - -0.03423354931544549 + - - -0.036449028163398206 + - 0.04580279073732177 + - -0.9982853162831838 + - 0.968675547773589 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997773318843858 + - -0.01302190326791382 + - -0.01660471876967295 + - 0.09184342826053526 + - - -0.012878564153244619 + - -0.9998791289536928 + - 0.008710342596845564 + - -0.033456198722713645 + - - -0.016716136978668143 + - -0.00849455814535135 + - -0.9998241911688398 + - 0.9685171544787973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9775885491274178 + - 0.022333449084721946 + - -0.209336680175574 + - 0.09997193525869946 + - - 0.005357913545778602 + - -0.9966743899931586 + - -0.08131084241478653 + - -0.08937254760120414 + - - -0.2104564595762895 + - 0.07836694063025823 + - -0.974457131555241 + - 0.9729527593449296 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996953037096592 + - 0.02463543731322922 + - 0.001547568815383704 + - 0.012642710797029 + - - 0.02461834390296481 + - -0.9905052472683997 + - -0.13525269785568755 + - -0.09281565122332618 + - - -0.0017991343273224233 + - 0.13524958544170296 + - -0.9908099276619708 + - 0.9717274748131459 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901865160256464 + - -0.011209743008998303 + - 0.13930184902816037 + - 0.05437864161943892 + - - -0.010435001034329816 + - -0.9999257658338178 + - -0.0062907531398861925 + - -0.09310196444623073 + - - 0.13936202579758125 + - 0.004775403996068395 + - -0.9902299840351579 + - 0.9731233909546229 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9830295996440197 + - 0.02362556057618781 + - -0.18191932033508515 + - 0.09993202550432662 + - - 0.0038408029972507186 + - -0.9941055575967063 + - -0.10834845909231115 + - -0.08934845421937174 + - - -0.18340680046294563 + - 0.10581102609276026 + - -0.9773259294120579 + - 0.9724462877606348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996731149716956 + - 0.02185269935297491 + - 0.013271124058474582 + - 0.012726579777163627 + - - 0.023749224582867122 + - -0.9859238960846993 + - -0.1654993820558857 + - -0.0927213911100533 + - - 0.009467710097984243 + - 0.16576046169142983 + - -0.9861205969886975 + - 0.971603210565588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990823876187719 + - -0.0027949811022055793 + - 0.13513043497666233 + - 0.05439604296574073 + - - -0.023284853784927475 + - -0.9883677479860563 + - 0.15028975455827567 + - -0.09306665087035194 + - - 0.13313850667841443 + - -0.15205716958305684 + - -0.9793634438847675 + - 0.9729342218935321 + - - 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: + - - 0.9993163160832792 + - -0.012587675951862783 + - -0.034762779288695506 + - 0.023860166698106488 + - - -0.015118339762474155 + - -0.9971789781889846 + - -0.07352225010701532 + - -0.03428829706350568 + - - -0.033739238470511676 + - 0.07399753963547043 + - -0.9966875277213649 + - 0.9692792596682112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997719787385559 + - -0.009579593117008997 + - -0.019084599154951015 + - 0.09192414019076794 + - - -0.010058829103774265 + - -0.9996324407127494 + - -0.02517545295982647 + - -0.03346242347064313 + - - -0.018836413837396624 + - 0.02536168114269883 + - -0.9995008627526852 + - 0.9688831940448503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9725437273533271 + - 0.03105588147869534 + - -0.23063874481812144 + - 0.10001277496754987 + - - 0.0014338221218683587 + - -0.9918367154747137 + - -0.12750636843097776 + - -0.08944410953431181 + - - -0.23271579778738735 + - 0.12367482388066955 + - -0.9646491048035378 + - 0.9735320919182758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999370047440393 + - 0.023020087595734286 + - 0.027010809800361784 + - 0.012663875369825783 + - - 0.02745253759894831 + - -0.9837765229433633 + - -0.17728539444874 + - -0.09290480923751211 + - - 0.022491475237630124 + - 0.17791522833234855 + - -0.9837887502249067 + - 0.9725776887962312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9715873739736738 + - -0.009249227219154397 + - 0.23650037321490452 + - 0.05443609811535697 + - - -0.01987290127428984 + - -0.9988955646758181 + - 0.042576033938362456 + - -0.09322331433150896 + - - 0.23584537843655745 + - -0.046066285576620083 + - -0.9706981275367178 + - 0.9743585868906368 + - - 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: null + base_right_marker_pose: + - - 0.9998286067313651 + - -0.011614102802211125 + - -0.01441768974964124 + - 0.09188340169184869 + - - -0.01153239743060808 + - -0.9999170402247435 + - 0.005737288357009639 + - -0.03348630364556118 + - - -0.014483127118124129 + - -0.005570034496180962 + - -0.9998795996241707 + - 0.9686050141069432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9739266574692442 + - 0.020145026858775637 + - -0.22596690855885224 + - 0.09993918232915772 + - - 0.005885980371139489 + - -0.997958145380276 + - -0.06359949138341713 + - -0.08934749035878198 + - - -0.22678673044483014 + - 0.06061120327149096 + - -0.9720566140570851 + - 0.9729299468487864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9923470472367126 + - 0.008943059071834056 + - 0.12315583435231643 + - 0.01275711771049225 + - - 0.02121844124033474 + - -0.994888389835552 + - -0.09872623522526586 + - -0.09273011774988549 + - - 0.12164339518407065 + - 0.10058386284519874 + - -0.9874643137568221 + - 0.971335655820572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872823551406805 + - -0.008394237539643731 + - 0.15875480466429734 + - 0.05446580699641236 + - - -0.009526069919490416 + - -0.9999343377429795 + - 0.006369787625809088 + - -0.09329330487776302 + - - 0.1586909109551021 + - -0.0078010882982419 + - -0.987297492046649 + - 0.9751111832928285 + - - 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: + - - 0.9991907266435108 + - -0.011574474983322567 + - -0.038521725279031596 + - 0.0238315040391101 + - - -0.01362652018119467 + - -0.9984780388764385 + - -0.053440844203793435 + - -0.0342514832604908 + - - -0.037844546996419925 + - 0.05392251301936018 + - -0.9978277170194833 + - 0.9694041648356301 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99981436164758 + - -0.013059871670590275 + - -0.014166227274392632 + - 0.09183306379575296 + - - -0.012613884397733355 + - -0.9994358217586773 + - 0.031127610026433324 + - -0.03345986466802987 + - - -0.014564757589560188 + - -0.030943140395002042 + - -0.9994150238508785 + - 0.9687265900408519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9725263994933511 + - 0.028799112856536344 + - -0.2310043579397914 + - 0.10000912851417297 + - - 0.0012705868837011077 + - -0.9929601216701558 + - -0.1184423166852151 + - -0.08940731214105334 + - - -0.23278914901143855 + - 0.11489476868624743 + - -0.9657165237434143 + - 0.9733139085355991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998285141004614 + - 0.01803770237887472 + - 0.0041932904209802495 + - 0.01280689535945565 + - - 0.01850409649886009 + - -0.9820829311492241 + - -0.18753856872150207 + - -0.09279865568771833 + - - 0.0007353940606376484 + - 0.18758400155194424 + - -0.9822482891597909 + - 0.9718410282704013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9759623996900587 + - -0.020406604105185213 + - 0.2169814851551081 + - 0.05447663733303901 + - - 0.0003709158671425031 + - -0.9954496701774627 + - -0.09528807147277217 + - -0.09322763052031025 + - - 0.2179386537827598 + - 0.09307805677212473 + - -0.9715138797438169 + - 0.9743633517335668 + - - 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: + - - 0.9993344225868291 + - -0.012773472916276125 + - -0.03416943404134501 + - 0.023840727493361323 + - - -0.014424340774747222 + - -0.9987184268560654 + - -0.04851228969406056 + - -0.03427400766904678 + - - -0.03350597299382055 + - 0.0489728725704716 + - -0.9982379513552538 + - 0.969197432427371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997211915908364 + - -0.010913501115152375 + - -0.02093882942305353 + - 0.09188966614794085 + - - -0.01130707282604733 + - -0.9997598736403207 + - -0.0187708594048449 + - -0.03346296627078352 + - - -0.020728945663121084 + - 0.01900238280057425 + - -0.9996045319323016 + - 0.9687815294106525 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9703515543905252 + - 0.023597566390690466 + - -0.24054316816806226 + - 0.10001931030357694 + - - 0.007135504779836913 + - -0.9975856266443982 + - -0.0690796792410013 + - -0.08946227879348792 + - - -0.24159251946910248 + - 0.06531517720208417 + - -0.9681771439998111 + - 0.973813249111848 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986014776875964 + - 0.024777673828794772 + - 0.04670284402242156 + - 0.012619847269513505 + - - 0.03125591546377516 + - -0.9891520919533476 + - -0.14353120473554468 + - -0.09276434012784003 + - - 0.04263984648975791 + - 0.14479021328787853 + - -0.988543189560972 + - 0.9710951243103401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9734415345058122 + - -0.02312584556182652 + - 0.22776473424571286 + - 0.0545538952230953 + - - 0.005458068338208104 + - -0.99225783005331 + - -0.1240750103280783 + - -0.09338183040767681 + - - 0.22887068049224896 + - 0.12202292393213596 + - -0.9657787622670463 + - 0.9758119860901963 + - - 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: null + base_right_marker_pose: + - - 0.9998820893607631 + - -0.01269850554871096 + - -0.008634542974850765 + - 0.09190416335967869 + - - -0.01269068925717152 + - -0.9999190096745032 + - 0.0009594257331899667 + - -0.033475361060351906 + - - -0.008646026933401208 + - -0.0008497343049169415 + - -0.9999622613728364 + - 0.9688573000479024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9863654029772394 + - 0.013515812175907999 + - -0.16401406839284788 + - 0.09987847691319264 + - - 0.005493268070318596 + - -0.9987704344340769 + - -0.04926909077984675 + - -0.08927305065359314 + - - -0.16447831411908326 + - 0.047696353336400245 + - -0.9852268480217911 + - 0.9720558333922443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948180501921027 + - 0.006077451552886524 + - 0.10148946543659323 + - 0.012789656408740049 + - - 0.023116522745737292 + - -0.9855886599674851 + - -0.16757272964191805 + - -0.0928074652274423 + - - 0.09900845109448458 + - 0.169050459703959 + - -0.9806218785473592 + - 0.9717019825889177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9958283032556146 + - -0.005102943548435251 + - 0.09110406358766455 + - 0.05435391117290187 + - - -0.011758976371771052 + - -0.9972864838349783 + - 0.07267321125940103 + - -0.09308222921363374 + - - 0.09048600394388003 + - -0.07344133119168582 + - -0.9931861124497569 + - 0.9727806102491473 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9705446395837909 + - 0.03351733121826184 + - -0.23857847992468814 + - 0.10006184384770725 + - - 0.0010421148329742107 + - -0.9908501108761082 + - -0.13496285330963803 + - -0.08946704864513601 + - - -0.24091910794257146 + - 0.13073884764984472 + - -0.9616991926498358 + - 0.9739159736421633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963413784876584 + - 0.006367461586069566 + - 0.08522507228663688 + - 0.012770405502667585 + - - 0.028179846888879645 + - -0.9659273796848318 + - -0.257274548691694 + - -0.09289766351511096 + - - 0.08068304495141375 + - 0.2587349079814038 + - -0.9625728510867234 + - 0.9730115166879365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911391282189617 + - -0.008177677953415959 + - 0.13257584280949103 + - 0.05448308886433565 + - - -0.007954207680015583 + - -0.9999659113087019 + - -0.0022151299604065275 + - -0.0933195307642995 + - - 0.132589438091953 + - 0.0011409661907892366 + - -0.9911703885319681 + - 0.9752615624258305 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9732957281049275 + - 0.021787842901114542 + - -0.22851852343828818 + - 0.09999103883564672 + - - 0.003973156106405154 + - -0.9969353096493381 + - -0.07812939526793815 + - -0.08938519146011366 + - - -0.22952045591461614 + - 0.07513506688688 + - -0.9703994445797317 + - 0.973115777288446 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962152332455011 + - 0.015044953548719155 + - 0.08560875201945643 + - 0.012678696971222229 + - - 0.030544777839899007 + - -0.9826854344024573 + - -0.18274669233659102 + - -0.0928857886764308 + - - 0.08137705816950573 + - 0.18466993904252615 + - -0.9794257440039578 + - 0.9721883756483091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870928720955678 + - -0.005430878754208164 + - 0.16005676310009492 + - 0.05449138589003766 + - - -0.01736849646131921 + - -0.9971602005035413 + - 0.07327939589277935 + - -0.09324211860408638 + - - 0.15920426247056313 + - -0.07511351468074592 + - -0.9843840524528572 + - 0.9746100593251589 + - - 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: + - - 0.9993531676984868 + - -0.012346215777039173 + - -0.033775985063160915 + - 0.023865126702717763 + - - -0.015442264856748052 + - -0.9955466954142991 + - -0.09299631017284095 + - -0.03430100956621691 + - - -0.03247741780213022 + - 0.09345773486264251 + - -0.995093397188048 + - 0.9691014509179718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998809449927997 + - -0.013224244266257236 + - -0.007950798946801821 + - 0.09190340085701232 + - - -0.01315003259938329 + - -0.9998701472145951 + - 0.00931479209101329 + - -0.03343729264827624 + - - -0.008072947599313348 + - -0.009209129853032239 + - -0.9999250069102225 + - 0.9687805340701845 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9790405734080269 + - 0.031872602412281514 + - -0.20115589187580513 + - 0.10004626095117015 + - - 0.001784721859507378 + - -0.9889834521916663 + - -0.1480153575104199 + - -0.08948652191940179 + - - -0.2036574830168687 + - 0.14455403317279614 + - -0.9683118098550235 + - 0.9738071522842252 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987596631445567 + - 0.011621293312233851 + - 0.048415708371589 + - 0.012732225715089421 + - - 0.02316796230271675 + - -0.9691712337437495 + - -0.24529648429270182 + - -0.09287242290269332 + - - 0.04407244942264521 + - 0.2461139273291352 + - -0.9682383766286683 + - 0.9723649306889731 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9786502799506985 + - -0.005930536261910488 + - 0.20544697197103098 + - 0.05442547087837503 + - - -0.01921157966338228 + - -0.9978468457530595 + - 0.06271034705300674 + - -0.09324275625969242 + - - 0.20463270696361555 + - -0.06531845956785262 + - -0.9766570299139954 + - 0.9743725894365778 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9682477845197885 + - 0.015603410075249947 + - -0.24950503274792815 + - 0.09996814960012983 + - - 0.008040664408557278 + - -0.9994776426884082 + - -0.03130158912725791 + - -0.08940506848784927 + - - -0.2498631135009529 + - 0.02830150808784399 + - -0.9678674749941563 + - 0.9732295026537716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9913122840835423 + - 0.019509079136358205 + - 0.1300744066152966 + - 0.012630168305807201 + - - 0.02880741310929816 + - -0.9971315903011875 + - -0.06999088921692108 + - -0.0928017520813568 + - - 0.12833584212923696 + - 0.07312993542097788 + - -0.9890308004153882 + - 0.9714444381292419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9809244444363682 + - -0.006759843424214932 + - 0.1942718168548455 + - 0.054393885614237344 + - - -0.020464255998644317 + - -0.9974327945605078 + - 0.06862240568238713 + - -0.0932214687597282 + - - 0.19330920447206978 + - -0.07128902336332198 + - -0.9785445450332242 + - 0.9740302269007578 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9747124973113311 + - 0.015146728968882224 + - -0.22294870303872943 + - 0.09997510878021239 + - - 0.005609527789701798 + - -0.9990442473578275 + - -0.04334887563949416 + - -0.08938681422026422 + - - -0.22339221289714845 + - 0.04100205388483595 + - -0.9738658792637414 + - 0.9732235465548937 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996331370514401 + - 0.0265833354944016 + - 0.005188215751968924 + - 0.012629284906569779 + - - 0.02708458757052987 + - -0.982017435787061 + - -0.18683731138704684 + - -0.0927584965472985 + - - 0.00012815939758471393 + - 0.18690928838395937 + - -0.9823771686531458 + - 0.9712371033026979 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911913186841363 + - -0.004894900218590426 + - 0.13234730717718737 + - 0.054542445872048186 + - - -0.01268400413505909 + - -0.9982316590009751 + - 0.058074701955865234 + - -0.09328323618929073 + - - 0.1318290021364971 + - -0.059241834205321635 + - -0.989500641372043 + - 0.975198219210306 + - - 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: + - - 0.9988881659349279 + - -0.01097585930700961 + - -0.0458471642266874 + - 0.023852319402642704 + - - -0.014933435671139781 + - -0.9961058755189697 + - -0.0868911805400454 + - -0.034269841596277106 + - - -0.04471492428945893 + - 0.08747922764325004 + - -0.9951622783630458 + - 0.9691562775260154 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997104096378612 + - -0.012495584788559463 + - -0.02056592381809517 + - 0.09190503753554423 + - - -0.01219665917851401 + - -0.9998190709900666 + - 0.01459680750861183 + - -0.033468168216246756 + - - -0.020744598491726534 + - -0.01434174485033875 + - -0.9996819374121275 + - 0.9688818659276099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9806424866527592 + - 0.021992471308389872 + - -0.19456784055244736 + - 0.0999092479819085 + - - 0.005265877438613616 + - -0.9962751070469539 + - -0.08607079419513974 + - -0.08936199846676547 + - - -0.1957360056461111 + - 0.08338010724585482 + - -0.977105508023251 + - 0.972694718509797 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991614185597273 + - 0.033737540728604305 + - -0.023199957053820948 + - 0.012612850951851034 + - - 0.028283947266459754 + - -0.9784154039237202 + - -0.20470299385160842 + - -0.09281704934480337 + - - -0.02960537094416306 + - 0.20387514735830178 + - -0.9785491537479808 + - 0.9719607330453058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830136720091126 + - -0.009739201243603977 + - 0.18327375317349007 + - 0.05438460312861568 + - - -0.00878398885863638 + - -0.9999432805720121 + - -0.006023053927531879 + - -0.09312121947767718 + - - 0.18332201772534615 + - 0.00431086975205561 + - -0.9830434650711478 + - 0.9730422037907678 + - - 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: + - - 0.9980313120497231 + - -0.008433567713086102 + - -0.06214800965386642 + - 0.023864549720763833 + - - -0.016442761816855084 + - -0.9914413244937561 + - -0.1295134574857033 + - -0.03434286080087987 + - - -0.06052384449241849 + - 0.13028037082268262 + - -0.9896281570499912 + - 0.9698725176174088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997910084443254 + - -0.009663193290350047 + - -0.018015607936234784 + - 0.0919400627497358 + - - -0.010218412800394323 + - -0.9994675891630024 + - -0.030985839548696024 + - -0.033494450248931225 + - - -0.0177065940745116 + - 0.031163454688627367 + - -0.9993574513747077 + - 0.969118307977898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9623824214769139 + - 0.027347080949903554 + - -0.2703187229840933 + - 0.10002925684825921 + - - 0.005658003228457503 + - -0.9967231008299922 + - -0.08069106066542452 + - -0.08946849043488017 + - - -0.2716395807530603 + - 0.0761261941473753 + - -0.9593835211910495 + - 0.9740191074050742 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.996989260150132 + - 0.021669750867814305 + - 0.07445023198499255 + - 0.012633687914991074 + - - 0.026809248386841757 + - -0.9972741936152318 + - -0.0687418864304903 + - -0.09286463378626947 + - - 0.07275767551416805 + - 0.07053087725540257 + - -0.9948526101927657 + - 0.9722071666492611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9846571100760485 + - -0.008361797483564585 + - 0.17429990223614134 + - 0.0545370408821951 + - - -0.008553774773606533 + - -0.9999633544685305 + - 0.00035022445214200396 + - -0.09341415676921085 + - - 0.17429058641764616 + - -0.0018357731037137036 + - -0.9846925517253114 + - 0.9763392465618486 + - - 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: + - - 0.9983052155956583 + - -0.008820622455620463 + - -0.05752297918225106 + - 0.02385698663855434 + - - -0.014755188692412257 + - -0.9945121521718049 + - -0.1035754005025096 + - -0.03429110308690823 + - - -0.05629370232235213 + - 0.1042486249410483 + - -0.992956818435093 + - 0.9695261453607626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998259334192889 + - -0.011524346432259575 + - -0.014672842313498064 + - 0.09187483388952049 + - - -0.011543232987458777 + - -0.9999326508505009 + - -0.0012031356063322873 + - -0.03347942373037322 + - - -0.014657988758515159 + - 0.001372298218044113 + - -0.9998916242089217 + - 0.9687397313003691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9772727441658093 + - 0.0267373425312332 + - -0.21029288629194287 + - 0.10000702758035998 + - - 0.0004145217203642658 + - -0.9922531092798658 + - -0.12423202202404302 + - -0.08942647849058605 + - - -0.21198540440882208 + - 0.12132139810769768 + - -0.9697130022222152 + - 0.9736502313743806 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995051984029522 + - 0.023563235994789624 + - -0.02083584111403008 + - 0.012786446906844134 + - - 0.01679505037795242 + - -0.9598902424428253 + - -0.27987255804358013 + - -0.09296699528122106 + - - -0.026594823712092843 + - 0.27938413765371317 + - -0.9598110329534739 + - 0.9735262977511865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9888075093934479 + - -0.016717389805252825 + - 0.14825733791359433 + - 0.054551259302784684 + - - 0.007499660691787803 + - -0.9868771215219517 + - -0.16129879759643395 + - -0.09347929840211494 + - - 0.1490082697592134 + - 0.16060534204890742 + - -0.9757061338583043 + - 0.9764879263346675 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9776829704187676 + - 0.025079948749272565 + - -0.208583329928039 + - 0.0999749523157368 + - - 0.002102855999933968 + - -0.9939672113785947 + - -0.10965746988191827 + - -0.08937288759767495 + - - -0.21007519451324766 + - 0.106771620175935 + - -0.9718375552401889 + - 0.9731597762973321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997988825692009 + - 0.018959478414073177 + - 0.006537017029459267 + - 0.012762131906411945 + - - 0.019962846544369927 + - -0.9720368705739865 + - -0.23397821907728306 + - -0.09307912546383286 + - - 0.00191811658224541 + - 0.23406165944681634 + - -0.9722198621740761 + - 0.9730233280468951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9785490104639962 + - -0.00919088681738308 + - 0.2058090418797092 + - 0.05438453544568721 + - - -0.01669185953939338 + - -0.9992569914440639 + - 0.03473970171541421 + - -0.0930631691636612 + - - 0.20533683533416744 + - -0.0374298363564262 + - -0.9779753531686168 + - 0.9728140917621393 + - - 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: + - - 0.9990544712538487 + - -0.012020527520284187 + - -0.04178122049230567 + - 0.023872884396230955 + - - -0.01488312137457137 + - -0.997513060648835 + - -0.06889257240910686 + - -0.034224290947335 + - - -0.040849188068336796 + - 0.06944926747726245 + - -0.9967487863454011 + - 0.9691382851873718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997862850901987 + - -0.011652211510408307 + - -0.017076595458594784 + - 0.09187719532364047 + - - -0.011761246881884681 + - -0.9999109962969 + - -0.0062986154291933 + - -0.033490395048185725 + - - -0.01700168277915894 + - 0.006498111376255582 + - -0.9998343449448109 + - 0.9687661429834389 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.980193522756897 + - 0.012957879406833869 + - -0.19761768976157626 + - 0.09988096080204131 + - - 0.006698850638998869 + - -0.9994555074987888 + - -0.032308109360582433 + - -0.08929098982350797 + - - -0.19792873299635158 + - 0.030344388140427555 + - -0.9797466176327645 + - 0.9722465837496971 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989074510249535 + - 0.012960857712576105 + - 0.04489900281948867 + - 0.01282398900771187 + - - 0.020708564355501575 + - -0.9840544990409782 + - -0.17665757351312492 + - -0.09283739785092367 + - - 0.04189343205281879 + - 0.17739436035163417 + - -0.9832477720627044 + - 0.9721871144962774 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900485414911778 + - -0.0020519085692095006 + - 0.140711318529872 + - 0.05423019511607078 + - - -0.018284203796662377 + - -0.9932937004318715 + - 0.11416353434386148 + - -0.092858290164868 + - - 0.1395334131407729 + - -0.11560023509311529 + - -0.9834464968994008 + - 0.970629275484871 + - - 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: + - - 0.9978654463245694 + - -0.01089269410577385 + - -0.06438866551331789 + - 0.023862759638761128 + - - -0.014052406840261142 + - -0.9987084840814772 + - -0.04882513374967725 + - -0.03424040972476721 + - - -0.06377366928022625 + - 0.04962572960467312 + - -0.9967297557852581 + - 0.9692516784632701 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993934252819585 + - -0.011202327160176478 + - -0.03297407116797827 + - 0.09187966725477618 + - - -0.01147667905196018 + - -0.9999009858283923 + - -0.00814274998679249 + - -0.03344625955273984 + - - -0.032879588518301466 + - 0.008516243632346546 + - -0.9994230366832964 + - 0.9688215832237305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9691329819118275 + - 0.012306898861666433 + - -0.24623119950789785 + - 0.10002818348650476 + - - 0.01034829652824261 + - -0.9999037005537416 + - -0.009246749585542634 + - -0.089428124904992 + - - -0.24632128639168205 + - 0.006413256531816295 + - -0.9691670103810822 + - 0.9737058980211478 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983964333523125 + - 0.017438103110619104 + - 0.053856052856524415 + - 0.012789482744036396 + - - 0.01719013691636009 + - -0.999839414244364 + - 0.005064080991025578 + - -0.09291024083375826 + - - 0.05393571230806291 + - -0.004130167477268801 + - -0.9985358684866715 + - 0.9732991028773539 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9908107334136596 + - -0.0038841611020142535 + - 0.1351998662899474 + - 0.05446688574087285 + - - -0.022688941080100083 + - -0.990196232029122 + - 0.13782827731635275 + - -0.09325733743047439 + - - 0.1333390509376372 + - -0.13962927833324676 + - -0.9811851823826059 + - 0.9745742926031272 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9821655812141279 + - 0.02411633139295544 + - -0.18646493943489623 + - 0.099969160714753 + - - 0.0018771656154535493 + - -0.9929481278624424 + - -0.11853476968266893 + - -0.08940035699874854 + - - -0.18800863631111875 + - 0.11607074538666651 + - -0.9752847454655575 + - 0.9731238639953765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996887847644392 + - 0.022752932666393267 + - -0.010229255656076689 + - 0.012694774338894146 + - - 0.020725953181238103 + - -0.9857310281247799 + - -0.1670472240319896 + - -0.09265941509347854 + - - -0.013884108935323464 + - 0.16678322531700593 + - -0.985895829827842 + - 0.9709334970110416 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9876611926428347 + - -0.011553331720998046 + - 0.15617902891706667 + - 0.05447119695082734 + - - -0.008585832941888055 + - -0.9997698198471919 + - -0.019661912302902058 + - -0.09326846491797812 + - - 0.15637024019942977 + - 0.018078380703414835 + - -0.9875330476146683 + - 0.9746304707257537 + - - 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: + - - 0.9991177824925539 + - -0.012484101034738682 + - -0.040097430447801966 + - 0.02388294981601446 + - - -0.015101237749479166 + - -0.99772880984642 + - -0.06564430379614193 + - -0.03424888523475521 + - - -0.039186851437638934 + - 0.06619191207240431 + - -0.9970371214005042 + - 0.9691685089347998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.967315916000168 + - 0.020467892959295936 + - -0.2527468773507655 + - 0.10002655133297189 + - - 0.006301693155311692 + - -0.9983695648102561 + - -0.05673183166403002 + - -0.08946441366617446 + - - -0.2534959710057192 + - 0.0532848704454308 + - -0.9658677524720871 + - 0.9736965149746032 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9965475895346738 + - 0.005445811493624433 + - 0.08284470369195106 + - 0.012796103884464788 + - - 0.021899884344223526 + - -0.9797482488184163 + - -0.1990320677754123 + - -0.09278887374498289 + - - 0.08008306224377847 + - 0.20015921681107415 + - -0.9764850183526813 + - 0.9720500035251681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.989927271069989 + - -0.00867373619998513 + - 0.14131087818090138 + - 0.054507645490111216 + - - -0.0018701330070235059 + - -0.9988355589518605 + - -0.04820818162782566 + - -0.09335075573958117 + - - 0.14156447504391956 + - 0.04745832354454226 + - -0.9887907801612442 + - 0.9754132501962112 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9846121839354716 + - 0.01603735535750937 + - -0.1740162362509835 + - 0.09989489654678264 + - - 0.004518097184131899 + - -0.9977834079225898 + - -0.06639169882008751 + - -0.08930377359170481 + - - -0.17469526050713535 + - 0.06458385330343362 + - -0.9825021586993203 + - 0.9724140364061049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997749935481154 + - 0.02101913707458021 + - 0.002856247976965298 + - 0.012757059346411635 + - - 0.021206566488037724 + - -0.9935361256333096 + - -0.1115179294971926 + - -0.09275907750832159 + - - 0.0004937749025072178 + - 0.11155340845618474 + - -0.9937583173227549 + - 0.9719339127655379 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931179044579576 + - -0.00048067578973924434 + - 0.11711787564594982 + - 0.05437897411636575 + - - -0.02187513544937246 + - -0.9831553115236067 + - 0.18145829237594063 + - -0.09310951359091443 + - - 0.11505783890768424 + - -0.18277144846421145 + - -0.9763996575850425 + - 0.9733831890252674 + - - 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: + - - 0.9998673584491772 + - -0.015209904352462866 + - -0.005824458554543268 + - 0.023918013559171482 + - - -0.015501136395484125 + - -0.9984348690815794 + - -0.05373571412477069 + - -0.03425357484796525 + - - -0.004998027442227441 + - 0.05381887226279843 + - -0.9985382059340787 + - 0.9688890633962894 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9730419658994152 + - 0.02793336037798362 + - -0.22893025133563064 + - 0.0999697783511084 + - - 0.0024780252513569943 + - -0.9938470380269688 + - -0.11073357393254477 + - -0.08940518300269974 + - - -0.23061481303128592 + - 0.10718111952678239 + - -0.9671240952574445 + - 0.9731726564738179 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999863045569156 + - 0.01311919490665158 + - -0.010088450335567977 + - 0.012819499016896543 + - - 0.011770687254037628 + - -0.9922445024328976 + - -0.12374287176746192 + - -0.0929324696072317 + - - -0.011633616236560776 + - 0.12360717663911013 + - -0.9922630320920798 + - 0.971747817692473 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9834458463460611 + - -0.0023758958255803864 + - 0.1811867059795104 + - 0.054360299618793545 + - - -0.025271529585925247 + - -0.9919401406831033 + - 0.1241616168305372 + - -0.09304087566605529 + - - 0.17943137155209862 + - -0.12668509154834054 + - -0.9755794537003747 + - 0.9722931902861253 + - - 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: null + base_right_marker_pose: + - - 0.999866100722668 + - -0.012371093021228793 + - -0.010711521045467586 + - 0.09192838486944478 + - - -0.012426899909538252 + - -0.999909473323936 + - -0.00515919719412513 + - -0.033499607878825964 + - - -0.010646726458668362 + - 0.0052916173812601625 + - -0.9999293205028069 + - 0.9688609196653793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9656379161843074 + - 0.03554523761795456 + - -0.25744892874104525 + - 0.10002208257887317 + - - 0.000746049256167329 + - -0.990977912223406 + - -0.13402321028779718 + - -0.08943911036374523 + - - -0.2598900887639542 + - 0.12922582392085136 + - -0.9569523646421704 + - 0.9735719572621051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990608036574713 + - 0.023447142283428556 + - 0.03643819581192508 + - 0.012639838834937144 + - - 0.028928856991067523 + - -0.9870066130026506 + - -0.15805400065238992 + - -0.09288580960249325 + - - 0.03225882559049386 + - 0.15895967226871086 + - -0.9867579190276333 + - 0.9722651878605925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9572022140879135 + - -0.023585565952275605 + - 0.28845734940179135 + - 0.05441541129251894 + - - -0.008885741734205314 + - -0.9985990022443767 + - -0.05216393687566491 + - -0.09313813688241872 + - - 0.2892835372761977 + - 0.04736827836481086 + - -0.9560707511820057 + - 0.9734725649568041 + - - 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: null + base_right_marker_pose: + - - 0.9999237863271527 + - -0.011882496813167573 + - 0.0033507919445331354 + - 0.09193982810124077 + - - -0.011861205370993161 + - -0.9999097815960107 + - -0.0063040047403405755 + - -0.03347651222907125 + - - 0.003425396957669088 + - 0.006263779857576091 + - -0.9999745155340606 + - 0.9689157668319135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9513873587884634 + - 0.03809155444699214 + - -0.3056323396130123 + - 0.10013023942613422 + - - 0.002002179163052859 + - -0.993066680325017 + - -0.11753535513558776 + - -0.08954757577445734 + - - -0.3079903972790562 + - 0.11120972038478262 + - -0.9448673522118471 + - 0.9748655370511665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983503795516252 + - 0.022605766736235884 + - 0.05277782639890481 + - 0.012635822717829518 + - - 0.028418312948641174 + - -0.9932883597976925 + - -0.11211883775514105 + - -0.09270731372009303 + - - 0.0498890683244249 + - 0.11343374101508528 + - -0.9922922287617918 + - 0.9704821940697401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9696287616027043 + - -0.008775940204388724 + - 0.24442390952264717 + - 0.05451994154814574 + - - -0.013268337349346553 + - -0.9997718517242583 + - 0.01673904787711301 + - -0.09335577612506878 + - - 0.24422124374589152 + - -0.019473761151286104 + - -0.9695239846078245 + - 0.9755779692837554 + - - 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: null + base_right_marker_pose: + - - 0.999902800048246 + - -0.010909981415913261 + - -0.008681172799901523 + - 0.09190174963694182 + - - -0.01083395793668394 + - -0.9999029685745332 + - 0.00875664269352335 + - -0.0334980444204897 + - - -0.008775865262382157 + - -0.008661740087320796 + - -0.9999239763339791 + - 0.9687261365424389 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9724235850320895 + - 0.005286966038160906 + - -0.23316178774286714 + - 0.09992020464337363 + - - 0.012353013093917713 + - -0.9995072601511595 + - 0.028855501600635654 + - -0.08931325805269816 + - - -0.2328943415818426 + - -0.03094002093137822 + - -0.9720097431424884 + - 0.9724166617395393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970576565121443 + - 0.009102640353034722 + - 0.07611288674800164 + - 0.012718259632481311 + - - 0.01862651477173959 + - -0.9919348379186343 + - -0.12537276526738675 + - -0.09288059030711125 + - - 0.07435780078760389 + - 0.12642159333727918 + - -0.989185775372905 + - 0.9710023906905624 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9795057633316064 + - -0.00019812749156652466 + - 0.2014160379554324 + - 0.05436789256389955 + - - -0.02818543417213879 + - -0.9902948557592909 + - 0.13609437885972187 + - -0.09308103207569439 + - - 0.199434302216783 + - -0.13898222692913853 + - -0.9700051029232385 + - 0.972805386163017 + - - 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: null + base_right_marker_pose: + - - 0.9994051334469147 + - -0.009897795199041416 + - -0.03303653871325553 + - 0.09187437733295588 + - - -0.010710833073928082 + - -0.9996418443538935 + - -0.024524703292986404 + - -0.03347252030467376 + - - -0.03278196599987632 + - 0.02486396321877111 + - -0.9991532044877998 + - 0.9686817504153928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9788405025380864 + - 0.01795387115830767 + - -0.20383554425422812 + - 0.09996947449436736 + - - 0.005127312189011129 + - -0.9979826048629002 + - -0.06328057411857362 + - -0.0893614835900205 + - - -0.2045604586930302 + - 0.0608964605005148 + - -0.9769578495706998 + - 0.9728301994609121 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983231649768955 + - 0.021642316155558852 + - 0.05368862469776248 + - 0.012629754679165045 + - - 0.032019562795761854 + - -0.9791295960428884 + - -0.2006987338058163 + - -0.0928623518154745 + - - 0.0482245359633726 + - 0.20208128142980605 + - -0.9781807347452741 + - 0.9721043138353271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9837740420574658 + - 0.0017990560701826794 + - 0.1794028917581098 + - 0.05424055293482901 + - - -0.027575685819936774 + - -0.9865515887970755 + - 0.1611072443856142 + - -0.09288514996123656 + - - 0.17728004886471532 + - -0.1634402827922854 + - -0.9704942340041499 + - 0.9709250919437371 + - - 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: + - - 0.9988369403320405 + - -0.009795535567850417 + - -0.047210317845433884 + - 0.02384046852535095 + - - -0.013997395535115285 + - -0.9958874280985544 + - -0.08951147118375462 + - -0.03426737588881788 + - - -0.04613934921909336 + - 0.09006818549402211 + - -0.9948662635829264 + - 0.9690540305859049 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998004849301496 + - -0.0115597294073015 + - -0.016289965913643505 + - 0.09186458421350926 + - - -0.011695886223553276 + - -0.9998972524704712 + - -0.008287988142472025 + - -0.0335050532402359 + - - -0.016192485259631857 + - 0.008476860151850394 + - -0.9998329591802242 + - 0.9686975781135897 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.979345716560986 + - 0.02446791528229159 + - -0.2007069719152465 + - 0.09997868363153267 + - - 0.004733304645632243 + - -0.9951532990358861 + - -0.09822172491421738 + - -0.08940552012806707 + - - -0.20213748608504206 + - 0.09524301832539306 + - -0.9747149348294036 + - 0.9732286788960605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983031136931669 + - 0.022566615377821644 + - 0.0536809189649086 + - 0.012615701478220696 + - - 0.03206890423072662 + - -0.9825250945461815 + - -0.1833467315456121 + - -0.09281102566538865 + - - 0.04860533480975215 + - 0.18475710123675282 + - -0.9815815477944894 + - 0.9715151243969603 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9866539512031651 + - -0.0035662498691408865 + - 0.16279208345940246 + - 0.05439805175599887 + - - -0.01763013881806478 + - -0.9962224785180012 + - 0.08502912148615542 + - -0.09318281134592596 + - - 0.16187389777366198 + - -0.08676436571152045 + - -0.982989718187449 + - 0.9738400268661268 + - - 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: + - - 0.9979471097639698 + - -0.010089537433800515 + - -0.06324371390194458 + - 0.02387745065639146 + - - -0.01574848717050509 + - -0.99585068601208 + - -0.08962921577873084 + - -0.034286292019988604 + - - -0.06207697854744154 + - 0.09044120965379551 + - -0.9939652088130545 + - 0.9690225954995639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9762227465818184 + - 0.020716528716598005 + - -0.21577760424609682 + - 0.1000208003737424 + - - 0.0044719566851184125 + - -0.9971356495589864 + - -0.07550164224694239 + - -0.0894371361465096 + - - -0.21672367350997268 + - 0.07274147246594079 + - -0.9735191459462058 + - 0.9734751076882824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9889297411291199 + - -0.006235218791325043 + - 0.14825346254612806 + - 0.012781201405068927 + - - 0.028944270745583173 + - -0.9718185785724881 + - -0.23394631762939908 + - -0.09314292436948189 + - - 0.14553417571587188 + - 0.23564755969025777 + - -0.9608798214713059 + - 0.9737930101758048 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989124437939846 + - -0.003270022374081425 + - 0.04651060725471718 + - 0.05453573351724535 + - - -0.003017437084866214 + - -0.9999803230245398 + - -0.005499876105512802 + - -0.0933969170388943 + - - 0.04652767678455929 + - 0.0053535518499519055 + - -0.998902655305121 + - 0.9761499324695704 + - - 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: + - - 0.9990995168365576 + - -0.011806003003748317 + - -0.04075259194250744 + - 0.023857287827305597 + - - -0.014244689006910238 + - -0.9980919659856974 + - -0.06007924991129291 + - -0.03425743222067763 + - - -0.03996553880599443 + - 0.060605657556722085 + - -0.9973613738159632 + - 0.9692859880194457 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997536455008421 + - -0.00948517816391048 + - -0.020066880748519537 + - 0.0919311924923487 + - - -0.01025571195042128 + - -0.9992001619012026 + - -0.03865044409836077 + - -0.0335291291298251 + - - -0.019684224144385632 + - 0.038846722536262965 + - -0.9990512817008066 + - 0.9690287324173127 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9561210669091271 + - 0.0304285981873988 + - -0.29138738103236783 + - 0.10005618700907223 + - - 0.004382952791378557 + - -0.9959660540414573 + - -0.08962370736538691 + - -0.08946209956764133 + - - -0.29293906386376845 + - 0.08441397757147681 + - -0.9523974933047546 + - 0.9741024941482204 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9928958085079258 + - 0.009433006803021981 + - 0.11861252813276689 + - 0.012803637745407964 + - - 0.019683947091457182 + - -0.9961392597056629 + - -0.0855518410085684 + - -0.09269780668126563 + - - 0.11734758486774659 + - 0.08727882707569341 + - -0.9892481744587649 + - 0.9708966016687214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9714760715973909 + - -0.01756178028022338 + - 0.23648641861022443 + - 0.05453257118689314 + - - -0.0072250348167478586 + - -0.9989830077650473 + - -0.044505607159052385 + - -0.09337210391738383 + - - 0.2370275114529913 + - 0.04152750979878604 + - -0.9706149724501026 + - 0.9759182359090388 + - - 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: + - - 0.9995120673026098 + - -0.012601679515325117 + - -0.028580150277005955 + - 0.023870161890617754 + - - -0.014186365460388414 + - -0.9983333568631484 + - -0.05593974981514865 + - -0.03425761077766133 + - - -0.027827582566358634 + - 0.056317903438872434 + - -0.9980250094064587 + - 0.9688086627392769 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9733948542706373 + - 0.027745885169005273 + - -0.22744806777731302 + - 0.10001541499021971 + - - 0.0028600500982684015 + - -0.994035419598482 + - -0.10902020316026663 + - -0.08945177099628542 + - - -0.22911629752787166 + - 0.10546919189914554 + - -0.9676683170215202 + - 0.9735135519112634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993589550861695 + - 0.031454284196559136 + - -0.017096984961144854 + - 0.012650539445097444 + - - 0.02650181239122379 + - -0.9710499368614502 + - -0.23740192514247632 + - -0.09284567331782988 + - - -0.024069333789282582 + - 0.23679663875793433 + - -0.9712610457770272 + - 0.9721635151398209 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9586652228689079 + - -0.01708281659262309 + - 0.28402318186896297 + - 0.05438784025100037 + - - -0.009398583637277661 + - -0.9995525712376098 + - -0.02839584402506611 + - -0.0931131588207063 + - - 0.2843811827236821 + - 0.024552692511119575 + - -0.9583968427551991 + - 0.9730434362988334 + - - 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: null + base_right_marker_pose: + - - 0.9998112805293677 + - -0.010252626193859492 + - -0.016501120639369083 + - 0.09185248184602969 + - - -0.00999781820216537 + - -0.9998306411608098 + - 0.015450974958244827 + - -0.03347744491877049 + - - -0.01665673909930983 + - -0.015283083854145542 + - -0.9997444575442689 + - 0.9686287554521973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9802535712340348 + - 0.026719769178244916 + - -0.1959310848691001 + - 0.09990628114201076 + - - 0.002368593979951405 + - -0.992344349325384 + - -0.1234790756547002 + - -0.08934516272220741 + - - -0.19773043732688028 + - 0.12057672369509112 + - -0.9728123806045433 + - 0.9724854834940624 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995625189924974 + - 0.024630723109611213 + - 0.01637370161176162 + - 0.012662200388303412 + - - 0.02660132938126211 + - -0.990667472149755 + - -0.1336799495046433 + - -0.09283607731969117 + - - 0.012928259763902578 + - 0.13405702929541607 + - -0.9908892839242763 + - 0.971983046485276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9732670704241655 + - -0.01912001253051694 + - 0.22887908324876563 + - 0.05432927702761718 + - - -3.649981439502771e-05 + - -0.99654175376796 + - -0.08309351156885157 + - -0.09316899301957876 + - - 0.22967631200392882 + - 0.08086382453181519 + - -0.9699019711220112 + - 0.9730651756354897 + - - 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: null + base_right_marker_pose: + - - 0.999942350874006 + - -0.010706502910323388 + - -0.0008159191121590765 + - 0.09193496678022105 + - - -0.010706820249411325 + - -0.9999426060232395 + - -0.00038556400127934753 + - -0.03352826615692592 + - - -0.0008117442412147015 + - 0.0003942776731236055 + - -0.9999995928081187 + - 0.9690115615344191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9818066172234836 + - 0.03410086721350093 + - -0.18679640583123414 + - 0.10001703019086461 + - - 0.0002629779208195744 + - -0.983985107335097 + - -0.17825049617140312 + - -0.08942629804504285 + - - -0.1898833779423389 + - 0.17495839333403077 + - -0.9660920574061159 + - 0.9736267541097361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9931506597623007 + - 0.0034901033898490173 + - 0.11678863896816016 + - 0.012815395967705787 + - - 0.029852785665488484 + - -0.9739573691377155 + - -0.22475732310728194 + - -0.09300624992467767 + - - 0.1129627292593336 + - 0.2267043499376862 + - -0.9673905930479242 + - 0.9742746139121348 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999007006367865 + - -0.0018757527517316024 + - 0.013966761173508523 + - 0.05453348037414023 + - - -0.0031334224005052052 + - -0.9958844546888311 + - 0.09057778189594844 + - -0.093338550983429 + - - 0.0137393788114116 + - -0.09061255134220846 + - -0.9957914415223363 + - 0.9751981959310456 + - - 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: + - - 0.9993357170539836 + - -0.012876701057256471 + - -0.034092743950616074 + - 0.023883427786118943 + - - -0.014879000730502218 + - -0.9981385623464473 + - -0.05914410954803172 + - -0.03427419201382362 + - - -0.03326770141536583 + - 0.059612087086847676 + - -0.9976671083661567 + - 0.9691277008910688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9655350789932167 + - 0.031007416693941157 + - -0.25841933237188575 + - 0.10008819337415915 + - - 0.0040119612042217884 + - -0.9945332907211704 + - -0.10434288578823586 + - -0.08945838520816628 + - - -0.26024203234846344 + - 0.0997099481360276 + - -0.9603811799706683 + - 0.9740588093501481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9921165585642697 + - -0.00891944972013702 + - 0.12500071055510073 + - 0.012851630843475991 + - - 0.020765807683921916 + - -0.9719735660143568 + - -0.23417123691984468 + - -0.09297724359342777 + - - 0.1235860649661785 + - 0.23492090240339533 + - -0.9641258497520698 + - 0.9725232702123869 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9901255093736977 + - -0.005839876668922175 + - 0.1400620274305901 + - 0.05451511373132072 + - - -0.008942979615849233 + - -0.9997280737428849 + - 0.021536055486834595 + - -0.09329707280107072 + - - 0.13989817297972873 + - -0.022575969765068604 + - -0.9899084941478687 + - 0.9755461734155118 + - - 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: null + base_right_marker_pose: + - - 0.9999209271916228 + - -0.011836061664112297 + - 0.004248177083023687 + - 0.09189473596078075 + - - -0.011869619398579943 + - -0.9998978460977872 + - 0.007963008498030671 + - -0.0334782869490271 + - - 0.004153492455542822 + - -0.008012803085698862 + - -0.999959270914137 + - 0.9687266784192105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9768446968662599 + - 0.020329433931245387 + - -0.2129815774199732 + - 0.10000454472798125 + - - 0.003636353236293634 + - -0.9969091846212014 + - -0.07847836996926598 + - -0.0894262370542748 + - - -0.21391871152240471 + - 0.07588670327486378 + - -0.9738993752573556 + - 0.9734194716120852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956838361198591 + - 0.023961677707176252 + - 0.08966346240860248 + - 0.01263536546959804 + - - 0.02425565395768135 + - -0.9997033888734402 + - -0.002190325556777821 + - -0.09285986282155048 + - - 0.08958438335294092 + - 0.004355717669554538 + - -0.9959697113782411 + - 0.9719335433378283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999451774130058 + - 0.0009823956550515899 + - 0.033093595861680446 + - 0.05446371224435683 + - - 0.0003761867499303037 + - -0.9998321174913768 + - 0.018319260799473366 + - -0.09323025433767099 + - - 0.03310603678800098 + - -0.01829676833451417 + - -0.9992843532231979 + - 0.9743739440571625 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9754836214375641 + - 0.01569971100850783 + - -0.21951132859445885 + - 0.10000724214373283 + - - 0.006773397027965035 + - -0.9991214268151797 + - -0.04135813791143777 + - -0.08940831459994768 + - - -0.219967782640451 + - 0.03885734876505716 + - -0.9747329280614225 + - 0.9734586145347274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988343154075849 + - 0.0192239753845129 + - 0.04427695941092566 + - 0.01270350537910554 + - - 0.02737209664386458 + - -0.9811094111103551 + - -0.19150741958475537 + - -0.09303363128101762 + - - 0.03975900765336143 + - 0.1924961355485046 + - -0.9804919474984546 + - 0.9738102498329333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9978075577314711 + - -0.004809578258337435 + - 0.06600716393645369 + - 0.054400633897419115 + - - -0.010941859707668393 + - -0.995619140865977 + - 0.09285904397220028 + - -0.09317538140330933 + - - 0.06527138301043305 + - -0.09337769700667418 + - -0.9934889291087418 + - 0.9738118731047345 + - - 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: + - - 0.9993068866391684 + - -0.01425249444625387 + - -0.03438913662178503 + - 0.023904221109974026 + - - -0.015483584260366756 + - -0.9992389428684593 + - -0.03580214621465882 + - -0.03425651361759807 + - - -0.0338526946340231 + - 0.03630979836329567 + - -0.9987670367051729 + - 0.9691362652949629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99983147434334 + - -0.011304840145476705 + - -0.014464560197545353 + - 0.09186149908335371 + - - -0.01112301503294503 + - -0.9998588792079255 + - 0.012589686479333078 + - -0.03352561199344276 + - - -0.014604843340483797 + - -0.012426675273629768 + - -0.9998161212406228 + - 0.9687992944970999 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9849281634134414 + - 0.012118341122335816 + - -0.1725388614876895 + - 0.09990966755658622 + - - 0.006339713474710084 + - -0.9994016055687079 + - -0.03400351187373902 + - -0.0892913816343678 + - - -0.17284768135003714 + - 0.03239716955432428 + - -0.9844156146957364 + - 0.9723097202445568 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996881254874282 + - 0.024348970171797938 + - 0.00554791952039646 + - 0.012738742342178264 + - - 0.024880451843000476 + - -0.9519836148219784 + - -0.305136297786034 + - -0.0928687861469665 + - - -0.002148226133356557 + - 0.30517916829635017 + - -0.9522925287759156 + - 0.9726503660253181 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9893170656532223 + - -0.005269503571368054 + - 0.14568450823409182 + - 0.054320347349724574 + - - -0.015489763332227078 + - -0.9974888988251229 + - 0.06910834936934475 + - -0.09303107834506341 + - - 0.1449545130004907 + - -0.07062668796393583 + - -0.9869144137705333 + - 0.9724746107053777 + - - 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: null + base_right_marker_pose: + - - 0.9995352949891704 + - -0.010152830293223626 + - -0.028742200819512814 + - 0.09185915042871348 + - - -0.010058863776278236 + - -0.9999435871923835 + - 0.0034119924322847384 + - -0.03347451449085932 + - - -0.028775220771394265 + - -0.0031212929796306304 + - -0.9995810343337315 + - 0.9686559873782408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9818865906149797 + - 0.01885506161829608 + - -0.18852906890413856 + - 0.100005847442459 + - - 0.005103031562570585 + - -0.9973068122182044 + - -0.07316475498513862 + - -0.08943990830395473 + - - -0.1894008506827849 + - 0.07087742203645823 + - -0.979338403620579 + - 0.9733169661076034 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960046540644224 + - 0.008824792265777575 + - 0.08886423421982663 + - 0.01281103780848881 + - - 0.017483214471930773 + - -0.9951178353747264 + - -0.09713305786830817 + - -0.09285690645129016 + - - 0.08757320534123895 + - 0.09829861016609293 + - -0.991296281111594 + - 0.9727674928132011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963541255650958 + - -0.004043277950535081 + - 0.08521800498033334 + - 0.05438229148793053 + - - -0.010747393369055539 + - -0.9968672727798432 + - 0.07835900711627455 + - -0.09317203126495038 + - - 0.08463421297078495 + - -0.07898919143713462 + - -0.9932762745736573 + - 0.9736855392717513 + - - 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: null + base_right_marker_pose: + - - 0.9997784101722608 + - -0.012570477023784556 + - -0.0168853090235627 + - 0.09185468680728798 + - - -0.012112317208930601 + - -0.9995629351759442 + - 0.02696720961243238 + - -0.03352909479755943 + - - -0.01721691973777386 + - -0.026756713734035542 + - -0.9994936998025037 + - 0.9686432903578016 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9787639964525111 + - 0.029146591957494784 + - -0.2029076524569048 + - 0.09997651204233304 + - - 0.0023283789346956654 + - -0.9913569300793467 + - -0.1311717036376028 + - -0.08943348914236493 + - - -0.2049771155515787 + - 0.12791369497015528 + - -0.970372335106086 + - 0.9732452794823102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982245264914666 + - 0.02190540798298743 + - 0.055389058594510494 + - 0.012635304160564692 + - - 0.028957234054522593 + - -0.991103563853627 + - -0.12990459696466064 + - -0.09271969213631433 + - - 0.05205068017614028 + - 0.13127786872789407 + - -0.989978205757815 + - 0.9707516250665617 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890541580831913 + - -0.008289364451945166 + - 0.14731991995426957 + - 0.054356472009888766 + - - -0.004916115356906275 + - -0.9997176687123149 + - -0.023246820733432778 + - -0.09309381752937762 + - - 0.14747102830097564 + - 0.022268122987750844 + - -0.9888156686210307 + - 0.9729470607269557 + - - 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: + - - 0.9991107246725407 + - -0.012284238213828767 + - -0.04033431957795198 + - 0.023877571233580377 + - - -0.014794150787668808 + - -0.9979333709983443 + - -0.06253095353785236 + - -0.03428465432616803 + - - -0.039482818374353294 + - 0.0630720583094229 + - -0.9972276683455144 + - 0.969260113187976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9740210096644633 + - 0.020182692572858593 + - -0.22555649326217386 + - 0.09993525633387954 + - - 0.005929697747999375 + - -0.9979521094557179 + - -0.06369007707249272 + - -0.08937196827450399 + - - -0.22638001549791664 + - 0.06069799134561349 + - -0.9721459985155371 + - 0.9730344979224107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974847537195237 + - 0.03179650443053983 + - -0.06334941517567375 + - 0.012756754120009449 + - - 0.016680045649262922 + - -0.9739377378576229 + - -0.22620136793112888 + - -0.09281599772085383 + - - -0.0688907989084154 + - 0.2245757446448171 + - -0.9720184117304494 + - 0.9720669098000047 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9703063327909425 + - -0.012078695336575556 + - 0.24157757690803797 + - 0.05441636478243854 + - - -0.012900421627054393 + - -0.9999151296132915 + - 0.0018200802947041968 + - -0.09322917167527763 + - - 0.2415350899302978 + - -0.004882488033895335 + - -0.9703798027797994 + - 0.9738948127337462 + - - 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: null + base_right_marker_pose: + - - 0.9998399305907416 + - -0.012168399529153827 + - -0.013116525805258817 + - 0.0919086930258148 + - - -0.01218589327301292 + - -0.9999249621525119 + - -0.001254619239420692 + - -0.03342188472579855 + - - -0.013100274861233637 + - 0.0014142549968357975 + - -0.999913187572483 + - 0.9688949509342698 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9783948116153663 + - 0.017155720540098132 + - -0.20603221558018994 + - 0.0999440737383444 + - - 0.006352326116249411 + - -0.9985752125243954 + - -0.05298294900033103 + - -0.08933397374387178 + - - -0.20664762412630014 + - 0.05052945858218667 + - -0.9771097856732102 + - 0.9729045104810792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997126720466759 + - 0.02347573375537347 + - -0.0048438903726653855 + - 0.012749189726708136 + - - 0.021908266149239977 + - -0.976860580226726 + - -0.21275204975143905 + - -0.09284735086487025 + - - -0.009726316035871312 + - 0.21258479890093637 + - -0.9770942134986877 + - 0.9722189108207069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883425146101722 + - -0.00797676382991404 + - 0.1520376435388395 + - 0.05442214493337624 + - - -0.00525573028163801 + - -0.9998188994879853 + - -0.01829058571618077 + - -0.09321082778994857 + - - 0.15215600912631785 + - 0.017278294633327033 + - -0.9882054489939408 + - 0.9738962522143655 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9851407593043559 + - 0.019429728737454046 + - -0.17064633016395672 + - 0.09988763421641098 + - - 0.003315909889861215 + - -0.9955468381025891 + - -0.09420986087209926 + - -0.0892975816620357 + - - -0.17171688646967573 + - 0.09224412601963841 + - -0.9808181952411131 + - 0.9723272858597025 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994865290369709 + - 0.02777737545015163 + - 0.015971715209390613 + - 0.012647934315057029 + - - 0.029967857540642365 + - -0.986801273099653 + - -0.1591388542227421 + - -0.09280044825492248 + - - 0.011340449199759696 + - 0.1595357791280837 + - -0.9871270077299792 + - 0.9713546710211409 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9721110836677125 + - -0.013291662073337136 + - 0.23414391456904027 + - 0.05436919015069893 + - - -0.01384747790945391 + - -0.9999038526755042 + - 0.0007299042614360741 + - -0.09311083744720325 + - - 0.23411170061731856 + - -0.0039518507071861515 + - -0.9722016737848456 + - 0.9733995056529612 + - - 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: null + base_right_marker_pose: + - - 0.9997499230205975 + - -0.013007260476328473 + - -0.018190728275979062 + - 0.09187605357016682 + - - -0.012592922174609108 + - -0.9996627928339855 + - 0.02270944593028259 + - -0.03345335771498778 + - - -0.018479981910537666 + - -0.022474692395161575 + - -0.9995765996012157 + - 0.9688151043019978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9722433786863234 + - 0.030079369050398756 + - -0.23203026560802886 + - 0.10001863966909447 + - - 0.0012489324733149215 + - -0.992354829738922 + - -0.12341123150472758 + - -0.0894417224333263 + - - -0.23396848669912707 + - 0.11969596255248663 + - -0.9648479796218445 + - 0.9735422470004369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955689456415325 + - 0.008906607987553685 + - 0.09361168093973725 + - 0.012729349410827848 + - - 0.029499222961368952 + - -0.9748327160476887 + - -0.22097731007450108 + - -0.09290987693050565 + - - 0.08928757090929602 + - 0.2227596194494029 + - -0.9707759173073234 + - 0.9731099982015592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992315247141777 + - -0.005385372038426514 + - 0.12361815424104082 + - 0.0544651121877163 + - - -0.014680521978429287 + - -0.9971200210704797 + - 0.07440528109514094 + - -0.09324514101073773 + - - 0.12286143644119939 + - -0.07564827392884663 + - -0.9895364602111392 + - 0.9748355563730255 + - - 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: + - - 0.998114529307876 + - -0.008541899601775428 + - -0.06078175989316533 + - 0.023883403771842105 + - - -0.014406858538701143 + - -0.9952074842575488 + - -0.09671869366780886 + - -0.034280563089021186 + - - -0.05966430098109813 + - 0.09741200762203181 + - -0.9934541116526132 + - 0.969905156869897 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995962343385238 + - -0.014068943678895239 + - -0.024686699252895856 + - 0.09187135731060406 + - - -0.013545344387253192 + - -0.999682423166843 + - 0.02125032839039999 + - -0.03341739600572778 + - - -0.024977829002408587 + - -0.020907358394335836 + - -0.9994693544192824 + - 0.9684771894385796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9718149116746412 + - 0.02754875051144901 + - -0.2341299720071466 + - 0.10002008356305774 + - - 0.002574612794187685 + - -0.9943296399585496 + - -0.1063105755269015 + - -0.08942279540071782 + - - -0.23573109429129055 + - 0.10271140854432366 + - -0.9663752985973264 + - 0.9735937922077809 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995086084813697 + - 0.020872171449584843 + - 0.023385765555466495 + - 0.012721392172455149 + - - 0.026448367576688198 + - -0.9619854928209044 + - -0.27181684174210075 + - -0.09292145004835588 + - - 0.01682335947914377 + - 0.27230178857492104 + - -0.9620648161713091 + - 0.973175534899604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9955488472190758 + - -0.005286163019392104 + - 0.09409861466196939 + - 0.05443404194509747 + - - -0.0006658835876349359 + - -0.9987954036407246 + - -0.04906422592083373 + - -0.09326071712478287 + - - 0.09424462530997249 + - 0.048783174832059725 + - -0.994353132671431 + - 0.9742759974115403 + - - 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: null + base_right_marker_pose: + - - 0.9996869957645896 + - -0.010033113850828907 + - -0.02291827056358568 + - 0.09191504768078196 + - - -0.010466176788195267 + - -0.9997674501562345 + - -0.018854833638633422 + - -0.033522232225979755 + - - -0.02272376823081188 + - 0.019088798667244753 + - -0.9995595270532089 + - 0.9691505591108006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9662217161116449 + - 0.012857744739982371 + - -0.25739128523411464 + - 0.0999961184296418 + - - 0.009810018775632118 + - -0.9998657855659706 + - -0.0131215237745852 + - -0.08941022199411347 + - - -0.25752545281173594 + - 0.010153287878648715 + - -0.9662181699281817 + - 0.9735257405974849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994396658571879 + - 0.003939722522981607 + - 0.03323902672634297 + - 0.012879895189931156 + - - 0.011626808211029165 + - -0.9720753613197736 + - -0.23438069298868233 + - -0.09303043887801563 + - - 0.03138744401980791 + - 0.2346358252728533 + - -0.9715764807036191 + - 0.9728659248307333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9828739577678536 + - -0.004683784231304897 + - 0.18421955734131557 + - 0.05437660569946903 + - - -0.011086193275873032 + - -0.9993691676101244 + - 0.033739637652131726 + - -0.09311132710036266 + - - 0.1839453164948911 + - -0.0352041048106856 + - -0.982305854377379 + - 0.9730874891851685 + - - 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: null + base_right_marker_pose: + - - 0.9987507674379732 + - -0.011967840037409753 + - -0.04851469207259251 + - 0.0918373976430567 + - - -0.012029458347171236 + - -0.9999271648684425 + - -0.0009783097834202494 + - -0.03348949875949693 + - - -0.048499450243617924 + - 0.0015606931144961415 + - -0.9988219899276694 + - 0.9686415056588418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9823826758362226 + - 0.019124966727767114 + - -0.18589920350696773 + - 0.099894784448188 + - - 0.003447370282101795 + - -0.9964349813513719 + - -0.08429379323194067 + - -0.08933939036118209 + - - -0.1868485853706184 + - 0.08216789876194283 + - -0.9789463941187208 + - 0.9724430727581912 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976658896180659 + - 0.01861389719608103 + - 0.06569851995111357 + - 0.012658077965586026 + - - 0.026232421531705644 + - -0.9927763829644758 + - -0.1170765283417458 + - -0.09271477518611469 + - - 0.06304468854055865 + - 0.11852669007082932 + - -0.9909474208996549 + - 0.970848691587112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9939743991618434 + - -0.0046812910001575985 + - 0.10951246196403501 + - 0.05447020085684601 + - - -0.009209960984911279 + - -0.9991214592630916 + - 0.040883814140156544 + - -0.09323370981434734 + - - 0.10922486177381403 + - -0.041646070097456925 + - -0.9931442666682062 + - 0.974445117018353 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9787449028536638 + - 0.02577473012154577 + - -0.20345534749702188 + - 0.10005666629098778 + - - 0.003411795086251137 + - -0.9939798973881339 + - -0.10950946645183438 + - -0.08946813150379421 + - - -0.20505310237170732 + - 0.10648768414909532 + - -0.9729406962052218 + - 0.9739113538718974 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979830522248607 + - 0.015946088391363925 + - 0.06144550217034418 + - 0.012689397154200876 + - - 0.029929048622931498 + - -0.9717991742456332 + - -0.23390300764212288 + - -0.0929303778478891 + - - 0.05598285023538159 + - 0.23527024291337736 + - -0.970316357318067 + - 0.972897147089403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9930949734192386 + - -0.0025062135212724984 + - 0.11728637032165186 + - 0.05439774463763056 + - - -0.012528503619933583 + - -0.9963198632168048 + - 0.08479249233684011 + - -0.09321312831797526 + - - 0.11664223234526667 + - -0.08567642063854891 + - -0.9894716471835256 + - 0.9742846452669794 + - - 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: + - - 0.9991069511989091 + - -0.010990953356030758 + - -0.040798272149029265 + - 0.023851188017812133 + - - -0.014330686807038417 + - -0.9964886920926793 + - -0.08249192655684374 + - -0.03427300216267028 + - - -0.03974835193639197 + - 0.08300292450116854 + - -0.9957562869711614 + - 0.9693609989257271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999129476758702 + - -0.011792343749021824 + - -0.005919265077473009 + - 0.09189100333072184 + - - -0.011765865549578342 + - -0.9999207066767951 + - 0.0044882921972604186 + - -0.03347876828535273 + - - -0.005971723203710233 + - -0.004418256203939412 + - -0.9999724083863988 + - 0.9687798397742134 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9646514202402874 + - 0.0335353059550692 + - -0.26138672629438625 + - 0.10002299199252769 + - - 0.001197411856402389 + - -0.9924176196042388 + - -0.12290579524132654 + - -0.08945622332245041 + - - -0.26352647615228847 + - 0.11824826237013648 + - -0.957377221795673 + - 0.9738213048871347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983029485790534 + - 0.01478354865422333 + - 0.0563264551303917 + - 0.01271474595009673 + - - 0.025825962244114292 + - -0.979313411757108 + - -0.200694447423987 + - -0.09290127250924393 + - - 0.05219427681780255 + - 0.20180854353035232 + - -0.9780332659095115 + - 0.9726553685838998 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9664205423302279 + - -0.020220544217757562 + - 0.25616882119744 + - 0.05453358292133351 + - - -0.0031904249567968855 + - -0.9977665054127329 + - -0.06672197437919457 + - -0.09331962596663268 + - - 0.2569458241550995 + - 0.06366419926458323 + - -0.964326559408822 + - 0.9750707010387643 + - - 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: null + base_right_marker_pose: + - - 0.9997908277822646 + - -0.010906752028795656 + - -0.017301544515921457 + - 0.09188248133203938 + - - -0.01094142840201446 + - -0.9999383150116851 + - -0.0019108417295222546 + - -0.03350291677708292 + - - -0.01727963619343999 + - 0.00209974564508517 + - -0.9998484911431571 + - 0.9688373287063567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.980590679801288 + - 0.02136064882863915 + - -0.19489905430367663 + - 0.09991758771861742 + - - 0.00559365076978632 + - -0.9966908709772312 + - -0.0810926555349695 + - -0.08932088590824709 + - - -0.19598629992403452 + - 0.07842850497279102 + - -0.9774652627330643 + - 0.9725958765175785 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986251050136193 + - 0.02747392230831294 + - -0.04464396072857611 + - 0.012788672892593495 + - - 0.01364370734953117 + - -0.95852402243134 + - -0.284684997272081 + - -0.09290900574031068 + - - -0.050613722312216974 + - 0.2836844761615292 + - -0.9575809987142921 + - 0.9729127231979647 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952102885871167 + - -0.0038413080563675693 + - 0.09768175798358672 + - 0.05441894131530547 + - - -0.005130840673593844 + - -0.9999029346750421 + - 0.012953598041526281 + - -0.09323943942456708 + - - 0.09762251771148969 + - -0.013392743582079215 + - -0.995133397316669 + - 0.9742892225086875 + - - 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: + - - 0.9986045871819349 + - -0.012017346686117212 + - -0.0514243311849863 + - 0.023875815706919712 + - - -0.014936801772416563 + - -0.9982755693212982 + - -0.056769530991968804 + - -0.034262454729894 + - - -0.050653434355520464 + - 0.057458429101936305 + - -0.997062063521187 + - 0.9692145348434368 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998660107137078 + - -0.00914288810974822 + - -0.013578225821805774 + - 0.0918856280897919 + - - -0.009397754399124575 + - -0.9997785968153571 + - -0.018826565331199176 + - -0.0334856927671742 + - - -0.013403090379053002 + - 0.0189516476045963 + - -0.9997305598116738 + - 0.9689687709931495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9674658905255202 + - 0.017922417897442262 + - -0.2523658804323033 + - 0.10001342422060427 + - - 0.006611397594551438 + - -0.9989380455114274 + - -0.045596827210426946 + - -0.08943276048363354 + - - -0.25291508474487817 + - 0.042444883867436986 + - -0.9665569780111114 + - 0.9735620239383748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986368214807245 + - 0.01905307327037673 + - 0.04859505305922772 + - 0.012742154155912512 + - - 0.027473828593600223 + - -0.9834661073614911 + - -0.17899610167164468 + - -0.09291755693551168 + - - 0.044381161828922155 + - 0.18008719018905797 + - -0.9826489283587121 + - 0.9732497757487905 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9846217659908233 + - -0.003269632852475654 + - 0.17466907979983856 + - 0.05447570178546817 + - - -0.024672796946641193 + - -0.9924060149651528 + - 0.12050541295649395 + - -0.093191843238773 + - - 0.17294863696468435 + - -0.12296182725543459 + - -0.9772252340223634 + - 0.9743630287510351 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9864807832013285 + - 0.018569464250398918 + - -0.16282149542350577 + - 0.10002269798285199 + - - 0.0029189034016770324 + - -0.9953926768583814 + - -0.0958378780004896 + - -0.08940043776275274 + - - -0.16385098222905237 + - 0.09406696473341852 + - -0.9819899499324907 + - 0.9732965319818305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995909568129663 + - 0.02833673320689896 + - -0.0038663430913064055 + - 0.012648902720308771 + - - 0.027235583601666495 + - -0.984436361410348 + - -0.17361818257034964 + - -0.09286981949812768 + - - -0.008725940844132387 + - 0.17344186312512808 + - -0.9848054518898993 + - 0.9725039865999272 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9715032512329654 + - -0.004410899903253785 + - 0.2369851826714513 + - 0.054441103149150835 + - - -0.022528340819059862 + - -0.9970188537313667 + - 0.07379620020117773 + - -0.09313730158934243 + - - 0.23595318752608102 + - -0.0770321313883726 + - -0.9687064281969263 + - 0.9734731332856486 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9794804683053702 + - 0.027596730255880032 + - -0.1996407590836021 + - 0.0999690827751134 + - - 0.0037441439842911695 + - -0.9929014354515009 + - -0.11888112072222784 + - -0.08941023621258386 + - - -0.20150432648982394 + - 0.11569425205053277 + - -0.9726308891086841 + - 0.973035143665496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974367620070412 + - 0.012331416060131677 + - 0.07048291973848056 + - 0.012817770569421695 + - - 0.018255007654679363 + - -0.9962962454263599 + - -0.08402705543374676 + - -0.09278681825277334 + - - 0.06918569572127437 + - 0.08509834033217263 + - -0.9939676111324115 + - 0.9717211454314847 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952813214587979 + - -0.00562852246046296 + - 0.09686800756772536 + - 0.05431772191158276 + - - -0.01216916615217348 + - -0.9976744932173366 + - 0.06706352942317123 + - -0.09303878216210831 + - - 0.09626527177746723 + - -0.06792588106490649 + - -0.9930352824201 + - 0.9722971966533968 + - - 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: + - - 0.9994569547045112 + - -0.01398741949643005 + - -0.02983534462035913 + - 0.023886216200384475 + - - -0.015582015517248922 + - -0.9984246751999438 + - -0.053901472561577936 + - -0.0342755824292267 + - - -0.029034401753866356 + - 0.05433709642332036 + - -0.9981004375648161 + - 0.968932965762449 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996806314386575 + - -0.010355976651388042 + - -0.023051873546478367 + - 0.09185605393503672 + - - -0.010765633161614932 + - -0.9997850551199623 + - -0.0177184847378069 + - -0.03353186612767975 + - - -0.02286342645004157 + - 0.01796099402511634 + - -0.9995772438509161 + - 0.9686878885480418 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.980655025761481 + - 0.025904433455042196 + - -0.19402237184438928 + - 0.09998733190879115 + - - 0.00308851378231797 + - -0.9931288988644627 + - -0.1169848337301751 + - -0.08940377428875651 + - - -0.19571965034550212 + - 0.114122524365848 + - -0.9739968521001499 + - 0.9729672225804633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986520257889944 + - 0.011592639716766422 + - 0.0505938938206461 + - 0.012794772308120313 + - - 0.024231984995780515 + - -0.966124612745112 + - -0.25693587439529003 + - -0.09290026468193556 + - - 0.04590144105256206 + - 0.25781552193866303 + - -0.965103214354192 + - 0.9725597353659792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9818785826666985 + - -0.007405867689741592 + - 0.1893663170265432 + - 0.05435211699608555 + - - -0.01371811639827968 + - -0.9993922955385401 + - 0.03204454556848952 + - -0.09312365382075667 + - - 0.18901392060617775 + - -0.03406160216387057 + - -0.9813834852263983 + - 0.973030978498061 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.845876693725586 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9732298994544571 + - 0.03039064876896783 + - -0.22781565195409292 + - 0.09999637679473897 + - - 0.002783014162441779 + - -0.9927048192942015 + - -0.120537946648511 + - -0.0894141826299773 + - - -0.22981692200540588 + - 0.11667711951136295 + - -0.9662145890755807 + - 0.9735436196715286 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964452701292149 + - 0.00991484234470569 + - 0.08365715473523799 + - 0.012700289544654344 + - - 0.03495020342545263 + - -0.9522092241115192 + - -0.30344040073374967 + - -0.09312105644154187 + - - 0.0766505506675288 + - 0.30528558665324956 + - -0.9491709032962116 + - 0.9744189265093699 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9916928075204332 + - -0.011115020941144027 + - 0.1281476953429867 + - 0.054520836249839846 + - - 0.006693523817705847 + - -0.9904504331123861 + - -0.13770670385420022 + - -0.09345667451410795 + - - 0.12845455325189065 + - 0.13742050741051906 + - -0.9821481720656474 + - 0.9763675687137321 + - - 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: + - - 0.9995066803092211 + - -0.012101182022840707 + - -0.028982018751124425 + - 0.02384990913320077 + - - -0.013808712561194262 + - -0.9981351452558288 + - -0.05946050170094971 + - -0.034260498268410176 + - - -0.028208429141708097 + - 0.059831373031014455 + - -0.9978098472788197 + - 0.9687059711014161 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997939484732509 + - -0.011283443955359653 + - -0.016874373729790813 + - 0.09186879365398176 + - - -0.011287971331797524 + - -0.9999362738437091 + - -0.00017307446609974274 + - -0.03350725882627818 + - - -0.01687134551477486 + - 0.0003635162507456776 + - -0.9998576026397239 + - 0.9688832364455652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.964449506347381 + - 0.009630811255436706 + - -0.2640916454204018 + - 0.10005271666875228 + - - 0.012603147410357503 + - -0.9998748475663218 + - 0.009562943039536507 + - -0.08943262691408196 + - - -0.26396649480880313 + - -0.012551361630786295 + - -0.9644501816784355 + - 0.9740671489133685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997075847774687 + - 0.023891282898626243 + - -0.0037351760143586052 + - 0.012730380741724933 + - - 0.022765782394324002 + - -0.9819596163855566 + - -0.18771529223775282 + - -0.09278609325996799 + - - -0.00815255115744256 + - 0.1875753672244532 + - -0.9822163801934057 + - 0.9716445634625861 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9667502480423289 + - -0.008206387958762714 + - 0.25559071404643346 + - 0.054426652183045175 + - - -0.026315117788299345 + - -0.9973713965611167 + - 0.0675115686198725 + - -0.09309248025474225 + - - 0.254364841292745 + - -0.07199272545471587 + - -0.964424997081535 + - 0.9731762259683263 + - - 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: null + base_right_marker_pose: + - - 0.9999205749260148 + - -0.011674637224528028 + - -0.004748335003327302 + - 0.09188715539608458 + - - -0.011703651230796084 + - -0.9999127251119331 + - -0.006129168548502777 + - -0.03347752020296932 + - - -0.004676364773629625 + - 0.0061842545956432675 + - -0.9999699428520842 + - 0.9687315302525125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9820841780125344 + - 0.021012515560299212 + - -0.1872675665652561 + - 0.10003292709086799 + - - 0.007849451675200587 + - -0.9974627400629541 + - -0.07075640108499917 + - -0.08943900799697546 + - - -0.18827919004989138 + - 0.06801879428460023 + - -0.9797573118983216 + - 0.9734486499528597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950401356258342 + - 0.008394765604602759 + - 0.09911940478112873 + - 0.012823812633509641 + - - 0.02554267169293434 + - -0.9845853065278546 + - -0.1730298994169459 + - -0.09296827979676148 + - - 0.09613896409109284 + - 0.17470346899788575 + - -0.9799163216844575 + - 0.9739443616974999 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999947401509834 + - -0.009866832231833152 + - -0.0027999706141191077 + - 0.05437776020220868 + - - -0.009037325847176526 + - -0.9767124606098285 + - 0.2143620676123155 + - -0.09318994354981805 + - - -0.004849840746151076 + - -0.21432548824440786 + - -0.9767502567870325 + - 0.9741832436884867 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.963086936800026 + - 0.032443809525600345 + - -0.26722827580293457 + - 0.10011241320703158 + - - 0.0024972164046414783 + - -0.9937445450723145 + - -0.11164919636632986 + - -0.08949197846078076 + - - -0.2691789666288417 + - 0.10686055569051409 + - -0.9571434090888071 + - 0.9743170935533962 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9887919586108253 + - -0.003215698815193164 + - 0.1492652734821398 + - 0.012793748219628538 + - - 0.03255239838999245 + - -0.9710713740573442 + - -0.2365601991997805 + - -0.09296425187040984 + - - 0.14570794057163544 + - 0.23876776534429972 + - -0.9600828871961323 + - 0.9737961422663206 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9894480734265191 + - -0.00991195592745836 + - 0.14454848017963334 + - 0.05448670930254962 + - - -0.014738131661123574 + - -0.9993677572646008 + - 0.03235542018057446 + - -0.0933043197515478 + - - 0.1441363849542825 + - -0.03414438269487766 + - -0.9889685857815185 + - 0.9750814487655168 + - - 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: null + base_right_marker_pose: + - - 0.9998800114040217 + - -0.009579619199758298 + - -0.012173483095688156 + - 0.09191039168825646 + - - -0.009914613954074124 + - -0.9995653721831156 + - -0.027762693719671775 + - -0.033492839757541845 + - - -0.011902236127512416 + - 0.027880057898401974 + - -0.9995404139637114 + - 0.9690348799570501 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9838811887628612 + - 0.025952134427140332 + - -0.17693019278024497 + - 0.09999325199148683 + - - 0.0029948235893868264 + - -0.9916655700318954 + - -0.12880383629762282 + - -0.08938591536823749 + - - -0.17879831495360204 + - 0.12619779685870908 + - -0.975758821962559 + - 0.9731197277078811 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933331141999292 + - 0.01364258353723124 + - 0.11446922795362975 + - 0.0127204170304495 + - - 0.03247795055264992 + - -0.9858692990421386 + - -0.16433778608117688 + - -0.09299126906457958 + - - 0.1106097055496036 + - 0.16695989075401524 + - -0.9797397041651614 + - 0.9734785914885606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956259811651138 + - -0.006364996426749746 + - 0.09321154676053728 + - 0.054505762772529054 + - - 0.0012284509617949196 + - -0.996698571360779 + - -0.08118157891798738 + - -0.09331428075516762 + - - 0.09342053595028682 + - 0.08094099497702267 + - -0.9923311739509606 + - 0.975124494026161 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9700000323474273 + - 0.01797834160442017 + - -0.2424390984951577 + - 0.1001066370435538 + - - 0.006099589285845662 + - -0.9987476172506874 + - -0.04965875599144622 + - -0.08950319701252928 + - - -0.24302825402930828 + - 0.04669021599038469 + - -0.9688948815399103 + - 0.974597967347888 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9935775471893121 + - 0.010427100607959549 + - 0.11267179458134878 + - 0.012659358113784278 + - - 0.03550229256100608 + - -0.9741910774402707 + - -0.22291552628445674 + - -0.09298938432195927 + - - 0.1074394943406888 + - 0.22548396885072577 + - -0.9683045671931642 + - 0.9732170204150956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962102143918202 + - -0.006504746592634008 + - 0.08673463560290759 + - 0.054497323552550554 + - - -0.016629180027504367 + - -0.9930487045003437 + - 0.11652356354747019 + - -0.09330253820257589 + - - 0.0853737612678298 + - -0.1175242900933849 + - -0.989393431413929 + - 0.9757151694374272 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9744448515589171 + - 0.030374913463465773 + - -0.22256368954168365 + - 0.10004548273449304 + - - 0.001806353447406473 + - -0.9918426584953184 + - -0.12745539563377606 + - -0.08947657430021821 + - - -0.2246196081323779 + - 0.12379622539086683 + - -0.9665508399569217 + - 0.9737807074386001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997421914890119 + - 0.01642607812411831 + - 0.015675921478758327 + - 0.01281949175799788 + - - 0.01840281341203892 + - -0.9905839668028825 + - -0.1356640747272009 + - -0.09279851723076446 + - - 0.013299887791613703 + - 0.13591758043213628 + - -0.9906308718762021 + - 0.9716839136903515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9764392340822867 + - -0.006063032998941842 + - 0.21570735215947331 + - 0.054434924650128835 + - - -0.022965579738845058 + - -0.9968479679984579 + - 0.0759388625448453 + - -0.09315797737857143 + - - 0.21456701585298718 + - -0.07910352917664232 + - -0.9735007074366946 + - 0.9739042332286006 + - - 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: + - - 0.9995346639231456 + - -0.013276025497985476 + - -0.027462752284158398 + - 0.02388274189340533 + - - -0.015032665954249867 + - -0.997786342948572 + - -0.06477987943507588 + - -0.0342916933813386 + - - -0.026541939837776453 + - 0.06516257340139253 + - -0.9975216110227169 + - 0.9690995321107269 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9646590160901501 + - 0.032000780127751406 + - -0.26155101366119515 + - 0.1000686505895385 + - - 0.0007329207529174417 + - -0.99292024652166 + - -0.11878066709079724 + - -0.08948806208734889 + - - -0.26350037097346435 + - 0.11439114528048125 + - -0.957852922101439 + - 0.9739327996200342 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991811659812311 + - 0.024661549667075823 + - 0.0320749983071854 + - 0.01267177237821003 + - - 0.030978790243792395 + - -0.9762496609852026 + - -0.21442227958238896 + - -0.09298277112728584 + - - 0.02602522052584199 + - 0.2152403479701132 + - -0.9762142595261994 + - 0.9732703203797805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9886105917526837 + - -0.01572668800553421 + - 0.14967220569893816 + - 0.05453635056580296 + - - 0.00029642286715859164 + - -0.9943195898070624 + - -0.10643526417216505 + - -0.09332696761323594 + - - 0.15049588036850872 + - 0.10526739576094453 + - -0.9829902163204961 + - 0.9754027420612682 + - - 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: null + base_right_marker_pose: + - - 0.9996510321303492 + - -0.011631411289586512 + - -0.023717593304126112 + - 0.09186888748916101 + - - -0.011703524804028195 + - -0.9999272946083712 + - -0.0029039635579062085 + - -0.03345556984875558 + - - -0.023682091712704457 + - 0.0031805296094565556 + - -0.9997144806210996 + - 0.9686883331927648 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9833114140201142 + - 0.022200886920507586 + - -0.18057071655644025 + - 0.09998054724171405 + - - 0.0029594020380013415 + - -0.9943470304166316 + - -0.10613776444416226 + - -0.08945094370294715 + - - -0.18190630829451993 + - 0.1038320938899425 + - -0.9778184858556777 + - 0.9733715800119069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9955921640303272 + - 0.002437137158491167 + - 0.09375661728049303 + - 0.01279978790218715 + - - 0.02873424352453083 + - -0.9595161292611646 + - -0.2801841197083549 + - -0.09294478542164206 + - - 0.08927813937623869 + - 0.28164313954034714 + - -0.9553567688457407 + - 0.9730511807990492 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996776588452148 + - -0.002223727063547634 + - 0.025290975538663073 + - 0.054382849103160935 + - - -0.0022659047836600275 + - -0.9999960894030543 + - 0.0016391626248138708 + - -0.09314861020414938 + - - 0.025287231585561017 + - -0.0016959411976969927 + - -0.9996787882626063 + - 0.9732980186075679 + - - 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: + - - 0.9989557891260186 + - -0.011126389014653685 + - -0.044311791197243634 + - 0.023838336102768448 + - - -0.014146346299424 + - -0.9975554208181349 + - -0.06843291081585831 + - -0.034265564933926206 + - - -0.04344205632782935 + - 0.06898830236967016 + - -0.9966711603523809 + - 0.9692331625933102 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994994217375939 + - -0.010045238512666362 + - -0.02999998549065158 + - 0.09189513427248427 + - - -0.01037882328053458 + - -0.9998858032699182 + - -0.01098455491047986 + - -0.033484794566640184 + - - -0.029886217116374805 + - 0.01129042082889554 + - -0.9994895399272464 + - 0.9689666130670146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9810874390726985 + - 0.011450109993536196 + - -0.1932261159235735 + - 0.09993625480057339 + - - 0.00731897950600178 + - -0.9997294141464808 + - -0.02208010483049485 + - -0.08937265312835707 + - - -0.19342665129905204 + - 0.020248295520137953 + - -0.9809057738110041 + - 0.972625644436361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999443140887506 + - 0.025034127739517978 + - 0.022061291468053006 + - 0.012675338634715485 + - - 0.029341747443978883 + - -0.974193160560245 + - -0.22380068760970084 + - -0.09290232294309783 + - - 0.015889304259490113 + - 0.22432337899996657 + - -0.9743852172750709 + - 0.9721398620469208 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9975686390176043 + - -0.003026261204225343 + - 0.06962508306414072 + - 0.05438282459986741 + - - -0.009343985625464096 + - -0.9958441147044667 + - 0.09059353807588678 + - -0.09313776154760109 + - - 0.06906156949560163 + - -0.09102384825747496 + - -0.993451135520617 + - 0.9733720302602996 + - - 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: + - - 0.9997404905321243 + - -0.011940752218745215 + - -0.019400258427089284 + - 0.023846233149752663 + - - -0.013438152138419202 + - -0.9967853543254903 + - -0.07898337463866416 + - -0.03426179711375577 + - - -0.01839477256429166 + - 0.07922358132940853 + - -0.9966871407335658 + - 0.9690751914492615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9780945876456894 + - 0.01537996355833268 + - -0.2075919900650146 + - 0.09995116244000196 + - - 0.010025196294862116 + - -0.9995899493620741 + - -0.026822165713764844 + - -0.0893553372323465 + - - -0.2079193907682933 + - 0.02415346466392634 + - -0.9778477064897536 + - 0.9727242044014816 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9879380398602869 + - 0.010003683491858623 + - 0.15452622985632175 + - 0.01268919069551706 + - - 0.032351268199881586 + - -0.9892238039964549 + - -0.14279237042868834 + - -0.09290947682287909 + - - 0.15143257523688025 + - 0.1460691340543208 + - -0.9776154577510262 + - 0.9725740944914334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9866672258066017 + - -0.008102154440180814 + - 0.16254888683879704 + - 0.05438662387592057 + - - -0.01830729813173547 + - -0.9979463926813017 + - 0.06138273510924534 + - -0.09306498855393353 + - - 0.16171774285532292 + - -0.06354016389500018 + - -0.9847893273274112 + - 0.972896647351297 + - - 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: + - - 0.9984296705030713 + - -0.011751698656164787 + - -0.054773083150604196 + - 0.023867883546371337 + - - -0.015782185683662048 + - -0.9971523416910529 + - -0.07374367820428457 + - -0.034287350389493675 + - - -0.05375049464120976 + - 0.07449231529993786 + - -0.9957719514462541 + - 0.9693153792747566 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.99990287481766 + - -0.010931165528975474 + - -0.008645840130203227 + - 0.09190806404016003 + - - -0.010995461173013785 + - -0.9999119855005921 + - -0.007424357605771364 + - -0.0335062035768067 + - - -0.008563922288977203 + - 0.007518701513144881 + - -0.999935062072826 + - 0.9688025615754771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.845876693725586 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9747855232830256 + - 0.014924753362694956 + - -0.2226441899868502 + - 0.09997328011636195 + - - 0.0062543409910309905 + - -0.9991961443355026 + - -0.03959732773602222 + - -0.08937158204395634 + - - -0.22305619654384373 + - 0.037206409153918235 + - -0.9740952809152019 + - 0.9730379817025705 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99892580828148 + - 0.01682895497703293 + - 0.04317424954266996 + - 0.012730051926659365 + - - 0.019306212505855926 + - -0.9981520040526618 + - -0.05761811316187813 + - -0.09261706361540394 + - - 0.04212481107222288 + - 0.05838975149833454 + - -0.9974047008171224 + - 0.9699667447820064 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9837191187227704 + - -0.004910541634960885 + - 0.1796457125570976 + - 0.05444263969365896 + - - -0.02269274477698064 + - -0.9950193676827618 + - 0.0970643975445356 + - -0.09318906306937243 + - - 0.1782743245500676 + - -0.09956075791720424 + - -0.9789310091570136 + - 0.9741663460153782 + - - 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: + - - 0.9985161537005901 + - -0.011023267054040959 + - -0.05332896382299857 + - 0.023840804380465746 + - - -0.014867068756423945 + - -0.9972774614622054 + - -0.07222627725483059 + - -0.03428100743703441 + - - -0.052387604121310584 + - 0.07291194993247123 + - -0.9959615386607428 + - 0.9694715881267805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995461866518299 + - -0.011031961003811602 + - -0.028030636564222777 + - 0.09188373876727858 + - - -0.01134900138022765 + - -0.9998731328740418 + - -0.011176686643192702 + - -0.033514419770852136 + - - -0.027903779626723572 + - 0.01148973424666173 + - -0.9995445788405258 + - 0.9688129764692992 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9763950354834385 + - 0.031842401992666344 + - -0.21363238546304814 + - 0.1000220472594789 + - - 0.00010489887751742935 + - -0.9891432244418339 + - -0.14695465469674074 + - -0.08946206537039522 + - - -0.21599241579166717 + - 0.14346338548964416 + - -0.9657978739593136 + - 0.9737994951973415 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998279402719115 + - 0.012713775845566766 + - 0.05724154095161929 + - 0.012772825854002566 + - - 0.022957361049304667 + - -0.9830241866638695 + - -0.18203408474099006 + - -0.09281701504374262 + - - 0.05395547868770227 + - 0.18303499211240118 + - -0.981624672663638 + - 0.9723677632252646 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952966456938867 + - -0.006385531011880911 + - 0.09666339567899647 + - 0.054513193865504794 + - - -0.004130220690728756 + - -0.9997149824573237 + - -0.023513722108556904 + - -0.09336724306373519 + - - 0.09678599251722227 + - 0.02300388758555538 + - -0.9950393423420035 + - 0.976019686715853 + - - 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: + - - 0.9993696969527431 + - -0.012309075032115686 + - -0.03329707921779489 + - 0.023870038791118205 + - - -0.014533392722807495 + - -0.9976197049950776 + - -0.06740700780704836 + - -0.034277070356045415 + - - -0.032388104429666886 + - 0.06784844049341576 + - -0.9971697948765119 + - 0.9692171543714398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9741965433747147 + - 0.027796188735474448 + - -0.22398318412001275 + - 0.09997027892109323 + - - 0.0038357271947947087 + - -0.9942831314495624 + - -0.10670680255606604 + - -0.08941456445073379 + - - -0.22566874412209761 + - 0.10309425981418185 + - -0.968733808390995 + - 0.9731504839427015 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994347072023131 + - 0.021736800092439362 + - -0.025647174526015278 + - 0.01282791176556532 + - - 0.015932556564567324 + - -0.977996191697833 + - -0.20801346751076397 + - -0.09280074539804672 + - - -0.02960438617406923 + - 0.20748725393690118 + - -0.9777896602915066 + - 0.9717583378366679 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9892407005482385 + - -0.008246912624735725 + - 0.1460644543035378 + - 0.05444508346553238 + - - -0.009376150968708698 + - -0.9999312303141362 + - 0.007044319375938274 + - -0.09328150259859914 + - - 0.14599631561050533 + - -0.008338049809050731 + - -0.9892499950738134 + - 0.9750125333239329 + - - 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: + - - 0.9994906630779629 + - -0.013483620582640892 + - -0.028924149010081196 + - 0.023876061273243238 + - - -0.014904918547536172 + - -0.9986629205481411 + - -0.049499641668896324 + - -0.0342717611023187 + - - -0.028218040737537226 + - 0.04990554175881881 + - -0.9983552369165467 + - 0.9690712062764 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996933949157453 + - -0.011462085861340971 + - -0.021948502216298585 + - 0.09187516841448337 + - - -0.01157586372372045 + - -0.9999201752893082 + - -0.005063835349658456 + - -0.03347406541030541 + - - -0.02188870806789358 + - 0.0053163556225900716 + - -0.9997462782236362 + - 0.9686262891197177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9668940051684849 + - 0.03806224889808355 + - -0.25232369682228867 + - 0.10007794235993756 + - - -0.0003533509066704077 + - -0.9886125087719801 + - -0.15048316398424108 + - -0.08946051742214993 + - - -0.2551780905806426 + - 0.14559042794219532 + - -0.9558700588360458 + - 0.9741155028171629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994260755425084 + - 0.02203995889343152 + - 0.02572469120662253 + - 0.012710864930903927 + - - 0.02618043204226047 + - -0.9844523500552426 + - -0.17368982540376846 + - -0.09283055408263038 + - - 0.021496616100698616 + - 0.1742636240948949 + - -0.9844643644203345 + - 0.9724713841511515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.972199886312801 + - -0.02432026307876426 + - 0.23288603620044854 + - 0.05446678121394409 + - - 0.005960252343032959 + - -0.9916987869724274 + - -0.1284445067312089 + - -0.09328613329721239 + - - 0.23407660379752673 + - 0.1262617943845085 + - -0.9639844930461381 + - 0.9746130191819948 + - - 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: null + base_right_marker_pose: + - - 0.9997940493980064 + - -0.011955924526560564 + - -0.01639861753477689 + - 0.09188889114819082 + - - -0.011676193729994783 + - -0.9997864735709328 + - 0.017049157298180507 + - -0.033462055252018466 + - - -0.016598954434431556 + - -0.016854172578731317 + - -0.9997201666358291 + - 0.9686933873624841 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9829621134412436 + - 0.025307501381835983 + - -0.182057721376854 + - 0.0998937901971361 + - - 0.003364818180431814 + - -0.9927877214379204 + - -0.11983830005768142 + - -0.08931798542941721 + - - -0.1837774783202133 + - 0.11718391756512761 + - -0.9759578720038857 + - 0.9723708815382797 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99464970865822 + - 0.011213718896146592 + - 0.10269473976127705 + - 0.012649072542522887 + - - 0.034588520653319244 + - -0.9728645542113465 + - -0.22877542131569498 + - -0.09299703219134815 + - - 0.09734264895272329 + - 0.2311034652870377 + - -0.9680473113578647 + - 0.9732080667412558 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9993766852457249 + - -0.0026236748545582014 + - 0.03520450706265942 + - 0.05433695284849429 + - - -0.004921512637984162 + - -0.9978506491598296 + - 0.0653441710075334 + - -0.09308026002674832 + - - 0.03495739836746208 + - -0.06547670044806142 + - -0.9972415865766 + - 0.9726553933306104 + - - 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: null + base_right_marker_pose: + - - 0.9997902099377681 + - -0.008862387680702502 + - -0.01846602819207231 + - 0.09193463956957644 + - - -0.009233603696951595 + - -0.9997550273632498 + - -0.020115313188593328 + - -0.033488505575438365 + - - -0.018283234816659732 + - 0.02028160118197001 + - -0.999627120469495 + - 0.9690667795851735 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9805316073745232 + - 0.024597350323264846 + - -0.19481462290241072 + - 0.10001727856113736 + - - 0.00410011538328078 + - -0.994471604665384 + - -0.10492576694072964 + - -0.0894011790843178 + - - -0.19631850649742041 + - 0.10208426848114802 + - -0.9752116929853186 + - 0.9732419861538067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9966633673730982 + - 0.0014943748970413888 + - 0.08160820412301543 + - 0.012804485590388331 + - - 0.01566546606017083 + - -0.984746829268056 + - -0.17328668563864755 + - -0.09291228634693331 + - - 0.08010446497938985 + - 0.17398692218145853 + - -0.9814845009475129 + - 0.9717968187841732 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995314326692959 + - -0.0011586206145270186 + - 0.09668530745678572 + - 0.054401207263150494 + - - -0.02241403187898558 + - -0.9754563711078656 + - 0.21904903387141633 + - -0.0931459501298158 + - - 0.09405850442500885 + - -0.22018974922403783 + - -0.9709116705869721 + - 0.973655095820752 + - - 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: + - - 0.9984809906342055 + - -0.011938166747327039 + - -0.053788395745261466 + - 0.023871356330588546 + - - -0.014808967195847471 + - -0.9984690667326411 + - -0.05329368882561425 + - -0.03425259738222317 + - - -0.05306982035703682 + - 0.05400928580125923 + - -0.9971291747885578 + - 0.9691497585530475 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998755465793104 + - -0.012645303337469115 + - -0.009433326890804637 + - 0.09190501913768605 + - - -0.012405509252442028 + - -0.9996089884051569 + - 0.025059402223634116 + - -0.03346629148219018 + - - -0.00974652209318589 + - -0.024939258271281763 + - -0.9996414550747507 + - 0.9688066378719179 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9730496112727103 + - 0.025447494591178708 + - -0.2291874320748398 + - 0.10001025058555972 + - - 0.0022252963324269973 + - -0.9948821631943184 + - -0.10101747083562933 + - -0.08942245877240505 + - - -0.23058512974227166 + - 0.09778500077632697 + - -0.9681263303747679 + - 0.9734026395887936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996136454445063 + - 0.027493346434354138 + - 0.004083594370845048 + - 0.012659867383184508 + - - 0.027794631632869618 + - -0.9880398066377419 + - -0.1516733297308612 + - -0.09281757695390105 + - - -0.0001352536065858806 + - 0.15172823205024846 + - -0.988422240393936 + - 0.9715838256751783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934125303222 + - -0.004029650608465156 + - 0.11452207872204212 + - 0.054364081296050575 + - - -0.0071119234366408615 + - -0.9996230264423301 + - 0.026518400240385445 + - -0.09310221511466318 + - - 0.11437204703893025 + - -0.02715818333857426 + - -0.9930666986330146 + - 0.972874452753822 + - - 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: null + base_right_marker_pose: + - - 0.9999275338657252 + - -0.01164516026363406 + - -0.003052418654660054 + - 0.09198621974512253 + - - -0.01163008375416202 + - -0.9999203071011772 + - 0.004911272600647167 + - -0.033499736761067586 + - - -0.003109367955101976 + - -0.004875416815100965 + - -0.9999832809311354 + - 0.9692000320833505 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9820971092493255 + - 0.027793360243503797 + - -0.18631370623358143 + - 0.09996715125147711 + - - 0.003045624108637587 + - -0.9912691832500278 + - -0.13181855147365487 + - -0.08940487716897574 + - - -0.18835071589433192 + - 0.12889117683223525 + - -0.9736072474858098 + - 0.9730672053978968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9976970657037816 + - 0.018225637762441852 + - 0.0653329259578691 + - 0.012663326946741896 + - - 0.0307084732364897 + - -0.9802228627227547 + - -0.1954996907084304 + - -0.09285552645473204 + - - 0.060477721166954934 + - 0.19705574217403662 + - -0.9785251553836989 + - 0.9723118319398498 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944843785112276 + - -0.007508282349068674 + - 0.10461570911342125 + - 0.05451428863877004 + - - -0.001340706970559733 + - -0.9982629522843832 + - -0.05890059932875542 + - -0.09333050867485396 + - - 0.10487622896517779 + - 0.05843546690695774 + - -0.9927669780998004 + - 0.9755885562253743 + - - 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: + - - 0.9987732119489735 + - -0.01122592508468204 + - -0.04822913744951163 + - 0.023843503606903262 + - - -0.014120081001084306 + - -0.9980928975959127 + - -0.0600931866447274 + - -0.034301146900285906 + - - -0.04746255793416107 + - 0.06070046436880308 + - -0.9970269601268354 + - 0.9692188206577126 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998872873192166 + - -0.01092140128719829 + - -0.010302215846234555 + - 0.09189583877885862 + - - -0.011136892079687898 + - -0.9997154070610665 + - -0.021096789318071067 + - -0.033482308317787396 + - - -0.010068877406335216 + - 0.021209146108452266 + - -0.9997243569250107 + - 0.9691864576982339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9821200833510035 + - 0.02554490010497351 + - -0.18651434249741988 + - 0.09994584152543698 + - - 0.0011677411364220559 + - -0.9915585594857583 + - -0.1296543847741598 + - -0.08936712931364217 + - - -0.18825190107740275 + - 0.12711837471095394 + - -0.9738594049202323 + - 0.972879071286985 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989408981875784 + - 0.025329730833960843 + - 0.03841206404338729 + - 0.01266737430708761 + - - 0.02686321109795607 + - -0.9988406848112901 + - -0.039945641254334294 + - -0.09276117888743253 + - - 0.03735572001314984 + - 0.040935206138389205 + - -0.998463248738133 + - 0.971162206803974 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9632000170787127 + - -0.00947619339661153 + - 0.2686185564295171 + - 0.05443310797912841 + - - -0.026616424776925066 + - -0.9978290564582137 + - 0.06023902406086332 + - -0.0931820269162301 + - - 0.2674645640672086 + - -0.06517189460512098 + - -0.9613611866108996 + - 0.9737729057513893 + - - 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: + - - 0.9980841141145983 + - -0.012424428507134927 + - -0.060611341581824504 + - 0.023888657554207354 + - - -0.01573559975899374 + - -0.9983918575473428 + - -0.0544618185832142 + - -0.03426422546593865 + - - -0.05983721293895858 + - 0.05531123176568455 + - -0.9966745585135903 + - 0.9692991767801827 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9883447023759524 + - 0.018638260961729564 + - -0.15108727449296525 + - 0.09987241012866793 + - - 0.0040720797886659825 + - -0.995358468044945 + - -0.0961506019607576 + - -0.08927366504312576 + - - -0.15217807809137587 + - 0.0944146986413862 + - -0.9838331653430232 + - 0.9719657772283101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996323255396643 + - 0.025163955262622606 + - 0.010098964882759465 + - 0.01270896008172522 + - - 0.026602588558407338 + - -0.9822382554978936 + - -0.18574259532602574 + - -0.09287366006101533 + - - 0.005245571289628615 + - 0.18594296112516975 + - -0.9825465379257361 + - 0.9721302753723033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9809014545231668 + - -0.009287213274841544 + - 0.1942835149566822 + - 0.05439255730991199 + - - -0.017493651211722992 + - -0.9990236891058558 + - 0.04056649815560635 + - -0.0931146342826874 + - - 0.1937170841242928 + - -0.04319046509258539 + - -0.9801062570167929 + - 0.9730233663766873 + - - 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: + - - 0.9987583311431938 + - -0.011773301745348942 + - -0.04840645967301697 + - 0.02387902720223963 + - - -0.014711997331134114 + - -0.9980410643527896 + - -0.06080782022141559 + - -0.0342995392737614 + - - -0.04759572571766458 + - 0.06144447275031546 + - -0.9969750366292253 + - 0.9692972892753386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999357602280807 + - -0.011291455404158431 + - -0.0009891672993604813 + - 0.0919373736016637 + - - -0.011296174836813135 + - -0.9999241753800651 + - -0.004903052574918887 + - -0.033461946298949996 + - - -0.0009337296966320148 + - 0.0049139114106962 + - -0.9999874907335095 + - 0.9689576620472807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9619636393447785 + - 0.027611070306544572 + - -0.2717785594469806 + - 0.10008975800963309 + - - 0.003761920742782799 + - -0.9961235408872328 + - -0.08788480666535857 + - -0.0895145346851346 + - - -0.2731516145492717 + - 0.08351957906269335 + - -0.9583384972870064 + - 0.9745047826865652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991307620142753 + - 0.023145035708053117 + - 0.03467027139851145 + - 0.012655594339729537 + - - 0.03153726689304095 + - -0.9635709693839166 + - -0.2655868742190696 + - -0.09297792744710251 + - - 0.027260249332876588 + - 0.26644942162183755 + - -0.9634633280637604 + - 0.9730539992515616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899402153338949 + - -0.012838400771953501 + - 0.14090261009044774 + - 0.05459082154939124 + - - 0.004350464897029034 + - -0.9926417479621945 + - -0.12101005601907229 + - -0.09356416258836805 + - - 0.141419388769227 + - 0.12040571277218536 + - -0.9826001327152162 + - 0.9774294105677481 + - - 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: + - - 0.9997473695230109 + - -0.015024129824091329 + - -0.01671743565410082 + - 0.023921524223579144 + - - -0.0158995464430727 + - -0.9984397945420429 + - -0.05352738642739416 + - -0.03427246259531648 + - - -0.01588715061692077 + - 0.05377966342282048 + - -0.9984264350704078 + - 0.9694615896270514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9722361257651821 + - 0.03579441336536138 + - -0.23124808264921573 + - 0.10002887737227488 + - - 0.0006319584686671938 + - -0.9886294415021128 + - -0.15037096802147012 + - -0.0894404084593128 + - - -0.23400110338543864 + - 0.14604994819256098 + - -0.9612038786060673 + - 0.9736576210617307 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991830134322716 + - 0.026220113673088723 + - 0.030754045382278845 + - 0.0126113377800459 + - - 0.03158258798574193 + - -0.9813937595434551 + - -0.18939067787323996 + - -0.09277718329446266 + - - 0.025215983116424995 + - 0.19020724057756785 + - -0.981420073071332 + - 0.9711175591675457 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9759425443271942 + - -0.01632747689790279 + - 0.21741564725270143 + - 0.05443413945071925 + - - 0.0016314743120592516 + - -0.9966172100224718 + - -0.08216735956932296 + - -0.09321304425286683 + - - 0.21802176144534688 + - 0.080545330002265 + - -0.9726144978104612 + - 0.9740059391023161 + - - 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: + - - 0.9991826249207495 + - -0.01180311593036689 + - -0.03866223623660597 + - 0.023873661721340814 + - - -0.014812161561554505 + - -0.9968047463121605 + - -0.07849138551092455 + - -0.034259385015664556 + - - -0.037612257660970254 + - 0.07899989989793968 + - -0.9961648126137367 + - 0.969279933718045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998779224110337 + - -0.012493271576067791 + - -0.009383945882272086 + - 0.09187124931122143 + - - -0.012221635715032892 + - -0.9995200200014579 + - 0.02846684451665444 + - -0.033395538988159695 + - - -0.00973508579540145 + - -0.02834868218476766 + - -0.9995506892213842 + - 0.9684279701383349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.986824329589783 + - 0.026148406875056956 + - -0.15966841687563588 + - 0.09993536379074368 + - - 0.001724191759361702 + - -0.9884975705536295 + - -0.15122691616359224 + - -0.08939717438309365 + - - -0.16178618511001586 + - 0.1489591011904599 + - -0.9755185372303691 + - 0.9727067670298408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979961551270798 + - 0.018286302302893707 + - 0.06057462752384691 + - 0.012743972657035836 + - - 0.02296074704493843 + - -0.9967361524814801 + - -0.07739409817004497 + - -0.09272186262380305 + - - 0.05896166930052064 + - 0.07862985110314907 + - -0.9951587150142398 + - 0.971404311101253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940366539147973 + - -0.005169260019552924 + - 0.1089238698574551 + - 0.054413057422661365 + - - -0.010077383584581896 + - -0.9989559722513743 + - 0.04455796049417408 + - -0.09313917374615065 + - - 0.10857981863110087 + - -0.045389913572967185 + - -0.9930509446810246 + - 0.973377547609391 + - - 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: + - - 0.9997418754775498 + - -0.013210080409032961 + - -0.01848448517590642 + - 0.02390280992063206 + - - -0.014379059753900277 + - -0.9978071559079281 + - -0.06460744739985637 + - -0.03430488301062305 + - - -0.017590482006618977 + - 0.064856560150214 + - -0.9977395459478672 + - 0.9693496235191588 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9712428512979014 + - 0.026231474807495565 + - -0.23664157185952392 + - 0.10007456062460096 + - - 0.003483387391586299 + - -0.9953714658234145 + - -0.09603911201603486 + - -0.08950624699294547 + - - -0.23806551580395394 + - 0.09245298672283163 + - -0.966838794955512 + - 0.9744056107690655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988848586227561 + - 0.014765484015704121 + - 0.04484439425366985 + - 0.01279370420195863 + - - 0.017833508632005148 + - -0.9974707750788124 + - -0.06880420651054868 + - -0.09276381641954506 + - - 0.04371504528270318 + - 0.06952721298496019 + - -0.9966217745315803 + - 0.9714904985351052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9727164848186258 + - -0.020118385758573956 + - 0.2311231072752468 + - 0.05440747997977424 + - - -0.0005441101680712292 + - -0.9964279689464695 + - -0.08444528788120612 + - -0.0931929738554077 + - - 0.23199643123595895 + - 0.08201556715455904 + - -0.9692528579468291 + - 0.9737269826339112 + - - 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: + - - 0.9992154061334699 + - -0.009300472883119242 + - -0.03849770577157747 + - 0.023833460575039864 + - - -0.013240601192226132 + - -0.994552417750987 + - -0.10339330164828953 + - -0.03427007916481232 + - - -0.03732637975471242 + - 0.10382191266691312 + - -0.9938952418764215 + - 0.9692779725300367 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999053174713894 + - -0.011411384715350357 + - -0.007690018941339466 + - 0.09186896582765718 + - - -0.011440426871443211 + - -0.9999275497111232 + - -0.003743255496114838 + - -0.03344898230269529 + - - -0.0076467460686916785 + - 0.003830878174557638 + - -0.9999634251546271 + - 0.9685094124031615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9753905149312508 + - 0.023552195091173404 + - -0.219222803304165 + - 0.09995459065826533 + - - 0.0034028605205365624 + - -0.9957679702370354 + - -0.09183991501679932 + - -0.08934150808011529 + - - -0.2204580774714936 + - 0.08883379737691312 + - -0.9713427780763962 + - 0.9730188890515674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933608580113068 + - 0.00714429657801636 + - 0.1148179637401989 + - 0.012803800629525956 + - - 0.021751035141826094 + - -0.9917315188775149 + - -0.12647326569341322 + - -0.09285252117304946 + - - 0.11296503105518685 + - 0.1281310012889269 + - -0.9853026683549567 + - 0.9724059365787576 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9940888394690377 + - -0.004692258613866774 + - 0.10846825319973755 + - 0.05445376604314514 + - - -0.005363068039324607 + - -0.9999682516412091 + - 0.005893488850343844 + - -0.09326700845844181 + - - 0.10843715573689378 + - -0.006440374113678906 + - -0.9940824436820964 + - 0.9750049221979846 + - - 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: + - - 0.9994526579327853 + - -0.013531520296578468 + - -0.03018745616235707 + - 0.023876031792346136 + - - -0.014947730443645186 + - -0.9987739695186303 + - -0.04719240581473253 + - -0.034255240155469956 + - - -0.029511860423820587 + - 0.04761780938327132 + - -0.9984295640273597 + - 0.969117916083877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999191828788689 + - -0.011955587011405979 + - -0.0043233840990414395 + - 0.09186954310246004 + - - -0.011944241206171024 + - -0.9999251782222506 + - 0.0026406550719457298 + - -0.03346423196505887 + - - -0.004354631197237014 + - -0.0025888021192990393 + - -0.9999871675630257 + - 0.9686774987251284 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9731115282503902 + - 0.02708595372110421 + - -0.22873632133355706 + - 0.1000163814810113 + - - 0.003728217953618832 + - -0.9947838686069153 + - -0.10193701560448526 + - -0.08940259019547464 + - - -0.23030426391424105 + - 0.09834330618032402 + - -0.9681366329978645 + - 0.9734000370752403 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991650995254641 + - 0.022135895716740496 + - 0.0343381130973621 + - 0.012686443530844582 + - - 0.030777760053087487 + - -0.9605663799134593 + - -0.2763421054889501 + - -0.09288065953208247 + - - 0.02686695696174416 + - 0.27716823753952946 + - -0.9604456958739762 + - 0.9720019862135407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9717832701477637 + - -0.016041204316103334 + - 0.23532946187209047 + - 0.05443185796404497 + - - -0.009623127483400808 + - -0.9995504322947087 + - -0.02839592782247082 + - -0.0932536862389702 + - - 0.2356791702258748 + - 0.025330082186005323 + - -0.9715007543270839 + - 0.974181698934116 + - - 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: + - - 0.9990420774921098 + - -0.011153898767891881 + - -0.04231451219764697 + - 0.02384899514652145 + - - -0.015007371978681665 + - -0.9956577034134779 + - -0.09187228319624892 + - -0.034296941253029845 + - - -0.04110603588942474 + - 0.09241930629297053 + - -0.9948713311970463 + - 0.9691078207614313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998850194859324 + - -0.013601248536551605 + - -0.006704762923724 + - 0.09186425574835841 + - - -0.013306794104672781 + - -0.9990221779823818 + - 0.04216179704418491 + - -0.03344014577592141 + - - -0.0072716599392598745 + - -0.04206773035934011 + - -0.999088298912635 + - 0.968569557544939 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9831053075436628 + - 0.01521420126430776 + - -0.18240746245526665 + - 0.09992215924892245 + - - 0.005588157860652978 + - -0.9985698129375097 + - -0.053170491644069284 + - -0.08931547352845177 + - - -0.18295553222355646 + - 0.051252870844829324 + - -0.9817843024101369 + - 0.972453446917334 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996391191369414 + - 0.02037381869977251 + - 0.01750825527312188 + - 0.012728758040827745 + - - 0.023149098194484564 + - -0.9840009114164503 + - -0.17665312220387497 + - -0.09274955834935583 + - - 0.013629040461533298 + - 0.1769946717932036 + - -0.9841174398479655 + - 0.9717520260049481 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9854016069314425 + - -0.011258870156440101 + - 0.16987322007818426 + - 0.05448348976719242 + - - -0.005240531993323663 + - -0.9993439693796032 + - -0.03583528553039661 + - -0.09327225783020536 + - - 0.17016524287103332 + - 0.03442192190187125 + - -0.9848141557731709 + - 0.9746639215872134 + - - 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: null + base_right_marker_pose: + - - 0.9997576771085229 + - -0.009194017047312018 + - -0.020001427776636053 + - 0.09192971896868157 + - - -0.009748452014224515 + - -0.9995659365721923 + - -0.027801189324964583 + - -0.03350500994550019 + - - -0.019737141279745 + - 0.027989435419277373 + - -0.9994133462982239 + - 0.9690730196118851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9732426718782334 + - 0.0292191233355212 + - -0.2279143358080418 + - 0.10000404772405491 + - - 0.0006409408079295822 + - -0.9922233797770337 + - -0.12446828438892218 + - -0.08946223893308572 + - - -0.22977878672801363 + - 0.12099176606424289 + - -0.9656928609627691 + - 0.9737481246439061 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978257507197134 + - 0.019526453789060632 + - 0.06294830262258122 + - 0.012646883920971283 + - - 0.02684399647824853 + - -0.992700045215811 + - -0.11758409791125271 + - -0.09273811854792825 + - - 0.060192782405502465 + - 0.11901822478490831 + - -0.9910658359137062 + - 0.9705587378051981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990749560758153 + - -0.010257750723448894 + - 0.13531476788444946 + - 0.05442997689837244 + - - -0.0016404770718331492 + - -0.9979714739365387 + - -0.06364154338095004 + - -0.09327005603916927 + - - 0.13569309743868196 + - 0.06283085037645234 + - -0.9887566270566628 + - 0.9745399324597335 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.969278005104441 + - 0.035854108039844575 + - -0.24334056743055085 + - 0.10004587787461594 + - - -0.0001573950810975916 + - -0.9892282612561009 + - -0.14638108606995587 + - -0.08949147261614421 + - - -0.2459677296873388 + - 0.14192226769925337 + - -0.9588315524030057 + - 0.9739341278863921 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9942393211568933 + - 0.008216287707943195 + - 0.10686751088043638 + - 0.012766326895101153 + - - 0.029423973819707565 + - -0.9796743078056166 + - -0.1984249994084509 + - -0.09279468329405133 + - - 0.10306503786511238 + - 0.20042640355473848 + - -0.9742724745819193 + - 0.9721129380253306 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9787274684721425 + - -0.01676572058716623 + - 0.20447849048568492 + - 0.054564346910651026 + - - -0.004257649794618633 + - -0.9981006021126154 + - -0.06145779430357361 + - -0.09340694663210114 + - - 0.20512048868003815 + - 0.059279833633597956 + - -0.9769398581530159 + - 0.9761297577580512 + - - 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: + - - 0.9993061479470395 + - -0.012893673370935034 + - -0.034942465028288724 + - 0.02389127377060524 + - - -0.015473891252827762 + - -0.9970929266954884 + - -0.07460733357600438 + - -0.03430843018570849 + - - -0.03387892213080576 + - 0.07509626302839023 + - -0.9966006070208997 + - 0.9694926584593844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999266786413686 + - -0.012095350459305623 + - 0.0005829566943838657 + - 0.09188586085865598 + - - -0.012099911803451695 + - -0.9998899262346722 + - 0.008586474758006737 + - -0.03350124206696297 + - - 0.000479036104737419 + - -0.008592898910598903 + - -0.9999629656205884 + - 0.9688644892376276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9727065681139231 + - 0.03231525391080668 + - -0.22977740688047216 + - 0.10005030370600788 + - - 0.004289349234931204 + - -0.9925898540835303 + - -0.12143715680786206 + - -0.08944769299808417 + - - -0.23199899532363227 + - 0.1171371244956806 + - -0.9656372819199293 + - 0.9737475402859639 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978828230511347 + - 0.021198003939809012 + - 0.061485901542269225 + - 0.012659580609033076 + - - 0.02923558017088956 + - -0.9906950090355603 + - -0.13292358678617627 + - -0.09297536239893793 + - - 0.05809606106759109 + - 0.13443974003619052 + - -0.9892172683427195 + - 0.9733365328534357 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.987171403938107 + - -0.00841970129169163 + - 0.15944192634632018 + - 0.05446695124635105 + - - -0.010512926935905463 + - -0.9998692147901085 + - 0.012289494792414056 + - -0.09327269107070855 + - - 0.15931759982533952 + - -0.013808039150116323 + - -0.9871308122233458 + - 0.9750719663395282 + - - 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: null + base_right_marker_pose: + - - 0.9998345200911262 + - -0.008162291701472143 + - -0.01625759601931948 + - 0.09191723109064602 + - - -0.008747626847730634 + - -0.9993039506470036 + - -0.03626421439689093 + - -0.03355301201680574 + - - -0.015950280833896806 + - 0.03640042878141531 + - -0.9992099866023402 + - 0.9690486468956951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.968565099516039 + - 0.02196742639411743 + - -0.2477883778087755 + - 0.09998955471918367 + - - 0.007896139514738318 + - -0.9983062593436718 + - -0.05763907993721876 + - -0.0893750424942048 + - - -0.2486348708050607 + - 0.05387062959409643 + - -0.9670980592922759 + - 0.9732507098884865 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995615420365591 + - 0.027503941613999383 + - 0.010966169668112568 + - 0.012613488956915973 + - - 0.02867647004187171 + - -0.9914646372204985 + - -0.12718306965615814 + - -0.0926432612876937 + - - 0.007374533709581471 + - 0.12744177626241424 + - -0.9918186376125664 + - 0.9703436743527599 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913763610524559 + - -0.006985600127293569 + - 0.13085913088987036 + - 0.054429320816545224 + - - -0.008999348930375206 + - -0.9998499208778078 + - 0.014803629266868068 + - -0.09323598894524439 + - - 0.13073607943188456 + - -0.015853615092560884 + - -0.9912904420114607 + - 0.9741525656675654 + - - 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: + - - 0.9984739128214811 + - -0.010671543179341672 + - -0.054184532674304176 + - 0.023872462499943715 + - - -0.015601837406630951 + - -0.9956920478396601 + - -0.09139982789043943 + - -0.03430407143029826 + - - -0.052975731089795655 + - 0.09210572205371578 + - -0.9943390306532607 + - 0.9695696458244493 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999880008332385 + - -0.01187507829139943 + - -0.009947434483462933 + - 0.09190886987743911 + - - -0.011802268938103093 + - -0.9999033636618403 + - 0.007346413114648024 + - -0.03351239303207511 + - - -0.010033712430717772 + - -0.007228129309269418 + - -0.9999235364574368 + - 0.9690399727342125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9814261079353205 + - 0.013571098126675023 + - -0.19135992255058212 + - 0.0999175669189501 + - - 0.00574350097658295 + - -0.9991261191678076 + - -0.04140060619373248 + - -0.08932184860864015 + - - -0.19175454847137427 + - 0.039532559900829684 + - -0.9806464040867265 + - 0.9726605922951647 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999168821396928 + - 0.01618611896407713 + - 0.0374122426640592 + - 0.012792462897016917 + - - 0.0258501219769528 + - -0.9612375097147403 + - -0.2745072332583989 + - -0.09292986200805643 + - - 0.031518844237223724 + - 0.2752461797560233 + - -0.9608569628137501 + - 0.973351206794164 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9738095627477724 + - -0.009302451984953337 + - 0.22717482230225233 + - 0.0543426405047884 + - - -0.010800241215039023 + - -0.9999273584041871 + - 0.005350953608644669 + - -0.09300475830749487 + - - 0.2271085429716136 + - -0.007664352672765831 + - -0.9738392923924455 + - 0.9723925747939646 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9775912750521198 + - 0.02586779384439475 + - -0.20891662495740881 + - 0.09996622904544927 + - - 0.0048693116270773565 + - -0.994934593067289 + - -0.10040640080346491 + - -0.08940978088607944 + - - -0.21045566931363274 + - 0.09713914123385858 + - -0.9727653357794463 + - 0.9729917256723435 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983870398240319 + - 0.011629670245428141 + - 0.055570401126765166 + - 0.012792006849014116 + - - 0.021957637182427967 + - -0.9817236198418482 + - -0.18904125585168538 + - -0.09289575484994024 + - - 0.05235628788189473 + - 0.1899565345404051 + - -0.9803954988190363 + - 0.9731447597986592 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933891388945912 + - -0.006015764912820871 + - 0.11463781792574554 + - 0.054460179105313325 + - - -0.011639564897931491 + - -0.9987577352785143 + - 0.04845107584274379 + - -0.09319307728747005 + - - 0.11420393712674512 + - -0.04946510683144374 + - -0.9922251074987488 + - 0.9741854051157097 + - - 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: + - - 0.999062461494385 + - -0.011899046226883911 + - -0.041624640919421495 + - 0.023860308042086914 + - - -0.014052402681121911 + - -0.9985571173532574 + - -0.05182869245930275 + - -0.03424192862989605 + - - -0.040947869439909766 + - 0.05236502728008329 + - -0.9977881417947844 + - 0.9690697205917724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995542020968518 + - -0.01166649750190337 + - -0.027482538211821065 + - 0.09189635520668263 + - - -0.011534356248713703 + - -0.9999211663542149 + - 0.0049618245387988615 + - -0.03349112935880043 + - - -0.027538258776725184 + - -0.004642619181469644 + - -0.9996099691333022 + - 0.9688710263669893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9811293075911895 + - 0.026999578803998666 + - -0.19145836239255692 + - 0.09993745512554411 + - - 0.003731126115108452 + - -0.9926618653048677 + - -0.12086562731966065 + - -0.08936937192195676 + - - -0.1933167361703227 + - 0.11787045394783464 + - -0.9740303874123161 + - 0.9728476789250293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999189446067055 + - 0.015576149487666472 + - 0.03711919227771126 + - 0.012763706147537234 + - - 0.019482684588912166 + - -0.9940334859579999 + - -0.10732126441389017 + - -0.09273553398793499 + - - 0.03522606803804245 + - 0.1079574562562727 + - -0.9935312334140555 + - 0.9713189231980638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968564226743631 + - -0.004836026007517985 + - 0.07908151127365977 + - 0.05447519918864352 + - - -0.0005815440282354667 + - -0.9985551450585699 + - -0.053733454044966406 + - -0.09330713294044743 + - - 0.07922710634255546 + - 0.053518549396577464 + - -0.9954189221082109 + - 0.974785439889075 + - - 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: + - - 0.998708561109978 + - -0.009489222327585357 + - -0.04991156805045274 + - 0.02386475228243605 + - - -0.015521009312147144 + - -0.9924224322138753 + - -0.12188853230976356 + - -0.03433253087560792 + - - -0.048376732377968246 + - 0.12250579863138596 + - -0.9912880615976956 + - 0.9695999300536314 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996200595401852 + - -0.010322707294772745 + - -0.025557352738168188 + - 0.09188940417882527 + - - -0.010281471541548029 + - -0.9999456228273775 + - 0.0017443426582559188 + - -0.033508001833854224 + - - -0.02557396934026952 + - -0.0014809127170494858 + - -0.9996718356489336 + - 0.9688694041473944 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9815004588562385 + - 0.025524736863667102 + - -0.1897507235112264 + - 0.09998622135599416 + - - 0.0016799002342691074 + - -0.9921834734396517 + - -0.12477633176380344 + - -0.08941122695278636 + - - -0.1914524149761403 + - 0.12214926459569207 + - -0.9738714134620315 + - 0.9730628834919508 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969651971796681 + - 0.01999718976882091 + - 0.07523634769082786 + - 0.012663113854055764 + - - 0.033624048997664864 + - -0.9822610790795065 + - -0.18447925589227063 + - -0.09286359321603746 + - - 0.07021266938030492 + - 0.1864491483673578 + - -0.9799524968750163 + - 0.9723974535298026 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.991724395313278 + - -0.006334536073130653 + - 0.12822869177080107 + - 0.05442352643529415 + - - -0.015386746734048343 + - -0.9974474152622301 + - 0.06972733905462088 + - -0.09318598655713221 + - - 0.12745968682471784 + - -0.07112332556506347 + - -0.9892904026599624 + - 0.9739685012572972 + - - 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: null + base_right_marker_pose: + - - 0.9995680756223772 + - -0.010177442900411565 + - -0.027569582016900927 + - 0.09190755648723616 + - - -0.011119627288888314 + - -0.9993517827006542 + - -0.03423986422257179 + - -0.03350943112082199 + - - -0.02720323667385878 + - 0.034531638667065934 + - -0.9990333076756913 + - 0.9689078916867315 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9714977357675717 + - 0.03759443811670525 + - -0.23404872915948646 + - 0.10009109594188348 + - - 0.00026302149801272004 + - -0.9875142871331134 + - -0.15752924657876172 + - -0.08948016406370371 + - - -0.23704868744241767 + - 0.15297774652108698 + - -0.9593777821333778 + - 0.9739865437919372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998419532243375 + - 0.006796279295137512 + - 0.05578752748296676 + - 0.01284830033823806 + - - 0.014988899653042174 + - -0.988906552767756 + - -0.14778079300161007 + - -0.09289756222334263 + - - 0.05416429194692126 + - 0.14838342387455605 + - -0.9874454865951603 + - 0.9718526922505399 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9970649068609408 + - -0.003193591741828184 + - 0.07649426434818318 + - 0.05451440784193583 + - - -0.0007394126994273661 + - -0.999484708683097 + - -0.03209003548650827 + - -0.0933787941693851 + - - 0.07655732999029635 + - 0.03193928741302725 + - -0.9965534893543375 + - 0.9756012273311616 + - - 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: + - - 0.9997422568570484 + - -0.013438647528790348 + - -0.0182981585677961 + - 0.023894386950525127 + - - -0.014904213732593019 + - -0.9964823274418338 + - -0.08246717837491445 + - -0.03431787222911743 + - - -0.017125544294662825 + - 0.08271864269137706 + - -0.9964257834299094 + - 0.9690668634775361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9731503864517483 + - 0.024956126752716 + - -0.22881327996057266 + - 0.10002355856530544 + - - 0.004710973285913082 + - -0.9960560072437047 + - -0.08860156411953557 + - -0.0894200343532349 + - - -0.23012199390652005 + - 0.08514471311379898 + - -0.9694298560232485 + - 0.9735646202809662 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985780032289548 + - 0.02156596103845042 + - 0.04875326442158972 + - 0.012664026497239226 + - - 0.030236642162006267 + - -0.9823127362138366 + - -0.18479024255314982 + - -0.09302867894694858 + - - 0.04390577340214146 + - 0.1860016064354639 + - -0.9815679729215834 + - 0.9738936161622103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9952862021405615 + - -0.0045044363186606436 + - 0.09687665292560663 + - 0.05448922542985715 + - - -0.015125053011481916 + - -0.9939071758609126 + - 0.10917764672123087 + - -0.09329267522382063 + - - 0.09579461675907044 + - -0.11012826987489255 + - -0.9892902281809655 + - 0.9749455769834294 + - - 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: null + base_right_marker_pose: + - - 0.9998765345571847 + - -0.011059606147586677 + - -0.011162470773765603 + - 0.09188896354662127 + - - -0.011234091337611789 + - -0.999813765950846 + - -0.015691673174192358 + - -0.033493604175414304 + - - -0.010986848216531618 + - 0.0158151360110413 + - -0.9998145681271201 + - 0.9688526045060233 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9874934381580861 + - 0.017032865534870267 + - -0.15673733150208072 + - 0.0998974442297296 + - - 0.004121996201292422 + - -0.9965964589971158 + - -0.08233168929232143 + - -0.08925306210693125 + - - -0.15760621416060552 + - 0.0806559322435855 + - -0.9842026731582678 + - 0.9720655154196236 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997450263528734 + - 0.022385371007604064 + - -0.0029626757406521357 + - 0.01275285700078289 + - - 0.02141001336767285 + - -0.9814201967605588 + - -0.1906725169447929 + - -0.09283542610646618 + - - -0.007175904841091415 + - 0.19056046955052927 + - -0.9816492315661403 + - 0.9723291256726503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.974773127270457 + - -0.01095028111249866 + - 0.2229292302389503 + - 0.054359827010496096 + - - -0.008324059019475414 + - -0.9998844898045858 + - -0.012716803437355092 + - -0.093229079504178 + - - 0.22304273221249318 + - 0.010540322185839075 + - -0.9747516818223017 + - 0.9739749435520585 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.976248250603988 + - 0.022492792130044487 + - -0.21548416994027103 + - 0.09996049914560515 + - - 0.004098717242047975 + - -0.9963356676702109 + - -0.08543089514412167 + - -0.08937799156083437 + - - -0.21661614369576138 + - 0.08251855324925894 + - -0.972763144172325 + - 0.9729402655467302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9923982912563512 + - -0.0010415155315301114 + - 0.12306318197118128 + - 0.0128123396565393 + - - 0.027617920403334807 + - -0.9725745599907637 + - -0.230945828564553 + - -0.09284958775668646 + - - 0.11992865372407698 + - 0.23258899480450582 + - -0.9651525669611828 + - 0.972434609671377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9918284750172324 + - -0.009443309391445378 + - 0.12722853474252066 + - 0.05448855200031651 + - - 0.0050410377556205106 + - -0.9935771245885819 + - -0.1130446169998003 + - -0.09331866231473993 + - - 0.12747887700845878 + - 0.11276223393504835 + - -0.9854104802135196 + - 0.9750307547625581 + - - 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: + - - 0.9991679467135515 + - -0.01195831694376426 + - -0.038992472556869225 + - 0.023875001268016192 + - - -0.015019319752850998 + - -0.9967472248182168 + - -0.07917947872615307 + - -0.034275246837030496 + - - -0.03791878550781049 + - 0.07969923759394558 + - -0.9960974837999326 + - 0.9691114982843765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9712874583965114 + - 0.037445259788285265 + - -0.23494366490934127 + - 0.10007499152536051 + - - -0.0003860959916531688 + - -0.9872866143225231 + - -0.15894965275034562 + - -0.08952898742068795 + - - -0.23790864652536325 + - 0.15447651504017706 + - -0.9589246488695097 + - 0.974070484801193 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996317847726603 + - 0.027081324060532784 + - -0.0017019868841990737 + - 0.0126922876482424 + - - 0.025780488829077 + - -0.9674391992752807 + - -0.2517871364890159 + - -0.0929658449510409 + - - -0.008465297865959218 + - 0.25165054657745706 + - -0.9677811432030015 + - 0.9728597731241135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9866781952554243 + - -0.012369088080723449 + - 0.16221326908594824 + - 0.054525755050234125 + - - -0.0029649557314688057 + - -0.998307047039304 + - -0.05808828512854657 + - -0.0933285935483445 + - - 0.16265714876699816 + - 0.05683348917422016 + - -0.9850444692821103 + - 0.9752313073011472 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.970972493349572 + - 0.01622672308757626 + - -0.23864012784180783 + - 0.09998624200470635 + - - 0.010116044563574544 + - -0.9995893922165701 + - -0.026808815909990326 + - -0.08939986537125519 + - - -0.23897715957995452 + - 0.023616528659968127 + - -0.970737954740181 + - 0.9733309874656184 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996933123143869 + - 0.0218943189915532 + - 0.011572385656641435 + - 0.0127257643477563 + - - 0.022803106020161983 + - -0.9960927391457228 + - -0.08531865784811409 + - -0.09271804731618691 + - - 0.00965917541631685 + - 0.08555637800343362 + - -0.9962865082461018 + - 0.9711503951856987 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9426795358112666 + - -0.03206310718114082 + - 0.33215546047076444 + - 0.0544196425862091 + - - 0.003435267703386629 + - -0.9943880668030165 + - -0.10573822173445738 + - -0.09313405073995396 + - - 0.33368172215220443 + - 0.10081830070800579 + - -0.9372791358735607 + - 0.9736235403843102 + - - 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: + - - 0.9993029121564283 + - -0.010688847311235664 + - -0.03576923676623487 + - 0.023875879350326708 + - - -0.014556597284627451 + - -0.9938601669551859 + - -0.10968169407564259 + - -0.03428482525060386 + - - -0.03437724874353756 + - 0.11012591467482467 + - -0.9933229523603377 + - 0.9696301510967716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9796402664720699 + - 0.027566189458633587 + - -0.19885938123524013 + - 0.09998175893484988 + - - 0.001579112239209167 + - -0.9915557144282492 + - -0.12967178409052635 + - -0.08939585195552904 + - - -0.2007547127991466 + - 0.1267176798375618 + - -0.9714114344115562 + - 0.9730365735834349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995024059188922 + - 0.007789476895931763 + - 0.09932998381600763 + - 0.012768415736199041 + - - 0.026552654139969878 + - -0.9816163140389942 + - -0.1890089113524082 + - -0.09287750955469386 + - - 0.09603165203891753 + - 0.19070588890274756 + - -0.9769386806470967 + - 0.9725420992089892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.994937194866493 + - -0.007862104158548181 + - 0.10019064621707041 + - 0.054486421206129364 + - - -0.0046489392543558675 + - -0.9994685784926064 + - -0.03226372529295702 + - -0.09338172341469107 + - - 0.10039106352162694 + - 0.03163460011079996 + - -0.9944450142872796 + - 0.9758278718874934 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9755578293690965 + - 0.025023678370826377 + - -0.21831339188755738 + - 0.10001709426888303 + - - 0.003816066097348584 + - -0.9952742835119398 + - -0.09702854332275324 + - -0.08947382569780957 + - - -0.21970971575284837 + - 0.0938238567774112 + - -0.9710431116604527 + - 0.9735955311094981 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990619531025003 + - 0.02542117918265959 + - 0.035056775550251495 + - 0.012609428797519657 + - - 0.029873319815969968 + - -0.9906705846591001 + - -0.13296382009542856 + - -0.09286552268910803 + - - 0.031349619235173695 + - 0.13388635606423765 + - -0.990500704206539 + - 0.9723343733873069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9905200762203987 + - 0.002009164077883662 + - 0.13735334675224894 + - 0.05435673079375035 + - - -0.023328731805029403 + - -0.9829082070118959 + - 0.18261223086373485 + - -0.09308924905830547 + - - 0.13537262971776978 + - -0.18408536022283012 + - -0.9735434408771534 + - 0.9731216889567799 + - - 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: + - - 0.9975113356051188 + - -0.008485965544063159 + - -0.06999374063498018 + - 0.02384269339158849 + - - -0.014991107868344717 + - -0.9955584399493371 + - -0.09294438837564273 + - -0.03431511343770605 + - - -0.06889413635550964 + - 0.09376236470155619 + - -0.9932080431316499 + - 0.969743783831555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997588272999121 + - -0.010648871666966106 + - -0.019206477244018354 + - 0.09186574109299347 + - - -0.010869467691886925 + - -0.9998757352469925 + - -0.011417912960839879 + - -0.03351965641320472 + - - -0.01908250266604291 + - 0.011623923455820563 + - -0.9997503400827097 + - 0.9689961337208378 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9811352572409789 + - 0.01949760933915395 + - -0.19233681454348725 + - 0.0998566527868861 + - - 0.005655607191044521 + - -0.9973701110619605 + - -0.07225562723798304 + - -0.08931236573466275 + - - -0.19323980207498317 + - 0.06980476194581203 + - -0.9786652513008272 + - 0.9722599202794691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9925577957108423 + - 0.01632597025523913 + - 0.1206751211677811 + - 0.012660128368231938 + - - 0.02756108246028688 + - -0.9953749090045028 + - -0.09202813296974169 + - -0.09288393082956356 + - - 0.11861453918997818 + - 0.09466917776924144 + - -0.9884170869998384 + - 0.9724369909286675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9945331306537321 + - -0.006667981655939447 + - 0.10420839722749191 + - 0.054397787708075185 + - - -0.006837918946690804 + - -0.9999758101507338 + - 0.0012735689471441852 + - -0.09319260415972944 + - - 0.10419738430769353 + - -0.0019791750859128325 + - -0.9945546681653126 + - 0.9740599932481149 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9778008847869627 + - 0.025899058607445558 + - -0.20792947956718652 + - 0.09998771562242605 + - - 0.0034517269097983326 + - -0.9941881582512386 + - -0.10760107608360589 + - -0.0893942512363732 + - - -0.20950779291275326 + - 0.1044947116186167 + - -0.9722074572603158 + - 0.9730827045260022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986034896197709 + - 0.02680436472458779 + - 0.04552577897112394 + - 0.012623682661354418 + - - 0.031536579469141596 + - -0.9937985479915957 + - -0.10662968707251722 + - -0.09280957612035806 + - - 0.042385312014928865 + - 0.10791650495409727 + - -0.9932560159817255 + - 0.9718158794490973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9707099237381026 + - -0.010411744615811023 + - 0.2400288306233694 + - 0.05446733207776424 + - - -0.012633449247842916 + - -0.9998903995759906 + - 0.007719118853033057 + - -0.09321831089463123 + - - 0.23992215386760182 + - -0.01052541732285249 + - -0.9707350697660562 + - 0.9741083851585561 + - - 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: null + base_right_marker_pose: + - - 0.999778538804154 + - -0.013924650311989934 + - -0.01577901962478955 + - 0.09187300345225981 + - - -0.013534552049483672 + - -0.9996066014807898 + - 0.02456538574590283 + - -0.03343734014272242 + - - -0.01611487658812541 + - -0.02434638350379759 + - -0.9995736913118689 + - 0.9686060112770051 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9730132288455169 + - 0.029618536609867 + - -0.22884055318214852 + - 0.09995489654181755 + - - 0.0027628286744547474 + - -0.9931521943319898 + - -0.11679505841973534 + - -0.08940182666387039 + - - -0.23073279625865367 + - 0.11301088966397774 + - -0.9664320542842207 + - 0.9731039237835408 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9922412315019837 + - 0.006894505964536555 + - 0.12413623280465629 + - 0.012731500624181383 + - - 0.028416214260917803 + - -0.9846082230223391 + - -0.17245047382906464 + - -0.09286959211039635 + - - 0.1210365947740784 + - 0.174639952314172 + - -0.977164791517377 + - 0.9731658627668625 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997751388631921 + - -0.005156861049216009 + - 0.020568871996391003 + - 0.05442992241759438 + - - -0.0076594656419057315 + - -0.9923134065555106 + - 0.12351289712527491 + - -0.09321644939331347 + - - 0.019773828591481846 + - -0.12364267044316601 + - -0.9921297726348695 + - 0.974283222927533 + - - 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: null + base_right_marker_pose: + - - 0.999250819338485 + - -0.010206780486713323 + - -0.03733124272592899 + - 0.09186780023076288 + - - -0.01093096018781555 + - -0.9997550156522311 + - -0.019246370763838578 + - -0.03346602230653757 + - - -0.03712565367422598 + - 0.019640018083056775 + - -0.999117588439398 + - 0.9685185674141963 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9826796258582899 + - 0.025356396550995457 + - -0.18356962187943834 + - 0.09991081991131351 + - - 0.0040924381916062 + - -0.9933223219233613 + - -0.11529968221304766 + - -0.08933151310857299 + - - -0.185267387504275 + - 0.11255140124729927 + - -0.9762213771499832 + - 0.9725277074450156 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994411543835989 + - 0.025964283119691667 + - 0.021053145286623914 + - 0.012659988457734531 + - - 0.029253742277545566 + - -0.9841254463506753 + - -0.17504663495150175 + - -0.09288399351243992 + - - 0.01617397561325426 + - 0.17556469419323995 + - -0.9843350246057982 + - 0.9722902775915242 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967408363483686 + - -0.00938648001937728 + - 0.08012240103991071 + - 0.054540402585699824 + - - 0.002573077764400735 + - -0.9890029944113192 + - -0.14787310883410254 + - -0.09339624503268484 + - - 0.0806293025293708 + - 0.1475973273412829 + - -0.9857555196575555 + - 0.976058876290725 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9683438789700277 + - 0.025200313405982753 + - -0.24834467231152854 + - 0.10007943176823232 + - - 0.0046812807033000114 + - -0.9965493895417341 + - -0.0828697762454719 + - -0.08950766561212739 + - - -0.24957607592126527 + - 0.07908386945665921 + - -0.9651204711949205 + - 0.9742372423641471 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996754555335559 + - 0.015649086684226533 + - 0.02010198223377824 + - 0.012766396261013847 + - - 0.019576345631291302 + - -0.9768382271284044 + - -0.2130817794002115 + - -0.09310197312305965 + - - 0.01630184945034747 + - 0.21340614823988963 + - -0.9768275516169231 + - 0.9732579023420931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9840185844581255 + - -0.016531799546833266 + - 0.17729671470382707 + - 0.05456268049003325 + - - -0.000997552361617901 + - -0.9961771236844494 + - -0.08735069053569913 + - -0.09342299132595258 + - - 0.1780629953985745 + - 0.08577784009591854 + - -0.9802732944532186 + - 0.9760598199279428 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.984355480586803 + - 0.0247575037811716 + - -0.17444584788767356 + - 0.09999814893908567 + - - 0.0028333864648095817 + - -0.9921750774268653 + - -0.12482222419959747 + - -0.0893715680549455 + - - -0.1761711093223435 + - 0.12237516798566127 + - -0.9767231227428865 + - 0.9730105980659824 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964158914208964 + - 0.014859972133583189 + - 0.08327396082863882 + - 0.012747643207627444 + - - 0.029128362446600258 + - -0.9845170064087 + - -0.17285196728192445 + - -0.0928699824821833 + - - 0.0794160552097624 + - 0.17465808117645495 + - -0.9814212372140105 + - 0.971781973502605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976721976058281 + - -0.00345288280715441 + - 0.06810479957152385 + - 0.05443157995096999 + - - -0.005894362452596115 + - -0.9993458631145209 + - 0.035680560073682074 + - -0.09328104359642037 + - - 0.06793704891761787 + - -0.03599893715395314 + - -0.9970399359645289 + - 0.9746335877582013 + - - 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: null + base_right_marker_pose: + - - 0.9997810807912427 + - -0.012609452297389261 + - -0.016697071738915197 + - 0.09190585978061443 + - - -0.012561138793285067 + - -0.9999166196418419 + - 0.0029952556234518132 + - -0.033488464138060996 + - - -0.016733448063995803 + - -0.0027848656689067504 + - -0.9998561077670615 + - 0.9688622275172902 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9764280040498813 + - 0.027234146918845396 + - -0.21411831810652668 + - 0.10003604839183952 + - - 0.0015416488464301704 + - -0.9928625873292385 + - -0.11925395591226395 + - -0.08944538732257284 + - - -0.21583784706579914 + - 0.11611280688835593 + - -0.9695008199328702 + - 0.9737868918172194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981142038440655 + - 0.024367797296069443 + - 0.056340452071890666 + - 0.012620116304348403 + - - 0.02909294807138703 + - -0.9959876830546003 + - -0.08462940136882083 + - -0.09268157345597092 + - - 0.054052164223488 + - 0.08610891741548646 + - -0.9948183843718863 + - 0.9708296719441675 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931900152008698 + - -0.005645226220597427 + - 0.11636891821364642 + - 0.05447728199346768 + - - -0.00803929231064477 + - -0.9997653710833072 + - 0.020113989206563154 + - -0.09326049046737761 + - - 0.11622806668115951 + - -0.020912536995209605 + - -0.9930023677272802 + - 0.9747844187949984 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9677188061189015 + - 0.03657967660500484 + - -0.24936366925292341 + - 0.10004742670414721 + - - 0.0005993583688891496 + - -0.9897425180465516 + - -0.142861431955648 + - -0.08947192725126693 + - - -0.25203165089598123 + - 0.13810023617049272 + - -0.9578143722644286 + - 0.9737673417654265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981739219569308 + - 0.012851409226084638 + - 0.059022561838865804 + - 0.012745249570937214 + - - 0.019668462592776485 + - -0.9930060746666131 + - -0.11641343244850122 + - -0.09261278621847598 + - - 0.0571136857885707 + - 0.11736173548524625 + - -0.9914455355386577 + - 0.9705283600716855 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9814771685258469 + - -0.010674022179627178 + - 0.1912815540322565 + - 0.054478857687766766 + - - -0.011007814375056045 + - -0.9999391792734583 + - 0.0006824782834157599 + - -0.09316779945681875 + - - 0.19126263536083188 + - -0.0027754286933466127 + - -0.9815349720261617 + - 0.9738954938433159 + - - 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: null + base_right_marker_pose: + - - 0.9999103244727239 + - -0.011760136832109505 + - 0.006406418230340589 + - 0.091935448779094 + - - -0.011775035006809953 + - -0.999928043282277 + - 0.0022927730513069666 + - -0.03346739110783091 + - - 0.006378993920704032 + - -0.002368003244605192 + - -0.9999768502306405 + - 0.9688160411120152 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9759073730428859 + - 0.01860000129052564 + - -0.21739098231648432 + - 0.1000196921860719 + - - 0.005999041215530133 + - -0.9982704745114719 + - -0.05848137501064586 + - -0.08940316991316324 + - - -0.21810275272226146 + - 0.05576826759577411 + - -0.9743310985411165 + - 0.9733764318029572 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981155091315616 + - 0.004457747750627662 + - 0.061200971528525404 + - 0.012860740309148765 + - - 0.012046773182499002 + - -0.9921840646778616 + - -0.12420006866023744 + - -0.09294627961310796 + - - 0.0601689761167084 + - 0.12470328898754052 + - -0.9903680043442227 + - 0.9723036684791155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9938556284684761 + - -0.005382860442658467 + - 0.11055322055456014 + - 0.05442915431320565 + - - -0.0068966837773479575 + - -0.9998875625285826 + - 0.01331533152140701 + - -0.09327543581199775 + - - 0.11046911565865648 + - -0.013995967780206278 + - -0.9937810057409477 + - 0.974740858016655 + - - 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: null + base_right_marker_pose: + - - 0.9992061834301307 + - -0.01244307551673488 + - -0.03784405985986387 + - 0.09183411534692251 + - - -0.0116085144805759 + - -0.9996863076342849 + - 0.02219298808372182 + - -0.03344398601508019 + - - -0.038108337493865906 + - -0.02173605760515904 + - -0.9990371857009323 + - 0.9682367887238101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9791274001216016 + - 0.028421508788425594 + - -0.2012504712275292 + - 0.09997492930575413 + - - 0.0026700752665250165 + - -0.9918877984991787 + - -0.12708841759390752 + - -0.08941766765609843 + - - -0.20322993143034862 + - 0.12389839799868994 + - -0.9712604089244933 + - 0.9730864809083715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987428742338195 + - 0.01115720367072514 + - 0.0488690901636093 + - 0.012757642146913299 + - - 0.020172052652984607 + - -0.9819481034089097 + - -0.1880718227258176 + - -0.09296404242981045 + - - 0.045888554770598666 + - 0.18882118265146022 + - -0.9809387348469681 + - 0.9716391497437503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9854973452225785 + - -0.007560607669499619 + - 0.16952232823707275 + - 0.05445047932423635 + - - -0.004631844582450138 + - -0.9998332262891482 + - -0.017665379248603227 + - -0.09320274491019226 + - - 0.169627617371152 + - 0.016623983274199287 + - -0.9853680097329551 + - 0.9739742857585161 + - - 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: null + base_right_marker_pose: + - - 0.999942631811358 + - -0.010253437676772387 + - 0.003098403134427748 + - 0.0919077893894794 + - - -0.01023217782257666 + - -0.9999245201100054 + - -0.006801221933068871 + - -0.03349723354226091 + - - 0.003167905172516621 + - 0.006769128347448525 + - -0.9999720712491095 + - 0.9688680326957295 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.970039857179962 + - 0.013497863362924889 + - -0.2425705735799684 + - 0.10002478448975413 + - - 0.012160757807970836 + - -0.999901491918548 + - -0.00700873944422074 + - -0.0894240836180063 + - - -0.24264128142551286 + - 0.0038489146128368873 + - -0.9701084446619808 + - 0.9735781138302226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991413290545774 + - 0.007179844191074554 + - 0.04080507826784156 + - 0.012851279479880523 + - - 0.01363222381491987 + - -0.9870022793862955 + - -0.1601270213303056 + - -0.09295260860801542 + - - 0.03912501819696336 + - 0.16054578886924475 + - -0.9862526464488895 + - 0.9723539140939441 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9838855933898947 + - -0.0047876256537220385 + - 0.17873504905422086 + - 0.054393911756100886 + - - -0.023525646316912584 + - -0.9944170445500043 + - 0.1028653754856599 + - -0.09317901137703741 + - - 0.17724469832744352 + - -0.10541261854746843 + - -0.9785052359419336 + - 0.9737789920177151 + - - 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: + - - 0.9997345094916604 + - -0.012534033941743933 + - -0.019334128493844836 + - 0.0238609600268579 + - - -0.013354005840115948 + - -0.9989909191470668 + - -0.042881394447012104 + - -0.03420597111849395 + - - -0.018777141941505395 + - 0.043128197908622413 + - -0.998893076102574 + - 0.9687592777536871 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9777471532270262 + - 0.031136542734287263 + - -0.20746329811077896 + - 0.09998822036018293 + - - 0.002250576864796395 + - -0.990424325742112 + - -0.13803836380535073 + - -0.08942641781612193 + - - -0.20977473456119944 + - 0.13449970514777576 + - -0.9684546401638745 + - 0.9732394318704748 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977765107312676 + - 0.008839563680024068 + - 0.06605979675175642 + - 0.012778849627772908 + - - 0.023697714306111728 + - -0.9734487869400675 + - -0.22767493832562866 + - -0.09279228655733256 + - - 0.06229328189782969 + - 0.22873417173404523 + - -0.9714938114633256 + - 0.971765769748294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9782615706005948 + - -0.0110263784937803 + - 0.20708142954733863 + - 0.054459560185425554 + - - -0.008692476263481451 + - -0.9998880745992914 + - -0.012176991850690386 + - -0.0932309542917878 + - - 0.2071925199964185 + - 0.010112232762098975 + - -0.9782479248156369 + - 0.9742944442447011 + - - 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: + - - 0.9995712422654514 + - -0.01323510096381061 + - -0.0261182644595709 + - 0.023878713249150252 + - - -0.014864032479016253 + - -0.9978906662136601 + - -0.06319239528710209 + - -0.034284174583327526 + - - -0.02522681459013593 + - 0.06355352379008068 + - -0.9976595398428763 + - 0.9690173583637154 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999355152622696 + - -0.009883119899017417 + - -0.03451960120756708 + - 0.09189595032248006 + - - -0.010587056900834101 + - -0.9997384969730203 + - -0.020269481895318946 + - -0.0334405779536986 + - - -0.034310248507498774 + - 0.020621872155258052 + - -0.9991984513779861 + - 0.968606626818634 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9681846583733164 + - 0.0280241538891405 + - -0.24866265117492503 + - 0.10007215853164267 + - - 0.004646899039740341 + - -0.9955514209633092 + - -0.09410512497866291 + - -0.08946162816696263 + - - -0.25019367222185923 + - 0.08995562804368096 + - -0.9640078378122282 + - 0.9739190100256361 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997818144150002 + - 0.02084754709269275 + - 0.0013051227023010955 + - 0.012712258058377715 + - - 0.020882056641531664 + - -0.9959925290096104 + - -0.08696448624271838 + - -0.09273560430302137 + - - -0.0005131037614041774 + - 0.0869727654916069 + - -0.9962105574562397 + - 0.9716804718795005 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.977893791437459 + - -0.014009319225049267 + - 0.20863238397459316 + - 0.054412167940604966 + - - -0.006115471251174505 + - -0.9992424553684266 + - -0.038433272052420094 + - -0.09324157660148294 + - - 0.20901275960918625 + - 0.03630777277842779 + - -0.977238666834476 + - 0.9741739368088624 + - - 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: + - - 0.9990956260865071 + - -0.010189165525091179 + - -0.041280877421785905 + - 0.023848478777413747 + - - -0.01429101545621966 + - -0.9948523945126105 + - -0.1003218820086374 + - -0.03429310174460652 + - - -0.0400461834890706 + - 0.10082109917287732 + - -0.9940982894812426 + - 0.9694646176892245 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9730125625329769 + - 0.032177195578206017 + - -0.2284976613397429 + - 0.10003839089506457 + - - 0.0005756287846071344 + - -0.9905652276032698 + - -0.1370408643973978 + - -0.08945611574112854 + - - -0.2307514286077386 + - 0.13321095280796366 + - -0.9638509325863017 + - 0.9737677952655315 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948040555779112 + - 0.0009557431125323708 + - 0.1018036225330075 + - 0.01285295916096783 + - - 0.025907080569333683 + - -0.9694145988804628 + - -0.24405769533822616 + - -0.09308726431715664 + - - 0.09845666144103342 + - 0.24542701976867828 + - -0.9644023350165383 + - 0.9746615369577316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997426762100466 + - -0.0017490119465877786 + - 0.022616859233424932 + - 0.054530824235306384 + - - -0.0009427537184834091 + - -0.9993653112378058 + - -0.0356101939055486 + - -0.09338316560768375 + - - 0.022664787221594453 + - 0.03557970842734912 + - -0.9991097996558865 + - 0.9759702876147864 + - - 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: null + base_right_marker_pose: + - - 0.999897382833096 + - -0.011379207660669808 + - -0.008702725810944893 + - 0.09191722069284819 + - - -0.01136045378332951 + - -0.9999330448293058 + - 0.002201351455529886 + - -0.03345592717052574 + - - -0.008727192753799306 + - -0.0021022586447159318 + - -0.9999597074958716 + - 0.9689905800384766 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9846826480306727 + - 0.0164173749092567 + - -0.17358154414681018 + - 0.09999399344925083 + - - 0.00410921021776484 + - -0.997465714007995 + - -0.07103002020207495 + - -0.08940724556307998 + - - -0.17430776534247786 + - 0.06922874532742788 + - -0.9822546430339243 + - 0.9730213644572117 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967986620612256 + - 0.018701371999473068 + - 0.07773471552844356 + - 0.012617568720061251 + - - 0.024825786732667707 + - -0.9965984870786407 + - -0.0785820327153012 + - -0.09269923019087237 + - - 0.07600070806285177 + - 0.08026029054209743 + - -0.9938723148050979 + - 0.9704607377653321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933212995530676 + - -0.002838251385159297 + - 0.11534617541678459 + - 0.05446048442339643 + - - -0.010903589305639335 + - -0.9975326432736228 + - 0.06935226992531537 + - -0.09327236326130961 + - - 0.11486473607882859 + - -0.07014677421389023 + - -0.9909013686906115 + - 0.9746950341609822 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9721136269400443 + - 0.029885846477438957 + - -0.23259822118365267 + - 0.10002283205521087 + - - 0.0007039484440641564 + - -0.9922137725450605 + - -0.12454450621559687 + - -0.08945956015285095 + - - -0.23450927652027023 + - 0.12090767449680645 + - -0.9645655672237702 + - 0.9737163571430129 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988243339728321 + - 0.018576310892409725 + - -0.04477578070069703 + - 0.01280509106406894 + - - 0.010922379322740124 + - -0.9861525071272683 + - -0.1654809182852628 + - -0.09290038118099532 + - - -0.04722977338140161 + - 0.16479730993020542 + - -0.9851960186410164 + - 0.971676145851116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9681740851651354 + - -0.01571881179028508 + - 0.24978362590561215 + - 0.05449864919482371 + - - -0.00793234229636051 + - -0.9994516082586155 + - -0.03214903878748982 + - -0.09327430533312635 + - - 0.25015199131797167 + - 0.02914449699630703 + - -0.9677678334882209 + - 0.9746707034750988 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9774914570060317 + - 0.02939783849013785 + - -0.20891677427227592 + - 0.10002029794432796 + - - 0.0032908057513246127 + - -0.9922482977726921 + - -0.12422755799218646 + - -0.08944010090104697 + - - -0.21094933533370605 + - 0.12074387213976026 + - -0.9700109768775634 + - 0.9734400510817365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970485294297877 + - 0.012128789179926408 + - 0.0758097779638393 + - 0.012820891965671419 + - - 0.023611865000700533 + - -0.9880262111928735 + - -0.15246863883121653 + - -0.09276271077830295 + - - 0.07305278771605096 + - 0.15380864237384112 + - -0.9853964642406778 + - 0.9716221536276148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9774272748674638 + - -0.015115893196460343 + - 0.21073070995475837 + - 0.05436414617826243 + - - -0.0013988017181492639 + - -0.9978783755654819 + - -0.06509063628931643 + - -0.09307081594531502 + - - 0.21126752163765397 + - 0.06332659276850426 + - -0.9753746854155151 + - 0.9727035435880618 + - - 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: + - - 0.9992958617575055 + - -0.011516331579998141 + - -0.035709309448153405 + - 0.02389665313633774 + - - -0.015279406688090257 + - -0.9941450831504985 + - -0.1069677212010637 + - -0.034318073493125 + - - -0.03426835866487309 + - 0.10743801819946273 + - -0.9936210302926302 + - 0.9694149310005267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997157109715282 + - -0.010325721625063667 + - -0.021491317074895783 + - 0.09188656162596434 + - - -0.010379454382163422 + - -0.9999432754190082 + - -0.002390161298676339 + - -0.03345433370401753 + - - -0.021465417848730618 + - 0.0026125499472343374 + - -0.9997661778732826 + - 0.968679396976744 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.984340298851953 + - 0.010258195570135971 + - -0.17597995760794136 + - 0.0998975138771095 + - - 0.005617370003719337 + - -0.999623710366458 + - -0.026849261208412585 + - -0.08928021050070897 + - - -0.17618916314657182 + - 0.025440265266720344 + - -0.9840275258817053 + - 0.9721346148636101 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992857103474998 + - 0.01499627524895877 + - 0.03468689700665266 + - 0.012758825019644746 + - - 0.020198207003366404 + - -0.9877304291090373 + - -0.1548568107831423 + - -0.09273623013665794 + - - 0.03193902830616209 + - 0.15544681129162555 + - -0.9873278013558231 + - 0.9713204766474437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9781954165888924 + - -0.008215548658744668 + - 0.20752405095486928 + - 0.0543546864305386 + - - -0.018950648622580314 + - -0.9985796813772262 + - 0.04979450629678377 + - -0.09308701174849039 + - - 0.2068202114912053 + - -0.05264147320120081 + - -0.9769617573978727 + - 0.9727053581774321 + - - 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: + - - 0.9994814762912612 + - -0.012994329951858261 + - -0.029460582814047405 + - 0.023881484845750187 + - - -0.01530213977266616 + - -0.9967162476312131 + - -0.07951456612679712 + - -0.034294152741865855 + - - -0.02833060304721547 + - 0.07992414589507506 + - -0.9963982676791067 + - 0.9693148532517898 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9754776631958317 + - 0.019394850038077817 + - -0.2192422596079505 + - 0.10001958035050613 + - - 0.005358421526588457 + - -0.9979074111082379 + - -0.06443668344970704 + - -0.0894064370835534 + - - -0.22003321550334823 + - 0.06168175295218861 + - -0.9735403152556151 + - 0.9734768413366544 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9943712399538654 + - 0.0009442907243082804 + - 0.10594784314765529 + - 0.012839879644059223 + - - 0.016284855409597752 + - -0.9894404100729675 + - -0.14402249268404416 + - -0.09299076165686251 + - - 0.10469307826642923 + - 0.1449371699380978 + - -0.9838864650626277 + - 0.9724909988465013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910875137401044 + - -0.005251031919753998 + - 0.13310885309488635 + - 0.054552888096972264 + - - -0.010712030989886528 + - -0.9991284389583533 + - 0.04034370901040839 + - -0.09339599616500624 + - - 0.1327809945004556 + - -0.04141001241756058 + - -0.9902799696909195 + - 0.9761427153359126 + - - 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: null + base_right_marker_pose: + - - 0.9998820401252775 + - -0.01129524990096881 + - -0.010407841495125294 + - 0.09192051685692572 + - - -0.011292063889053322 + - -0.9999361760585733 + - 0.00036483213074453027 + - -0.03349407451269673 + - - -0.010411298095747994 + - -0.00024726308408199783 + - -0.9999457703960396 + - 0.9688448543099135 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9725796914252787 + - 0.004575548246460534 + - -0.23252485498405123 + - 0.10000223152721795 + - - 0.01109166700047294 + - -0.9995813248466487 + - 0.026723583984350166 + - -0.08940131558600634 + - - -0.23230522755689414 + - -0.02856990332609316 + - -0.9722232469313192 + - 0.9735759123685959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969528313879883 + - 0.01716738616351588 + - 0.07609423657404157 + - 0.012738219920644226 + - - 0.01839468015171098 + - -0.9997113148164744 + - -0.015457126836269824 + - -0.09264758002802048 + - - 0.07580691083001426 + - 0.01680975550771058 + - -0.9969808144544113 + - 0.9705883823904682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9749309693817536 + - -0.012972020766725292 + - 0.22212908773409643 + - 0.05439500657765915 + - - -0.012873765054123479 + - -0.9999153428884658 + - -0.0018902988050331973 + - -0.0931693285160067 + - - 0.22213480392249543 + - -0.0010167268407633536 + - -0.9750154332895685 + - 0.9732774776730807 + - - 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: + - - 0.999607374888361 + - -0.012677395463008176 + - -0.02498759118190874 + - 0.02383695710074866 + - - -0.014021872996219384 + - -0.9984215114155598 + - -0.054386327512969505 + - -0.034245519005006775 + - - -0.024258671572812834 + - 0.05471534690509227 + - -0.9982072668872826 + - 0.9690763809331282 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996399762130393 + - -0.011443787640087216 + - -0.02426845032635464 + - 0.0918553736524858 + - - -0.011656469202201997 + - -0.9998947293762869 + - -0.00864042193764693 + - -0.033488191079936155 + - - -0.024167016417677045 + - 0.008920195624034321 + - -0.9996681376474381 + - 0.9683650054780621 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.971630634098114 + - 0.009511294050051558 + - -0.23631217947365799 + - 0.10001819671517416 + - - 0.008669219359535041 + - -0.9999518310180696 + - -0.004602203744563571 + - -0.08943779831426973 + - - -0.23634456946964774 + - 0.0024230000213920624 + - -0.97166628713417 + - 0.9735861369836839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974166980605147 + - 0.010034538342986147 + - 0.07112832396663823 + - 0.012795402152570507 + - - 0.023519382535969177 + - -0.981234600592288 + - -0.19137789121426801 + - -0.09287985363086862 + - - 0.06787318377081372 + - 0.19255639859723334 + - -0.9789357814913484 + - 0.9728814865733768 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9846658613130597 + - -0.005816860940886634 + - 0.17435396666954514 + - 0.05442027282234052 + - - -0.02183031894090514 + - -0.9956963201030233 + - 0.09006817033911706 + - -0.09317608180431772 + - - 0.17307968898616852 + - -0.09249325522486619 + - -0.9805551585700618 + - 0.9739568451727953 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9724827869922841 + - 0.024265686366433337 + - -0.23170758612718254 + - 0.10002406643986801 + - - 0.0029196448539713007 + - -0.9957522502873253 + - -0.09202679893191142 + - -0.08945990511594895 + - - -0.23295644373497484 + - 0.08881797404182142 + - -0.9684227706995843 + - 0.9737021780469968 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990936640035806 + - 0.021618770863254547 + - 0.03666714188837989 + - 0.012671360279272906 + - - 0.0296721243257013 + - -0.9713503742661962 + - -0.2357923142320833 + - -0.09290698272687237 + - - 0.03051910198384959 + - 0.23666659916279587 + - -0.9711114793136866 + - 0.972407341031485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9719265505589538 + - -0.02848532463532183 + - 0.233553776674653 + - 0.05443977339527038 + - - 0.012798525652067237 + - -0.9847738907913514 + - -0.17336834127602002 + - -0.09323944412012043 + - - 0.23493611484764687 + - 0.17149043791443735 + - -0.9567633205993055 + - 0.9747201752618319 + - - 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: + - - 0.999336081954473 + - -0.013130033506136396 + - -0.03398525450854253 + - 0.023916639909846382 + - - -0.015164936990334898 + - -0.9980634027034174 + - -0.06032801065968194 + - -0.03424317480041548 + - - -0.03312732995521744 + - 0.06080334204797678 + - -0.9975998865305842 + - 0.9692782261589943 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998849153417446 + - -0.011586428249990354 + - -0.009793403516649977 + - 0.0918678411794675 + - - -0.01152438887772687 + - -0.9999133167706734 + - 0.006367684482313465 + - -0.03345143479889734 + - - -0.009866333312179955 + - -0.006254088668958569 + - -0.9999317685931847 + - 0.9689310706227267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9797266209718319 + - 0.022360555218669323 + - -0.1990873017784641 + - 0.10003047761747388 + - - 0.004074229339547925 + - -0.9957699984945462 + - -0.0917905809626517 + - -0.08938541687928356 + - - -0.20029765054639345 + - 0.08911854839754287 + - -0.9756734779203085 + - 0.9732916900100667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972913227447201 + - 0.018577028648240883 + - 0.07116819222580467 + - 0.01266412090107846 + - - 0.03290095778602434 + - -0.9780523116271128 + - -0.2057454803820086 + - -0.0929143977520791 + - - 0.06578407523746832 + - 0.20752968396705004 + - -0.97601428561148 + - 0.9725366507542419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.976630366732462 + - -0.01729154991179319 + - 0.21422915085875863 + - 0.054396844548988424 + - - -0.00803875724976173 + - -0.9989997481433074 + - -0.04398728897634298 + - -0.09316156764074279 + - - 0.2147754761556733 + - 0.041237186024956476 + - -0.9757924929670485 + - 0.9741159020883646 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.98087156185626 + - 0.023013352307028064 + - -0.19329088120564264 + - 0.09995736603217065 + - - 0.0036005855120167622 + - -0.9949618692587658 + - -0.10018939317648957 + - -0.08933339007871466 + - - -0.19462275027763815 + - 0.09757696621998026 + - -0.9760126642301692 + - 0.9727791264069517 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988635266133137 + - 0.01918055709874268 + - 0.043632114674810575 + - 0.012680013110743509 + - - 0.02714939537288584 + - -0.9813869272286626 + - -0.19011209692066 + - -0.09288005340303258 + - - 0.03917353101905257 + - 0.1910806251142841 + - -0.9807923476319713 + - 0.9722285113891861 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99683772956551 + - -0.004125385306015719 + - 0.07935692856175845 + - 0.0543707690658608 + - - -0.014356335175175854 + - -0.9915680356891229 + - 0.1287894647863438 + - -0.09316039850843237 + - - 0.07815648760670564 + - -0.12952147233448125 + - -0.9884916548202577 + - 0.9735304523067358 + - - 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: + - - 0.9994408140618263 + - -0.011900808264516251 + - -0.031247879129393853 + - 0.023837264538795297 + - - -0.014196553015109602 + - -0.9971344228072272 + - -0.0743061285183667 + - -0.03430045196089829 + - - -0.030274032931262542 + - 0.07470818974884928 + - -0.9967457897149743 + - 0.9690122526000611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995472953689548 + - -0.01063327639998097 + - -0.02814494188320519 + - 0.0918954300489718 + - - -0.010973031704628692 + - -0.9998684481343013 + - -0.011944831548149324 + - -0.03345051075772943 + - - -0.02801422666818778 + - 0.012248259407199764 + - -0.9995324823364561 + - 0.9689494746844267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9856074498877222 + - 0.01591545019736325 + - -0.16829929640624341 + - 0.0998722574169513 + - - 0.004063940733927072 + - -0.9975013451781579 + - -0.07053049520226495 + - -0.08928598044907818 + - - -0.16900129914155232 + - 0.06883142314946597 + - -0.9832094365269726 + - 0.9720584982660132 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951379963251503 + - 0.021900609247341135 + - 0.09602464050732216 + - 0.012626737221699472 + - - 0.0299943364588644 + - -0.9960418281828622 + - -0.08367207593059314 + - -0.09272446003044037 + - - 0.09381208904164547 + - 0.0861454573656544 + - -0.991855963396352 + - 0.9709326438338928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946711849637316 + - -0.0020931114692475054 + - 0.10307692606603766 + - 0.054352925527906396 + - - -0.011842954142235244 + - -0.9954954032996474 + - 0.09406724428012743 + - -0.0931175275627383 + - - 0.10241571285711487 + - -0.09478671264290982 + - -0.990215381049153 + - 0.9731189026055392 + - - 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: null + base_right_marker_pose: + - - 0.9995191530396209 + - -0.007998270981330222 + - -0.02995814360517431 + - 0.09190891092797157 + - - -0.009838362971524394 + - -0.9980408526105558 + - -0.06178724087088112 + - -0.03346319803666192 + - - -0.029405260090663594 + - 0.06205226975465889 + - -0.9976396375933027 + - 0.9690233797184395 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9767007142407906 + - 0.01628188344487526 + - -0.21398741802502522 + - 0.099977203799113 + - - 0.006913560021181345 + - -0.998987442877421 + - -0.044455502033662775 + - -0.0893468478159607 + - - -0.2144945628433572 + - 0.04194030572991772 + - -0.9758243147544121 + - 0.9730489884616105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997321473692512 + - 0.00912599921799811 + - 0.0212685132235186 + - 0.012834079775148197 + - - 0.01149135078209775 + - -0.9934269698877686 + - -0.11388943918032685 + - -0.09288663254868804 + - - 0.020089359712760112 + - 0.11410333754049301 + - -0.9932657479186784 + - 0.9719609897345928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9904013333589387 + - -0.007755443822352033 + - 0.13800381143995558 + - 0.054391138557262034 + - - -0.014471905281181087 + - -0.9987553335750675 + - 0.04773203968918034 + - -0.0931066503884154 + - - 0.13746185957700777 + - -0.04927105383970701 + - -0.989280850120509 + - 0.9738892873177583 + - - 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: null + base_right_marker_pose: + - - 0.9999050334568845 + - -0.011666633920568522 + - -0.007335783567562642 + - 0.09189552439516513 + - - -0.011666394709210088 + - -0.9999319424586673 + - 7.540109508872935e-05 + - -0.03347397632946285 + - - -0.007336163989142897 + - 1.0188212093141455e-05 + - -0.9999730899349866 + - 0.9688498237870584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9797936787530885 + - 0.02334784757432276 + - -0.19864346223607707 + - 0.09997787090652428 + - - 0.002593285823631424 + - -0.9945628055989091 + - -0.10410619860442712 + - -0.08936875097550276 + - - -0.199994054771952 + - 0.1014874560370574 + - -0.9745268976908747 + - 0.9730614931079719 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9865902732549062 + - -0.0055051386155977175 + - 0.1631236529986763 + - 0.012867864368001117 + - - 0.014515210355874386 + - -0.9925115704545955 + - -0.12128516472379536 + - -0.09297707823923174 + - - 0.1625698046598267 + - 0.12202653794391002 + - -0.9791223532584118 + - 0.9727064975289649 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9961126669781635 + - -0.006025313600271248 + - 0.08788202479272336 + - 0.05446038179913612 + - - -0.010957837559363175 + - -0.9983844754785889 + - 0.05575271221533824 + - -0.09325513578511307 + - - 0.08740412165151634 + - -0.0564989798081532 + - -0.994569446946248 + - 0.9749128646447702 + - - 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: + - - 0.9982851769080497 + - -0.012019224767851616 + - -0.05729087014214105 + - 0.023869337172805073 + - - -0.01620579033545962 + - -0.9971870231978569 + - -0.07318068819983349 + - -0.03428150860210513 + - - -0.056250137113316716 + - 0.07398364009548318 + - -0.9956718049000666 + - 0.969493485936363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991041057688219 + - -0.010379290350775682 + - -0.04102750501428278 + - 0.09188004737677254 + - - -0.010994136286849893 + - -0.9998301916988018 + - -0.014789074847444803 + - -0.03350619493145254 + - - -0.04086703810149293 + - 0.015226887382240957 + - -0.9990485609305785 + - 0.9688104297234398 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9741097449897449 + - 0.026352218795470804 + - -0.2245345525316086 + - 0.09998114771058147 + - - 0.003973969716972557 + - -0.9950256781810863 + - -0.09953947621400627 + - -0.08943059394861558 + - - -0.22604073146382853 + - 0.09607008027906383 + - -0.9693689325506943 + - 0.9731460926847322 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9916263949443347 + - 0.0058537700892818435 + - 0.12900707819900542 + - 0.012663497376828309 + - - 0.036673188251903216 + - -0.9706092366878791 + - -0.23785034563694266 + - -0.09300124467028764 + - - 0.12382314045905529 + - 0.24058978164484554 + - -0.9626964146889416 + - 0.9739059280225958 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944548862925169 + - -0.009266046754004519 + - 0.10475504525553879 + - 0.05460203481086422 + - - 0.006200273086715728 + - -0.9892119239589078 + - -0.14636026137980965 + - -0.09352638955280296 + - - 0.10498112088650761 + - 0.14619818697599726 + - -0.9836691793394484 + - 0.9771600310525692 + - - 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: + - - 0.9990831144913256 + - -0.01185741551732802 + - -0.04113796343479028 + - 0.023883945150407003 + - - -0.014134755739904723 + - -0.99835769047878 + - -0.05551693923525297 + - -0.03422862154345965 + - - -0.04041211474899505 + - 0.0560475116229701 + - -0.9976099124519504 + - 0.9692829402704052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995923799622896 + - -0.008579322222936019 + - -0.027229931169959525 + - 0.09192213139357269 + - - -0.009302868078471091 + - -0.9996040070494252 + - -0.026557216274453822 + - -0.03347914154486034 + - - -0.026991305393408833 + - 0.02679970747841453 + - -0.9992763607292189 + - 0.9689939364633291 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9811593935282905 + - 0.01875945826600125 + - -0.19228709581447012 + - 0.09991945722518045 + - - 0.005617319414683983 + - -0.9976239568729358 + - -0.06866503037049479 + - -0.08935629900391284 + - - -0.19311833215360596 + - 0.06629120151840451 + - -0.9789334943638698 + - 0.9726664987658437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995790306563114 + - 0.015516353259865697 + - 0.09033774480500686 + - 0.012705783738218868 + - - 0.03148371562016766 + - -0.9835053728321572 + - -0.17811781848268132 + - -0.09294371676411213 + - - 0.08608391839181057 + - 0.18021216493843045 + - -0.9798536291724993 + - 0.9730302399569304 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968692394395173 + - -0.0021648804953183403 + - 0.07903817275038248 + - 0.05443861655859751 + - - -0.0032563179118824523 + - -0.9999010849577283 + - 0.013682715155047286 + - -0.09326715077618732 + - - 0.07900073324302166 + - -0.013897251267729074 + - -0.9967776836156927 + - 0.9743966893285053 + - - 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: + - - 0.998997918180301 + - -0.013086638045745986 + - -0.042800693640222806 + - 0.02389006232847095 + - - -0.015589433660805353 + - -0.9981554300854892 + - -0.058674585205079344 + - -0.034279289690631765 + - - -0.04195389170935068 + - 0.059283027044107664 + - -0.9973592099514238 + - 0.9693036364188552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9700044092001072 + - 0.02835377437572866 + - -0.24142806301464032 + - 0.10003850528666051 + - - 0.004199278299129751 + - -0.9949805202365003 + - -0.09998065018627479 + - -0.0894379796917665 + - - -0.24305104853531762 + - 0.09596784788956177 + - -0.9652545570870563 + - 0.9735722132089253 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993650973168932 + - 0.022734029580593465 + - 0.027432939394557897 + - 0.012714594014207497 + - - 0.02788113769925584 + - -0.9783877918623549 + - -0.20489014348011364 + - -0.09280807135589866 + - - 0.02218207441588635 + - 0.20552491973903098 + - -0.9784004614373779 + - 0.9716860762386551 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.968538523954133 + - -0.008428297451379881 + - 0.24872091069875962 + - 0.0544754386847148 + - - -0.02133255480609273 + - -0.9985594856661343 + - 0.04923287206359396 + - -0.0932674816055391 + - - 0.24794767537162826 + - -0.05298978569739855 + - -0.9673231274447796 + - 0.9745126312275352 + - - 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: null + base_right_marker_pose: + - - 0.999657247884458 + - -0.011923286931167619 + - -0.02330712296334429 + - 0.09188024957227123 + - - -0.011995448555251679 + - -0.9999236745605626 + - -0.0029587611022554804 + - -0.033485180552539295 + - - -0.023270065879359123 + - 0.00323732637510602 + - -0.9997239737807188 + - 0.9686707436959318 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9679272943749533 + - 0.02185876458662694 + - -0.250277740150276 + - 0.09997567932266668 + - - 0.006525119884372193 + - -0.9980589686880551 + - -0.0619331723055523 + - -0.08938666839621878 + - - -0.25114572585349176 + - 0.05831371564290072 + - -0.9661911482483373 + - 0.9733624726335393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987461787649736 + - 0.013111609417567154 + - 0.048313104856181205 + - 0.012738849751202241 + - - 0.01986709906336964 + - -0.9896499607134204 + - -0.14212056021115127 + - -0.09292842607392574 + - - 0.04594963304716865 + - 0.1429022076750614 + - -0.988669606220614 + - 0.9716177588090753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9777701968033498 + - -0.006405893301455251 + - 0.2095815038932327 + - 0.05440109537768485 + - - -0.022942014470107706 + - -0.9968006100118755 + - 0.07656505633777481 + - -0.09314085845246356 + - - 0.2084205033464609 + - -0.07967125209863112 + - -0.9747888927218264 + - 0.9732760754225546 + - - 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: null + base_right_marker_pose: + - - 0.9997518977337208 + - -0.010803801176323563 + - -0.01947872834571875 + - 0.09192795995576633 + - - -0.01118539772393585 + - -0.9997455448972016 + - -0.019589087164950898 + - -0.033456903259999525 + - - -0.019262135280939344 + - 0.0198021043917343 + - -0.9996183505748976 + - 0.9687437563931109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9686857949670161 + - 0.024405341421654535 + - -0.2470874540303747 + - 0.10003289773476064 + - - 0.004397488194908964 + - -0.9966877249856879 + - -0.08120493187257415 + - -0.08943488904588603 + - - -0.24825086651751227 + - 0.0775754998240182 + - -0.9655845634124223 + - 0.9737498267032028 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981071468259372 + - 0.014483618308878593 + - 0.05976912460183654 + - 0.012759537076119746 + - - 0.02335464978789878 + - -0.9883326916998366 + - -0.15050930486399008 + - -0.09278505521259871 + - - 0.05689186047469132 + - 0.15162029982175748 + - -0.9868001828605879 + - 0.97191746551417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9672887302985932 + - -0.01381360028431402 + - 0.25330159234501587 + - 0.05442272754048711 + - - -0.010907689755056278 + - -0.9998576441041647 + - -0.012872988412840652 + - -0.09315562779710572 + - - 0.25344335568632065 + - 0.009688961433243964 + - -0.9673017055111618 + - 0.9734874113172509 + - - 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: + - - 0.9990143671299231 + - -0.012763719513852072 + - -0.04251331241118223 + - 0.02388844411920952 + - - -0.015776025426986983 + - -0.9973307773718121 + - -0.07129121635000917 + - -0.03428172180892013 + - - -0.04148989382640223 + - 0.0718916404814111 + - -0.9965491361388886 + - 0.9692776697732882 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996941391848135 + - -0.012503479993801522 + - -0.021337550646200805 + - 0.09185959854292663 + - - -0.012170341406088372 + - -0.9998031182653564 + - 0.015671869605426783 + - -0.033489890633366146 + - - -0.021529302580293452 + - -0.015407390918479808 + - -0.9996494892888665 + - 0.9686064191434459 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9850121855870424 + - 0.017182334702416004 + - -0.1716268091505872 + - 0.09986311678520493 + - - 0.004648174894069011 + - -0.9973088002646568 + - -0.07316796693106603 + - -0.08926505860882678 + - - -0.1724221236245282 + - 0.07127358759628685 + - -0.982441187550666 + - 0.9718997526559191 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9911684279969667 + - -0.002746169056496127 + - 0.13258056380003422 + - 0.01276236494691561 + - - 0.02154924054809814 + - -0.9831611015033114 + - -0.18146591614569496 + - -0.09300490560935762 + - - 0.13084638922729966 + - 0.1827202973024873 + - -0.9744190655872191 + - 0.972226860169177 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984995149576606 + - -0.00569404586044673 + - 0.05446371701468287 + - 0.05443600799888319 + - - -0.0031577850837586933 + - -0.9989113854603375 + - -0.04654108283091647 + - -0.09330255860206414 + - - 0.05466943408049069 + - 0.04629926391907939 + - -0.9974305144409162 + - 0.9750532303115284 + - - 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: + - - 0.9987304853876156 + - -0.010867440854855958 + - -0.049186545789311725 + - 0.02385859832292556 + - - -0.015469427044034678 + - -0.9954358400709149 + - -0.09417104188253592 + - -0.03429445834115014 + - - -0.0479386523000714 + - 0.0948123780504384 + - -0.9943402328097133 + - 0.9690436876132339 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998609478649039 + - -0.012295771976291664 + - -0.011264942352403013 + - 0.09190259437308822 + - - -0.01217023810672699 + - -0.9998638239156604 + - 0.0111453546009126 + - -0.03346910623089943 + - - -0.01140044907543088 + - -0.011006707784871644 + - -0.9998744331887971 + - 0.9688968341521706 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.978768447067917 + - 0.01733525538579549 + - -0.20423470798316168 + - 0.09989446968115791 + - - 0.0046746369519775855 + - -0.9980458574399881 + - -0.062310626832405146 + - -0.08932238753995361 + - - -0.20491577487744883 + - 0.060032952347767225 + - -0.9769368300145033 + - 0.9723997144344045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9942621745483949 + - 0.007519672097662667 + - 0.10670605790600977 + - 0.012785984888715785 + - - 0.022913950788767064 + - -0.9893433521181929 + - -0.1437869343118063 + - -0.09283971203789027 + - - 0.10448769842209675 + - 0.14540696734022537 + - -0.9838389780484263 + - 0.972463547724263 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.992611290607719 + - -0.0063147663338172354 + - 0.12117322098643632 + - 0.05441883781589746 + - - 0.0009430686773431517 + - -0.9982131822976901 + - -0.059745738832061676 + - -0.0932277420623585 + - - 0.12133398691029754 + - 0.05941856959964954 + - -0.9908317199238142 + - 0.9741026237644497 + - - 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: + - - 0.9990147917552693 + - -0.01324143616843342 + - -0.04235693830263364 + - 0.02387892356667967 + - - -0.014641705842620796 + - -0.9993506959248866 + - -0.032921224224842394 + - -0.03427143060927091 + - - -0.041893511480824486 + - 0.03350896779433066 + - -0.998560004593196 + - 0.9688230826164904 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9706503702867766 + - 0.018978531082441106 + - -0.23974501875971535 + - 0.10001146261266422 + - - 0.005130426018207796 + - -0.9982885876169966 + - -0.058254395220743764 + - -0.08943371573617806 + - - -0.24044029901623218 + - 0.05531465620986661 + - -0.9690865551731537 + - 0.9735122417426207 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.988220148193057 + - 0.0018816527459126504 + - 0.15302744227175794 + - 0.01279891953096789 + - - 0.02364662078373661 + - -0.9897933723434278 + - -0.1405343993139592 + - -0.09277193014491807 + - - 0.15120111120888816 + - 0.1424975068131684 + - -0.9781782478266572 + - 0.9717367120026864 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9920331887756093 + - -0.0029505671232321964 + - 0.12594223485927045 + - 0.05437623691196154 + - - -0.02410783048320867 + - -0.9856956586934484 + - 0.166801921278749 + - -0.09308562183840774 + - - 0.12364855388191652 + - -0.16850923590871925 + - -0.9779139392279725 + - 0.9730560441686725 + - - 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: + - - 0.9987171358484783 + - -0.009977269684284059 + - -0.049644099873592015 + - 0.023860752226039724 + - - -0.014729295358677395 + - -0.9952436416611525 + - -0.09629715256062692 + - -0.034305516907708555 + - - -0.048447192084257656 + - 0.09690483900556708 + - -0.9941138374232885 + - 0.969178487279612 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9703190531162618 + - 0.02292740266801145 + - -0.24073900674061943 + - 0.10004283868937242 + - - 0.00517447146642456 + - -0.9972360382478042 + - -0.07411820872679141 + - -0.0894703454226217 + - - -0.24177295135023752 + - 0.07067261298921897 + - -0.9677557655569263 + - 0.9737929418397739 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997061046577862 + - 0.022772335172411208 + - -0.008314148227619273 + - 0.012794165289182702 + - - 0.02005154074104329 + - -0.9694778214271269 + - -0.2443577080323489 + - -0.0929863813254159 + - - -0.013624977940009384 + - 0.244119180958211 + - -0.9696495168175081 + - 0.9735567353065457 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900747834007528 + - -0.0032041700547725113 + - 0.14050500549166328 + - 0.05441691902370825 + - - -0.011434437338540566 + - -0.9982622209570122 + - 0.05780823343368932 + - -0.09320276313982447 + - - 0.1400756114271975 + - -0.058841069876685845 + - -0.9883908900728817 + - 0.9740929549006743 + - - 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: + - - 0.9993399089286119 + - -0.012741973075460772 + - -0.03402041364677978 + - 0.023857938200465525 + - - -0.01488118442000789 + - -0.9978781176297711 + - -0.0633862185804041 + - -0.03426209851410883 + - - -0.033140560840328 + - 0.0638506419529928 + - -0.9974090428452007 + - 0.9691436428560518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997344352577127 + - -0.010248052131663988 + - -0.020640648910563792 + - 0.09190736873875029 + - - -0.010369333034538087 + - -0.9999295468380371 + - -0.005777394974956223 + - -0.03346913186111456 + - - -0.02057998766669451 + - 0.005989890465151219 + - -0.9997702662711341 + - 0.9689233036634756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.983753789571586 + - 0.017907224623288767 + - -0.17862758132448336 + - 0.10000225976354371 + - - 0.006170878219972839 + - -0.9977976735760214 + - -0.06604334083216284 + - -0.08937124956029925 + - - -0.1794168380212351 + - 0.06386809776852637 + - -0.9816977459085314 + - 0.9729249598090437 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9926505364882932 + - 0.01277269470233706 + - 0.12034022884947812 + - 0.01265707162233122 + - - 0.03471279546134436 + - -0.9826790070618241 + - -0.18203568581804694 + - -0.09288583102163886 + - - 0.11593073035551335 + - 0.18487516693712194 + - -0.9759002194943953 + - 0.9723055723272096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976714409485152 + - -0.005966465474499305 + - 0.06794186636717472 + - 0.05446410085347024 + - - -0.011489425356185638 + - -0.9966322992345333 + - 0.0811914603112458 + - -0.09321271391459729 + - - 0.0672286324470315 + - -0.08178301420362036 + - -0.9943801333328581 + - 0.9746196115499556 + - - 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: null + base_right_marker_pose: + - - 0.999823007307438 + - -0.011473195556862516 + - -0.014910393771616128 + - 0.09187443604222491 + - - -0.011469859916172772 + - -0.9999341711843676 + - 0.00030921082804405 + - -0.03348931407623374 + - - -0.014912959874351971 + - -0.00013813597213161322 + - -0.999888786088853 + - 0.968451440685605 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.845876693725586 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9777083142967987 + - 0.027358014399168528 + - -0.20817778748715546 + - 0.10001637641983864 + - - 0.0018670457936152372 + - -0.9925686804908572 + - -0.12167139618104024 + - -0.08942113446262612 + - - -0.20995943964231975 + - 0.11857045819585078 + - -0.9704937300922194 + - 0.9733280312939792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9933057616612819 + - 0.003133510774839362 + - 0.11547226922826304 + - 0.012734302721230823 + - - 0.03347343944152699 + - -0.9645502074968118 + - -0.2617678858641986 + - -0.09294860797605708 + - - 0.11055854875338642 + - 0.2638808032579893 + - -0.9581981679013292 + - 0.9734948212227683 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9982931758278393 + - -0.00356156464433351 + - 0.0582927984647407 + - 0.05451393901310478 + - - 0.0012370190593438038 + - -0.9966252868714096 + - -0.08207622891146318 + - -0.09343653668806831 + - - 0.05838839678749076 + - 0.08200824852272068 + - -0.9949198170178448 + - 0.9761018634401225 + - - 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: + - - 0.9986355902580416 + - -0.010185574710849847 + - -0.05121730115676165 + - 0.023855299198626872 + - - -0.01482384733607581 + - -0.9957393606746004 + - -0.09101307133315749 + - -0.0342988449737936 + - - -0.05007206227158455 + - 0.09164812966529863 + - -0.9945317535949885 + - 0.9691373443476595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996345743310759 + - -0.011405017797224852 + - -0.024508026664211733 + - 0.09190299633092974 + - - -0.011283078119840442 + - -0.999923297090832 + - 0.005108041027739086 + - -0.033469580118639625 + - - -0.024564404126098945 + - -0.004829648439014199 + - -0.9996865831578841 + - 0.9687707093327992 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9810163269821729 + - 0.01643795561441574 + - -0.193227223262213 + - 0.10001083634072448 + - - 0.004612090809632856 + - -0.9980968544222025 + - -0.06149307124276993 + - -0.08940453553938513 + - - -0.1938703041024342 + - 0.05943452538485671 + - -0.979225123441748 + - 0.9732821803690743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9941250071578169 + - 0.01699755056156363 + - 0.10689505796984891 + - 0.012654346830966976 + - - 0.02963719896897577 + - -0.9925959322136425 + - -0.11779198525453326 + - -0.09281494826048747 + - - 0.1041014244895026 + - 0.12026802828614895 + - -0.9872681980046857 + - 0.9719230744221917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913481795341921 + - -0.012721964586682538 + - 0.13064049353588067 + - 0.05452445894860356 + - - 0.0031878605631451883 + - -0.9926647093925179 + - -0.12085781841361072 + - -0.09333955136600743 + - - 0.13121975643657183 + - 0.12022864194409981 + - -0.9840357966949188 + - 0.9752443230091494 + - - 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: null + base_right_marker_pose: + - - 0.9998837866106027 + - -0.012839838683155778 + - -0.008218991168829414 + - 0.0918738610866779 + - - -0.012826336972669355 + - -0.9999163053106183 + - 0.001693355788245246 + - -0.03347506369867369 + - - -0.008240045698070766 + - -0.0015877394473228388 + - -0.9999647897452894 + - 0.9688849933967949 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9763824910564 + - 0.016716375870955598 + - -0.215401471527564 + - 0.09999420283352356 + - - 0.006904358560006084 + - -0.9989072181221482 + - -0.04622444609019771 + - -0.08937211424322658 + - - -0.21593878991828658 + - 0.04364553082747026 + - -0.9754309338171587 + - 0.9731435526482936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9862279310821181 + - -0.010467471242538051 + - 0.16506029201255956 + - 0.012854175933517563 + - - 0.03355712740895666 + - -0.9645733765518169 + - -0.26167177999831637 + - -0.09299251726268119 + - - 0.16195180503329948 + - 0.2636069674595398 + - -0.9509379472674557 + - 0.9738235539205229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9943830610715396 + - -0.005824565062789608 + - 0.10568066188203037 + - 0.05448218944161258 + - - -0.007669968963510183 + - -0.9998249793326718 + - 0.017064063950948585 + - -0.0932578809363615 + - - 0.10556277483134616 + - -0.017778783542543152 + - -0.9942536977178685 + - 0.9746323798182757 + - - 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: null + base_right_marker_pose: + - - 0.9999236432564149 + - -0.011479047377108162 + - -0.004575929209666084 + - 0.09190291513393128 + - - -0.011507763357935736 + - -0.9999139413904212 + - -0.006299301197075128 + - -0.03346920391855352 + - - -0.004503225434676869 + - 0.006351478913436361 + - -0.9999696893787817 + - 0.9688907021266512 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9712477477031061 + - 0.02541878977553811 + - -0.23671015548132027 + - 0.10007522343371932 + - - 0.0025696042923536513 + - -0.9953451302880145 + - -0.09634037962202903 + - -0.08949998741905205 + - - -0.23805715640455874 + - 0.09296212528918942 + - -0.9667920322108023 + - 0.9741609823597956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988811291541085 + - 0.014596397622093877 + - 0.04498260770865514 + - 0.012785881745351297 + - - 0.019115142420921483 + - -0.9946291275421068 + - -0.10172271120578714 + - -0.09267085686356716 + - - 0.04325622671987141 + - 0.10246874558266934 + - -0.9937952782282042 + - 0.9708117400448018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9897953245326141 + - -0.013862491386434108 + - 0.1418204740717579 + - 0.05452218511284662 + - - -0.0008597000284242167 + - -0.9958195678925418 + - -0.09133810332042619 + - -0.09334382438340699 + - - 0.142493776878986 + - 0.09028410455264405 + - -0.9856694699623648 + - 0.9757653489134248 + - - 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: + - - 0.9992493445138081 + - -0.01180342928746867 + - -0.03689751408673405 + - 0.02387816505317897 + - - -0.01408878369471384 + - -0.9979577370317355 + - -0.062304584682842355 + - -0.03424270211443849 + - - -0.03608675190050465 + - 0.06277765649937592 + - -0.9973749105435319 + - 0.9693495704849497 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997236693662243 + - -0.012721465678029665 + - -0.019767377669663164 + - 0.09188571215332673 + - - -0.012714061227001461 + - -0.9999190479402279 + - 0.0005002133788410435 + - -0.033456245238016435 + - - -0.01977214090705513 + - -0.00024875150457168637 + - -0.9998044811695137 + - 0.9687241142591239 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9747792045047341 + - 0.029326794251130085 + - -0.2212361670343923 + - 0.09998789150140906 + - - 0.0031396884202325795 + - -0.993032201632892 + - -0.11780148079186366 + - -0.08936328827558056 + - - -0.2231493778206462 + - 0.11413582110399804 + - -0.968079216551608 + - 0.9732075649808873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995585645922992 + - 0.014567511407479868 + - 0.02589331113580467 + - 0.012822696331559642 + - - 0.01898875715431656 + - -0.9835409779601421 + - -0.17968464535107653 + - -0.0928734295097495 + - - 0.022849574436234775 + - 0.18009700798347733 + - -0.9833834270840051 + - 0.9726199062244938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9899743283654706 + - -0.0034386845733977737 + - 0.1412055403507243 + - 0.054418206936850996 + - - -0.012936894667489957 + - -0.9977090547524213 + - 0.06640240072009816 + - -0.09318869572487778 + - - 0.14065370927813325 + - -0.06756343325671733 + - -0.9877508372827977 + - 0.9737988233082693 + - - 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: null + base_right_marker_pose: + - - 0.9996899787247253 + - -0.011514895722359014 + - -0.022076086923670104 + - 0.09189673719546546 + - - -0.01133237104689392 + - -0.9999007106277589 + - 0.008375335966945804 + - -0.03346844720466985 + - - -0.022170336123157008 + - -0.008122565026325966 + - -0.9997212112051941 + - 0.9688932123177308 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9680780889461527 + - 0.033925626089906985 + - -0.24834223482277992 + - 0.10005562927986583 + - - 0.002005442344480888 + - -0.9918143407756365 + - -0.12767259546508966 + - -0.0895029813036361 + - - -0.2506407626531804 + - 0.12309900619500261 + - -0.96022176749459 + - 0.9741142924582271 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975157155378839 + - 0.010802380584709389 + - 0.06961110420505254 + - 0.012801782835011091 + - - 0.016304989945611376 + - -0.9967435368009241 + - -0.078971318517925 + - -0.09265892836171138 + - - 0.06853133996805477 + - 0.07991013965254437 + - -0.9944434750265573 + - 0.9705433639845468 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9764685023513502 + - -0.012941195078165574 + - 0.2152714318846328 + - 0.054483814831186736 + - - -0.011890679327802606 + - -0.9999102405887201 + - -0.006174342955394332 + - -0.09327478116726085 + - - 0.21533201262430676 + - 0.003469327853680443 + - -0.9765347347142388 + - 0.9748852084247512 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9686810334050117 + - 0.021563780388494137 + - -0.24737028701271999 + - 0.09997274116079431 + - - 0.005535879638291616 + - -0.9978498890334332 + - -0.0653066075722482 + - -0.08939547504916273 + - - -0.24824667078941667 + - 0.06189185997626888 + - -0.9667176361847596 + - 0.9732078783836454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997714944344676 + - 0.021113536861371632 + - 0.0033432734669763724 + - 0.012759856838226068 + - - 0.02134846346449931 + - -0.9941901055175631 + - -0.10550012890362875 + - -0.09263018755529874 + - - 0.0010963685404210839 + - 0.10554739528847146 + - -0.9944136691155464 + - 0.9706646840894656 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972799215317001 + - -0.003123361041259311 + - 0.07364103968258395 + - 0.054383355443751266 + - - -0.012896878753975629 + - -0.9910830225983909 + - 0.13262018261049957 + - -0.09313742252153392 + - - 0.07257016348425305 + - -0.13320918486742173 + - -0.9884274806169775 + - 0.9737365050295923 + - - 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: + - - 0.9997459490860608 + - -0.013349049670061527 + - -0.018161502110716408 + - 0.02386205297123487 + - - -0.013961276054730116 + - -0.9993239129706131 + - -0.03401175879054714 + - -0.0342475530548853 + - - -0.017695198697244004 + - 0.034256675816677996 + - -0.9992564035847137 + - 0.9689805589213045 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994707241842121 + - -0.010800571537556944 + - -0.030685813548752265 + - 0.09187470278053013 + - - -0.01107833230400408 + - -0.999899058890463 + - -0.008896211740330466 + - -0.033474488167019756 + - - -0.03058663191737091 + - 0.00923145083011597 + - -0.9994894888209295 + - 0.9687036552845565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9766831000754121 + - 0.02682210278663222 + - -0.21300398312986035 + - 0.09994513081097925 + - - 0.003821763617331341 + - -0.9941797490193437 + - -0.10766624709113017 + - -0.08933843690248006 + - - -0.21465208163429428 + - 0.10434175310937797 + - -0.971101067040978 + - 0.9728017598533245 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991662880055994 + - 0.02584603064961774 + - -0.031602398845196604 + - 0.01275361158284833 + - - 0.01756849773166818 + - -0.9709508900158575 + - -0.23863301754968022 + - -0.09286274678310771 + - - -0.036852093570979565 + - 0.23787885966826192 + - -0.9705954725437177 + - 0.9724393186200668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9822611873994821 + - -0.012997363032323458 + - 0.18706690857221542 + - 0.05439672572918851 + - - -0.005737472663730318 + - -0.9992110511716666 + - -0.03929830306572864 + - -0.09312126382187437 + - - 0.18743009666537697 + - 0.037527906557905694 + - -0.9815608056016645 + - 0.97342717953717 + - - 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: + - - 0.9988223226644648 + - -0.012309070604947011 + - -0.0469303156606283 + - 0.023872414307050803 + - - -0.015199008501959512 + - -0.9979772473116718 + - -0.0617284698399007 + - -0.03429315579504011 + - - -0.04607556714486699 + - 0.062369067886738516 + - -0.9969890377949088 + - 0.9692612166513546 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994680730781116 + - -0.008650302182950232 + - -0.03144428675721986 + - 0.0919140316013252 + - - -0.009732541450338259 + - -0.9993597500641915 + - -0.03442916770058351 + - -0.03354148383886251 + - - -0.031126331850124478 + - 0.03471688672362632 + - -0.9989123531330342 + - 0.9691468135780804 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9757332918553915 + - 0.022986309405807794 + - -0.2177525493420041 + - 0.10000486049820467 + - - 0.0057304165691118205 + - -0.9968145836835403 + - -0.0795477723242795 + - -0.08939394748841677 + - - -0.21888742652556797 + - 0.07636959693301669 + - -0.972756896235284 + - 0.973407294728444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986873712783992 + - 0.006072686383226363 + - 0.050859187263775606 + - 0.012823588450111417 + - - 0.0140194206639989 + - -0.9874373409628284 + - -0.15738790778361883 + - -0.09294535171766001 + - - 0.049264493230791066 + - 0.1578943322363094 + - -0.9862263378932664 + - 0.9722875385496907 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902259541916908 + - -0.003717678431038887 + - 0.13942287657425104 + - 0.05443260297773022 + - - -0.01586844390307344 + - -0.9961566183662235 + - 0.08614049090448546 + - -0.09320853443950003 + - - 0.13856677860602254 + - -0.0875109738961584 + - -0.9864791317176942 + - 0.9744278695287966 + - - 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: + - - 0.9983000870529641 + - -0.008798037958366289 + - -0.05761536876673926 + - 0.023860563427804862 + - - -0.014669173011827035 + - -0.9946467757421716 + - -0.10228688512634823 + - -0.03425789774386555 + - - -0.056407016879048776 + - 0.10295817613858949 + - -0.993085022751336 + - 0.969564413665108 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9667997018541026 + - 0.028501785668480294 + - -0.253940907906793 + - 0.10002423910934093 + - - 0.0019860899483528822 + - -0.9945683249481139 + - -0.10406681726958053 + - -0.08945009396165063 + - - -0.2555276735336809 + - 0.10010741842446655 + - -0.961604967143397 + - 0.9737050306849862 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993539116094114 + - 0.019678032254912808 + - 0.03007547834271921 + - 0.012724496992404114 + - - 0.024551620091409817 + - -0.9848954651231459 + - -0.17140052721841187 + - -0.09280980740905047 + - - 0.02624837712804056 + - 0.17202818904597317 + - -0.9847422631692555 + - 0.9720953949527549 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9916083247615413 + - -0.0073055019286109935 + - 0.12907191756993763 + - 0.05447557276981206 + - - -0.009965788162027816 + - -0.9997507690288038 + - 0.01997705915858426 + - -0.09331005921263755 + - - 0.12889380640635645 + - -0.021095721554074656 + - -0.9914339903403525 + - 0.9755680180644374 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9756252043754774 + - 0.025306583559443 + - -0.2179794426450734 + - 0.0999969641324078 + - - 0.006007055372599076 + - -0.9960358378316699 + - -0.08874978896152075 + - -0.08935664575221333 + - - -0.21936129073530375 + - 0.08527711641180694 + - -0.9719096858985558 + - 0.9731258956689344 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972059393992957 + - 0.009022532201091768 + - 0.07415462453177361 + - 0.012717068126606869 + - - 0.02182636757523126 + - -0.9845529909713767 + - -0.17372109154558013 + - -0.09291508465141712 + - - 0.07144175323463829 + - 0.17485423038061504 + - -0.9819990193542785 + - 0.9713541283222098 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910394784943036 + - -0.007742636256421898 + - 0.13334467986964998 + - 0.05442985210418516 + - - -0.01655768154543688 + - -0.997739681327324 + - 0.06512581275261899 + - -0.09320287644371325 + - - 0.13253903292079128 + - -0.06675013025193309 + - -0.9889276135611599 + - 0.9740323875044733 + - - 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: + - - 0.9989495275121099 + - -0.011294434526225501 + - -0.044410327988715796 + - 0.023863851813862604 + - - -0.01468178627511064 + - -0.9969458517357755 + - -0.07670341490833506 + - -0.03426826237538899 + - - -0.04340837056495534 + - 0.0772748630251845 + - -0.9960644100204231 + - 0.969133447829703 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9876900407693566 + - 0.017117039843182788 + - -0.1554843732084789 + - 0.09996044708259585 + - - 0.005332774358726787 + - -0.9971016458216717 + - -0.07589380355044288 + - -0.08938694867062635 + - - -0.1563328016849489 + - 0.07413039084424959 + - -0.9849186465239727 + - 0.9728640040713743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999453719862675 + - 0.02639429165714602 + - -0.019889776785552683 + - 0.012724646420537005 + - - 0.022164164787280526 + - -0.981721047437901 + - -0.18903051292506196 + - -0.09279102848910041 + - - -0.024515538989462834 + - 0.18848640902024544 + - -0.9817697601590243 + - 0.9715099858652088 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9828031630160595 + - -0.009147535295553769 + - 0.18442956748755152 + - 0.05436629412238592 + - - -0.014069649703321302 + - -0.9995784216008105 + - 0.025397323230186286 + - -0.093071414349426 + - - 0.18411949305506614 + - -0.027555429012253232 + - -0.9825175370491339 + - 0.9727806344594901 + - - 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: + - - 0.9991162330213946 + - -0.010775127904819486 + - -0.040628186419934584 + - 0.023840749261417212 + - - -0.013208226393084246 + - -0.9981048342435642 + - -0.06010226797032034 + - -0.03424404529746556 + - - -0.03990357964753549 + - 0.06058577785472381 + - -0.9973650624786548 + - 0.969318449235987 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9743742959238483 + - 0.009432841272119413 + - -0.22473485032019389 + - 0.10003310266380336 + - - 0.00751288393159331 + - -0.999927625361141 + - -0.009396840674360458 + - -0.08941998132774802 + - - -0.22480722412310364 + - 0.007467633170148939 + - -0.9743746437776899 + - 0.9737671452156688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956909572055167 + - 0.01222330206892968 + - 0.09192447239823333 + - 0.01277418167814649 + - - 0.0207787873324975 + - -0.9954774197040462 + - -0.09269815994056041 + - -0.0927238702557392 + - - 0.09037565898046167 + - 0.0942087986650216 + - -0.9914418502957909 + - 0.9713476233216386 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9906821245879007 + - 0.0014819024922776806 + - 0.13618638693719154 + - 0.054393967134871754 + - - -0.027189207811074603 + - -0.9776603348758093 + - 0.20842508627592632 + - -0.09304995241115425 + - - 0.13345289431334667 + - -0.2101858072647259 + - -0.968510325925267 + - 0.9728081707183004 + - - 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: null + base_right_marker_pose: + - - 0.9998389328454641 + - -0.011556748920075903 + - -0.013731348107229315 + - 0.09190410171638838 + - - -0.011578486280578462 + - -0.9999318350911743 + - -0.0015046018234067134 + - -0.03347146343851677 + - - -0.013713023805639732 + - 0.0016633477071457095 + - -0.9999045885745855 + - 0.9689223461693565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9849278686949406 + - 0.0263267760531639 + - -0.17095026858910845 + - 0.09995222691435149 + - - 0.001580701899789455 + - -0.989677221297666 + - -0.14330561407717105 + - -0.08936879293199015 + - - -0.17295836160632927 + - 0.14087547163071942 + - -0.9748022910535639 + - 0.9729179076508474 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9876542354529306 + - 0.002912011028883235 + - 0.15662257622595377 + - 0.012772829724827739 + - - 0.0267782171471927 + - -0.988249093857321 + - -0.1504880579202288 + - -0.09287692709562526 + - - 0.15434389614851907 + - 0.15282424114633125 + - -0.9761263816943703 + - 0.9730859990101564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976174893971437 + - -0.004402977712279988 + - 0.06884735751069115 + - 0.054386246514234904 + - - -0.014473793606704633 + - -0.9891087607400966 + - 0.14647309898346658 + - -0.09316041648694372 + - - 0.06745260667735734 + - -0.14712060771508204 + - -0.9868159264209178 + - 0.9736543966907335 + - - 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: null + base_right_marker_pose: + - - 0.9997104769023377 + - -0.011099779873487035 + - -0.021348472040419328 + - 0.09188413894222817 + - - -0.011502910723492946 + - -0.9997560716244825 + - -0.018854185075736735 + - -0.033484683667232173 + - - -0.021133987238280062 + - 0.019094295921633638 + - -0.9995942989266543 + - 0.968921501223354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9746371906168539 + - 0.027723068423844713 + - -0.22206705776330973 + - 0.09997446948417954 + - - 0.004016834980584277 + - -0.9943045526166222 + - -0.10650033653749014 + - -0.08940309952477682 + - - -0.2237548026372285 + - 0.10290718207698979 + - -0.9691975547708265 + - 0.9730420532641652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974699110779447 + - 0.01943420562983306 + - 0.06838192850230597 + - 0.012663189595480542 + - - 0.026840216828010983 + - -0.9936672157966134 + - -0.10911034328436924 + - -0.0927291253760869 + - - 0.06582840765795932 + - 0.11066967020166323 + - -0.9916747676747018 + - 0.9708091772634436 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9792764146066223 + - -0.011240646093716238 + - 0.20221610141280694 + - 0.0544455095192775 + - - -0.008203808869596126 + - -0.9998407299955482 + - -0.01584967387677945 + - -0.09323179404272168 + - - 0.20236205502818438 + - 0.013862269560391289 + - -0.979212661359832 + - 0.9743205687596006 + - - 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: null + base_right_marker_pose: + - - 0.9994666876096592 + - -0.010392028024406476 + - -0.03095716576361218 + - 0.09187967918762008 + - - -0.01042688414197158 + - -0.9999451731952314 + - -0.0009647230944601399 + - -0.033464148818028755 + - - -0.030945443051695238 + - 0.0012869953764616097 + - -0.9995202465169155 + - 0.9689192980319018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9801169199814249 + - 0.016151882188316233 + - -0.19776233177200342 + - 0.09995162684334828 + - - 0.0049797960547444025 + - -0.9983697416007521 + - -0.056860009561210165 + - -0.08936722619317566 + - - -0.19835832424523642 + - 0.05474464136171241 + - -0.9785995092195783 + - 0.9726782762930171 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9938402682824006 + - 0.01847476869800587 + - 0.10927124078146626 + - 0.012701234117340521 + - - 0.014485547345517304 + - -0.9992032424535459 + - 0.037189369293129396 + - -0.09272559224055313 + - - 0.10987124309147854 + - -0.03537743902369364 + - -0.9933160356853491 + - 0.9715287603997337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.993657761857123 + - 0.002120832230979206 + - 0.11242666219247646 + - 0.05427026662378247 + - - -0.027298338235680092 + - -0.965362334453027 + - 0.25948095103296703 + - -0.09293139735217873 + - - 0.10908278063316676 + - -0.2609043220992145 + - -0.9591818814381797 + - 0.9715361557413821 + - - 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: null + base_right_marker_pose: + - - 0.9994673695405583 + - -0.009212103307021631 + - -0.03130677844074607 + - 0.0919087708987094 + - - -0.010052520992650452 + - -0.999590428089659 + - -0.026794083175671637 + - -0.033502910395830345 + - - -0.031047126201462254 + - 0.027094523878327312 + - -0.9991506206425724 + - 0.9689228762463099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9717845251912397 + - 0.024550899199360703 + - -0.2345891940122983 + - 0.10006116915005568 + - - 0.00461939263049739 + - -0.9963584653509352 + - -0.08513794533141904 + - -0.08949516438598207 + - - -0.23582514244787853 + - 0.08165207818563604 + - -0.9683591484141644 + - 0.974065247208866 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997386487103116 + - 0.02203743664664108 + - 0.0060815837514123575 + - 0.012713442092472356 + - - 0.02239487915737407 + - -0.9975135406284708 + - -0.06682219429485751 + - -0.09270410094856071 + - - 0.004593872267137452 + - 0.06694092656139707 + - -0.9977463649087858 + - 0.9714127385343746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9640269406938169 + - -0.009021691656731785 + - 0.26565140070432675 + - 0.054417836247271194 + - - -0.016111597174004823 + - -0.9995694602825324 + - 0.024521633448650982 + - -0.09319510913544818 + - - 0.26531580060942944 + - -0.027919583631176432 + - -0.9637572426689408 + - 0.9739660402025179 + - - 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: + - - 0.9984499445090469 + - -0.01169116865276554 + - -0.05441530010405022 + - 0.023880760907352604 + - - -0.016442875137038647 + - -0.9960101751801921 + - -0.08771181673383795 + - -0.03428375357700771 + - - -0.05317273894684204 + - 0.08847060253584356 + - -0.9946585405654723 + - 0.9694635608400638 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998688430703179 + - -0.011383468481611024 + - -0.011520125978137912 + - 0.09187591719238701 + - - -0.011203216215363456 + - -0.9998156696908261 + - 0.015592132218443307 + - -0.033499348878894386 + - - -0.011695495015424396 + - -0.015461024740093032 + - -0.9998120683960217 + - 0.9689366672371964 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9776813857569495 + - 0.030032860142712187 + - -0.20793541126037 + - 0.10000430985351763 + - - 0.0021996046711504937 + - -0.9911388682844758 + - -0.13281154134735462 + - -0.08939189240789133 + - - -0.2100815786394932 + - 0.12938999608709217 + - -0.969084082641399 + - 0.9733619028754624 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9844205206962052 + - 0.01808456068675246 + - 0.174897647488408 + - 0.012692462027343232 + - - 0.02099770849199805 + - -0.9996696769342853 + - -0.01482002888613656 + - -0.09290608787333579 + - - 0.17457186104953262 + - 0.01826159037072118 + - -0.9844750782253626 + - 0.9730004733646335 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9969831690570885 + - -0.006755293406075373 + - 0.07732351924144838 + - 0.05444193292490551 + - - -0.017227771714532727 + - -0.9906159471589415 + - 0.13558484102636695 + - -0.09315996770681798 + - - 0.07568199586848083 + - -0.13650791642022483 + - -0.9877438049696754 + - 0.9739574680245358 + - - 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: + - - 0.9990099016642165 + - -0.010821528123305713 + - -0.043152183095745526 + - 0.023902675747961264 + - - -0.013874335650930714 + - -0.9973737347722411 + - -0.07108541338921955 + - -0.03426534377353919 + - - -0.042269601217631035 + - 0.07161373971206521 + - -0.9965363782107278 + - 0.9691556332140274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994338812654232 + - -0.010543511396568426 + - -0.03194919946043226 + - 0.09188126054441373 + - - -0.011355253877720229 + - -0.999614567401561 + - -0.025333275507963156 + - -0.033518027282017464 + - - -0.031669783518435565 + - 0.02568172513715303 + - -0.9991683911162696 + - 0.968983625562606 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9697303909497557 + - 0.02442212748893964 + - -0.2429537580638508 + - 0.09999368937005247 + - - 0.0048132107688385745 + - -0.9967041968441621 + - -0.08097886758487327 + - -0.08944032645256461 + - - -0.24413070652936905 + - 0.07735828127710492 + - -0.9666518993139792 + - 0.973598057792947 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991915428510462 + - 0.02461154050522963 + - 0.031788878069310716 + - 0.012645526274554706 + - - 0.030258917913910124 + - -0.9810092679706283 + - -0.19158604866328588 + - -0.09273948198386386 + - - 0.02646995620746871 + - 0.1923930566046788 + - -0.98096088259863 + - 0.9710929890266176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9720635697511689 + - -0.008349668141726566 + - 0.23456917829190013 + - 0.05439054369552789 + - - -0.017217540588798746 + - -0.9992112750080725 + - 0.035782456494985744 + - -0.09312904045130393 + - - 0.23408539608161646 + - -0.038821526743103706 + - -0.9714406396700972 + - 0.9732461259594393 + - - 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: + - - 0.9988031389637805 + - -0.009859456722852003 + - -0.04790700062860633 + - 0.023831148720731506 + - - -0.01395094264813928 + - -0.9962116096058289 + - -0.08583589042930677 + - -0.03424361999172147 + - - -0.04687921496065615 + - 0.08640150461475678 + - -0.9951568314617444 + - 0.969232087808935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9989420094582409 + - -0.00993975988216271 + - -0.04490058922794498 + - 0.09188619918753764 + - - -0.009842931870543616 + - -0.9999487317849444 + - 0.002377076749532775 + - -0.03348521812180629 + - - -0.04492191482699214 + - -0.001932608384096807 + - -0.9989886318638016 + - 0.9688395058632294 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9609812528444202 + - 0.03620514690832925 + - -0.27423387649762543 + - 0.10005827491298852 + - - 0.00012910313484035263 + - -0.9914558736935826 + - -0.13044245417377093 + - -0.0895067954519187 + - - -0.27661347583577545 + - 0.12531734858287596 + - -0.9527751818399814 + - 0.9740357672072228 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984632610611973 + - 0.009099187012366363 + - 0.0546655385663877 + - 0.012856431109300303 + - - 0.022960937515576648 + - -0.9657015497776287 + - -0.25863741435742077 + - -0.09293436915871475 + - - 0.05043720511135627 + - 0.25949512818702464 + - -0.9644264444672569 + - 0.973150662159094 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926651977092236 + - -0.010809788534859715 + - 0.12041160130460743 + - 0.054585708208801216 + - - 0.005314344738763787 + - -0.9911301527544791 + - -0.13278847103902133 + - -0.09348577673548536 + - - 0.12077898408624613 + - 0.1324544026173349 + - -0.9838029620967705 + - 0.9767083357949149 + - - 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: + - - 0.9990740745501313 + - -0.013783099127925462 + - -0.040755609923399994 + - 0.023863612204388502 + - - -0.014712393675409698 + - -0.9996365458388029 + - -0.02259030092334149 + - -0.03424564684107115 + - - -0.040429432770425114 + - 0.02316899656647087 + - -0.9989137393008292 + - 0.968933247280018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996651781617855 + - -0.011098207250532363 + - -0.023374374143276432 + - 0.09186520194749893 + - - -0.011266493279346102 + - -0.9999114641943464 + - -0.00708024730542637 + - -0.03349406956735267 + - - -0.023293726622249347 + - 0.007341223913202699 + - -0.999701709877254 + - 0.9688493189806209 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9665197909685612 + - 0.020514241647535382 + - -0.25577071676741114 + - 0.10003682518986026 + - - 0.005976510163470559 + - -0.9983283563083921 + - -0.05748716654044877 + - -0.08942386309619668 + - - -0.2565224648882718 + - 0.054033867899770834 + - -0.9650267178308768 + - 0.9738068416222859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9977117183170426 + - 0.02175367109069131 + - 0.06401644262947 + - 0.012653398785717767 + - - 0.024373546154791738 + - -0.998884941502625 + - -0.040432708135096015 + - -0.09267224557126219 + - - 0.06306550071706747 + - 0.04190049442877308 + - -0.9971294254939678 + - 0.9704699542330928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9968965384133973 + - -0.0035653026948878597 + - 0.07864210269365653 + - 0.05446776990012463 + - - -0.007583412398788918 + - -0.9986772901645352 + - 0.05085432101613409 + - -0.09326923212387363 + - - 0.07835677096317643 + - -0.051292872080981655 + - -0.995604970717759 + - 0.9749185161913079 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9711188030968708 + - 0.03499709139974775 + - -0.23601583392912143 + - 0.10004505652109827 + - - 0.00024412862715296468 + - -0.9893293709173898 + - -0.14569604058249366 + - -0.08949406085700609 + - - -0.23859633415648765 + - 0.1414305463249009 + - -0.9607648983457536 + - 0.9738438147166578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9936606295582832 + - 0.0018804412069150078 + - 0.11240559241738698 + - 0.012841684380557803 + - - 0.022367778489692743 + - -0.9831766429841425 + - -0.18128257273071952 + - -0.09283518282886387 + - - 0.11017366178571186 + - 0.18264761873974683 + - -0.9769859833270016 + - 0.9721988638375778 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9723817761453348 + - -0.014901818208743534 + - 0.23291976565872988 + - 0.05440360980660269 + - - -0.00773782408402358 + - -0.9994693489127625 + - -0.03164090173087478 + - -0.09319851953693638 + - - 0.23326767349739821 + - 0.028964744051548773 + - -0.9719810883464447 + - 0.9740903606373861 + - - 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: + - - 0.9979884676648165 + - -0.008447693535360182 + - -0.06283036592256948 + - 0.023865901961466054 + - - -0.014226429901919777 + - -0.9956478228406621 + - -0.09210332005360206 + - -0.03428703701556653 + - - -0.06177885641768637 + - 0.0928119030436459 + - -0.9937652255704769 + - 0.9698188709447607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9718790291794561 + - 0.02384466017106219 + - -0.23427032424642336 + - 0.10013893764818843 + - - 0.00395315591235647 + - -0.9963719496915419 + - -0.08501358965605953 + - -0.08952152704959425 + - - -0.23544749987954933 + - 0.08169681786460738 + - -0.968447264827191 + - 0.9745693365578443 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9854620319599179 + - -0.010153672734066588 + - 0.1695921180227411 + - 0.012715997091654373 + - - 0.047709373058102446 + - -0.941507521002603 + - -0.3335976672849134 + - -0.09331418454741155 + - - 0.1630594961596309 + - 0.3368389686861401 + - -0.9273354893923907 + - 0.976282328594734 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997738835955538 + - -0.006711430213480429 + - 0.06687429947728452 + - 0.05456732925145072 + - - -0.0062430216439197175 + - -0.9999545132087438 + - -0.0072108386626073715 + - -0.0935035958950123 + - - 0.06691965262044852 + - 0.006777036074434411 + - -0.9977353516214631 + - 0.9769173524383055 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9707203105658314 + - 0.028600669645553516 + - -0.23850383718255275 + - 0.1000082526939131 + - - 0.00339950076202721 + - -0.9944228121949347 + - -0.10541211496258879 + - -0.08942387262814265 + - - -0.24018851356704113 + - 0.1015148869976368 + - -0.9654036490858691 + - 0.9733844727740293 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9968811807319522 + - 0.018264601022647542 + - 0.07677444791043804 + - 0.012664656646264025 + - - 0.029851713287435445 + - -0.9878362953613249 + - -0.15260514008584175 + - -0.09286971341742414 + - - 0.07305331420458493 + - 0.1544210410413624 + - -0.9853006421227124 + - 0.9721685371299609 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9852913555601629 + - -0.013297760633441534 + - 0.170364650736449 + - 0.05445994882680141 + - - -0.0038552230237261327 + - -0.9984436299175923 + - -0.055636814542342455 + - -0.09322918489218633 + - - 0.17083934533313425 + - 0.05416167869552577 + - -0.9838091434048722 + - 0.9744675772328389 + - - 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: + - - 0.9983478142691183 + - -0.010558392801917525 + - -0.05648151985839611 + - 0.023891825311622244 + - - -0.01556627201833262 + - -0.9959124114506741 + - -0.08897280423789375 + - -0.03431929126923083 + - - -0.055311236828742616 + - 0.08970501134242001 + - -0.9944313339896985 + - 0.9695131597362459 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9740787378393464 + - 0.019672498754912296 + - -0.22535218055755243 + - 0.10002753774636888 + - - 0.005207762191221435 + - -0.9978974728501165 + - -0.06460273130689125 + - -0.08939391620567588 + - - -0.22614926863084353 + - 0.06175456640677413 + - -0.9721331605421377 + - 0.9734828916479582 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9935842260480012 + - 0.00882293994961428 + - 0.11274990678151386 + - 0.012748074581629135 + - - 0.025268325065220143 + - -0.9890686299510919 + - -0.14527476379285026 + - -0.09276347140474925 + - - 0.11023564531036653 + - 0.14719171504305384 + - -0.9829459301129903 + - 0.9714882230954349 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9821455767324511 + - -0.005731199097744721 + - 0.1880351548561677 + - 0.054398676204092694 + - - -0.022456798234844595 + - -0.9959603952214502 + - 0.08694011366091563 + - -0.09313509985411048 + - - 0.18677729604510404 + - -0.08961051560634754 + - -0.978306801149233 + - 0.9736372428330518 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9808174969962269 + - 0.021674285280758 + - -0.1937195471387047 + - 0.09997287430777506 + - - 0.004409725491603098 + - -0.9960118626656559 + - -0.08911186088495111 + - -0.08932379338592822 + - - -0.19487840287508829 + - 0.08654822232061436 + - -0.977001439766593 + - 0.97280594543366 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984970070035502 + - 0.02325484864473262 + - 0.049628006402262545 + - 0.012645866770661903 + - - 0.029748734845845826 + - -0.9904789271787463 + - -0.13441170927382384 + - -0.09284516737685465 + - - 0.046029770584090385 + - 0.1356860598195333 + - -0.9896820466142778 + - 0.9721304428235356 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976993478010336 + - -0.004123631517309007 + - 0.06766836085277626 + - 0.0542794940508484 + - - -0.01311674315286681 + - -0.9910291688663982 + - 0.13300051693522907 + - -0.09301135136824884 + - - 0.06651287429102586 + - -0.13358211751235977 + - -0.9888032440452755 + - 0.9723628341225254 + - - 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: null + base_right_marker_pose: + - - 0.9994711015664869 + - -0.009424105469472217 + - -0.031123999896760218 + - 0.09191190183877668 + - - -0.009894134390248173 + - -0.9998388025310494 + - -0.014982491713519553 + - -0.03346656516339863 + - - -0.03097778620464953 + - 0.015282512534862767 + - -0.999403232720648 + - 0.969052465414485 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9846857585311684 + - 0.013321891869698524 + - -0.17382889329139092 + - 0.09990743711420408 + - - 0.004980822332074934 + - -0.9988188753208841 + - -0.048332656782131306 + - -0.08931780827511047 + - - -0.17426746212300795 + - 0.04672666797167395 + - -0.9835890758571232 + - 0.9725347221573503 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9946278097107469 + - 0.01267322916433076 + - 0.102737088787597 + - 0.012731742249320693 + - - 0.02615471754190339 + - -0.9910425209737953 + - -0.13096049928206588 + - -0.09290219056100835 + - - 0.10015713105069197 + - 0.1329440140978641 + - -0.9860499166955199 + - 0.9724480571335272 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9992745380657584 + - -0.005939354847753042 + - 0.037618102523357566 + - 0.054331731352916954 + - - -0.01024262309790406 + - -0.9932829492496341 + - 0.11525654602678007 + - -0.09302852825108461 + - - 0.03668087029419627 + - -0.11555823983577052 + - -0.9926231948531724 + - 0.9723121515213301 + - - 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: null + base_right_marker_pose: + - - 0.9990103492299087 + - -0.009583270077987866 + - -0.04343366282214945 + - 0.09190365928025673 + - - -0.011006435306568816 + - -0.9994063524587579 + - -0.032646608505686445 + - -0.033569016298096756 + - - -0.043095017268567605 + - 0.03309234956441723 + - -0.9985227668345517 + - 0.9691424623133951 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9736877184753813 + - 0.01310293063891026 + - -0.22750942859336284 + - 0.09999085698556735 + - - 0.008455005968295105 + - -0.9997354082242462 + - -0.02139220457961241 + - -0.08939830674586242 + - - -0.22772953204247062 + - 0.018905733293681122 + - -0.9735408740696744 + - 0.9732086807395309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974507502211204 + - 0.0199921792320837 + - 0.06850046461795921 + - 0.012734185461265476 + - - 0.019818758111942635 + - -0.9997984347433226 + - 0.003210406781379637 + - -0.09271064115204825 + - - 0.06855084033200722 + - -0.0018446285137830726 + - -0.9976459189689603 + - 0.9712656464670162 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9915903342140501 + - -0.0038295024867580534 + - 0.12935974645913842 + - 0.05448257143840135 + - - -0.01654954726791258 + - -0.9951077360355765 + - 0.09739972365143852 + - -0.09326548457808406 + - - 0.12835389194915667 + - -0.09872146976647674 + - -0.9868025890869211 + - 0.9751093021462186 + - - 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: null + base_right_marker_pose: + - - 0.9997156364033619 + - -0.013269782969856739 + - -0.019813106534664757 + - 0.09189920260974566 + - - -0.013003466902144512 + - -0.9998241756260722 + - 0.013510280610368533 + - -0.03345236456142255 + - - -0.01998890139917418 + - -0.013248799703330403 + - -0.9997124152111325 + - 0.9688340623319535 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9738416274520527 + - 0.013189952462557282 + - -0.2268446820967444 + - 0.09992056815542084 + - - 0.00655590987294788 + - -0.9995291944320372 + - -0.02997348034148066 + - -0.08933052190687459 + - - -0.22713323113819195 + - 0.027702249585165865 + - -0.9734696095311073 + - 0.972573100833247 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957617671169416 + - 0.009587168151199551 + - 0.09146906228330104 + - 0.01270970161186155 + - - 0.02706432332763207 + - -0.9810602326159706 + - -0.19180287375927135 + - -0.09280424010989885 + - - 0.0878978131182066 + - 0.1934655167887503 + - -0.9771617410964771 + - 0.9724072659225604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9875135705171483 + - -0.007245018703153161 + - 0.1573672702580312 + - 0.054388379186172814 + - - -0.013352067225666455 + - -0.9991966789777126 + - 0.037785169322255306 + - -0.093118500696061 + - - 0.1569670995631714 + - -0.039414545841620206 + - -0.9868170160829334 + - 0.9733154918063429 + - - 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: + - - 0.9992442645413936 + - -0.012733744715407593 + - -0.0367253526416341 + - 0.023883630330000002 + - - -0.014756878603667551 + - -0.9983577382623762 + - -0.055353960883659084 + - -0.034296207142226594 + - - -0.03596017679331082 + - 0.05585407950325447 + - -0.9977911542441324 + - 0.9692614296751441 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994955467663187 + - -0.012344242358889167 + - -0.02926212013649463 + - 0.0918630520487021 + - - -0.012421323266584551 + - -0.9999198414973152 + - -0.0024538354246476067 + - -0.033455000606022786 + - - -0.029229483789568425 + - 0.002816071833113755 + - -0.9995687605246706 + - 0.9687739165515382 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9741161041482563 + - 0.029706816580472313 + - -0.22408775220363428 + - 0.10010312021882047 + - - 0.0020848111991573267 + - -0.992465555564071 + - -0.12250622262221698 + - -0.08950958257077259 + - - -0.22603864537128845 + - 0.1188681036592849 + - -0.9668386135913061 + - 0.9741523059838956 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997742885819103 + - 0.01379101599228697 + - 0.06571865545846786 + - 0.012739209068671951 + - - 0.02537751104810667 + - -0.9835423678719156 + - -0.17888653536225022 + - -0.0927334657032857 + - - 0.062170054932994434 + - 0.18015054393147653 + - -0.9816723821065878 + - 0.9716479751458194 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.986765950134838 + - -0.005598995429030334 + - 0.16205434552851714 + - 0.05443623561940689 + - - -0.015458165166045815 + - -0.9981001382910696 + - 0.05964192378727293 + - -0.09325921074522205 + - - 0.16141252982401824 + - -0.06135768243287325 + - -0.9849777814866064 + - 0.9745165935437856 + - - 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: null + base_right_marker_pose: + - - 0.9995695997087121 + - -0.009531370108590372 + - -0.02774469898950488 + - 0.09191867872760615 + - - -0.009792105883129341 + - -0.9999090215519415 + - -0.00927702977322864 + - -0.03352845308048002 + - - -0.0276537520155719 + - 0.00954471596711274 + - -0.9995719926031187 + - 0.9690839587035157 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9751083432793186 + - 0.031190394031571325 + - -0.21952420865867625 + - 0.09999991402927251 + - - 0.001502300484066398 + - -0.9909633158541871 + - -0.1341247543316684 + - -0.08941864440929768 + - - -0.22172384165966066 + - 0.13045637566416654 + - -0.9663434545172083 + - 0.9734268008294766 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9857891685556556 + - 0.003658444699099945 + - 0.16794740528133476 + - 0.012703178035688331 + - - 0.029086132017790766 + - -0.9883799585414708 + - -0.14919468649320108 + - -0.09293939732279463 + - - 0.1654500289591783 + - 0.15195944635311273 + - -0.9744406675531675 + - 0.9730552995109586 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979957495893163 + - -0.0022357780942991465 + - 0.06324148241440868 + - 0.054444886582773 + - - -0.007657152226359967 + - -0.9962990306335912 + - 0.08561313905206601 + - -0.09316665936769784 + - - 0.06281601564442989 + - -0.08592579854082878 + - -0.9943193175854923 + - 0.9736203805002981 + - - 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: null + base_right_marker_pose: + - - 0.9997914255670575 + - -0.011626277493140186 + - -0.01679092118507661 + - 0.09194015256535436 + - - -0.011872415924500241 + - -0.9998224228305005 + - -0.014634498469827104 + - -0.033447295640844546 + - - -0.016617794760636132 + - 0.014830794887672093 + - -0.9997519174376676 + - 0.9691367086273717 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9815682190449736 + - 0.02610745588711755 + - -0.1893204482035182 + - 0.1000166473285078 + - - 0.0045485561024265694 + - -0.9935359645485213 + - -0.1134266185073993 + - -0.08938680161441354 + - - -0.1910579545537476 + - 0.1104748292406113 + - -0.9753420785068162 + - 0.9731498821671628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997708941621729 + - 0.02073492340514556 + - -0.005312451181137552 + - 0.012799015948941533 + - - 0.019229563343143893 + - -0.9790827057307016 + - -0.20255191737596884 + - -0.09287918216851823 + - - -0.009401227568846498 + - 0.2024033554327399 + - -0.9792571156901375 + - 0.9729136975982627 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9949534744721908 + - -0.0029875624818666386 + - 0.10029286169081161 + - 0.05442999746937878 + - - -0.009714137759750757 + - -0.997729249699272 + - 0.06664817943583927 + - -0.09324447645168832 + - - 0.09986600604459914 + - -0.06728609637171849 + - -0.9927232051643375 + - 0.9744821245206341 + - - 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: + - - 0.9995109969574084 + - -0.013913782942310805 + - -0.028003099925576487 + - 0.02388939511403553 + - - -0.015460849742907193 + - -0.9983216844581816 + - -0.055810182456307075 + - -0.03424358208466267 + - - -0.02717957112308448 + - 0.0562158428275633 + - -0.9980486210244228 + - 0.9691790774400805 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994653675808481 + - -0.011256784662271754 + - -0.030696315830199435 + - 0.09192145307268293 + - - -0.01189693888860242 + - -0.9997138645181729 + - -0.020752154953677264 + - -0.0334891109323654 + - - -0.0304539299854874 + - 0.021106252372408887 + - -0.9993133063555352 + - 0.9689733530489147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9644169814509788 + - 0.024617765847677546 + - -0.263237253240592 + - 0.10002439507879728 + - - 0.0021206148519716424 + - -0.9963437933388567 + - -0.08540812881562661 + - -0.0894123194430441 + - - -0.26437736075850415 + - 0.08181082495492874 + - -0.9609430784591568 + - 0.9736615703680779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99824477753515 + - 0.01973215535916949 + - 0.05583910966948407 + - 0.01267053904035999 + - - 0.028911047105538486 + - -0.9852457367980163 + - -0.168686067820065 + - -0.09291150804039547 + - - 0.051686705051303135 + - 0.1700043533743058 + - -0.9840868886204734 + - 0.9726903085701991 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9909533235134742 + - -0.007710243610177869 + - 0.13398530800453975 + - 0.054493584596364567 + - - -0.005275200474206565 + - -0.9998145836013708 + - -0.01851946754024845 + - -0.0933445646468635 + - - 0.13410325453752645 + - 0.01764512854838685 + - -0.9908102575977673 + - 0.9754242259860446 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9804342023721577 + - 0.021851285992885314 + - -0.19563050917310457 + - 0.09993738798803425 + - - 0.005993303641413301 + - -0.9966725829141411 + - -0.08128863868165857 + - -0.08933835556672706 + - - -0.19675582616617185 + - 0.07852568858477173 + - -0.9773028502475348 + - 0.9727348622175336 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989610227037208 + - 0.012099385323959256 + - 0.04393722787703464 + - 0.012720281369992157 + - - 0.021374686534479364 + - -0.9758843991220046 + - -0.21723895213758687 + - -0.09299707121253516 + - - 0.04024919743658074 + - 0.21795239027151403 + - -0.9751290979560834 + - 0.9722398436632347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9923129465923815 + - -0.0073517071039569835 + - 0.12353529223587574 + - 0.05440345626474315 + - - -0.013296066607606058 + - -0.998789227835774 + - 0.04736341385483824 + - -0.09318491784863993 + - - 0.12303751719663274 + - -0.04864186223692724 + - -0.99120923048578 + - 0.9739976021446973 + - - 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: + - - 0.9967941748316871 + - -0.009242679809389809 + - -0.0794729255253448 + - 0.023874783539706745 + - - -0.0166937398602585 + - -0.9954690249778144 + - -0.09360950464134223 + - -0.03433025790252815 + - - -0.07824763300633392 + - 0.09463610928002351 + - -0.9924320202156143 + - 0.9698421845953332 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992319487632103 + - -0.010660796154969353 + - -0.03770755887377681 + - 0.0918671196352355 + - - -0.010496699303958981 + - -0.9999345692989708 + - 0.004547133668901712 + - -0.033434489620425056 + - - -0.03775356770689919 + - -0.004147836330279098 + - -0.9992784714878915 + - 0.9686131946395333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9739790021503112 + - 0.029925794228891564 + - -0.22465384530440155 + - 0.10000255909463461 + - - 0.003627215438913872 + - -0.9931754196090896 + - -0.11657370712329408 + - -0.08942985531746464 + - - -0.2266092378488654 + - 0.1127254750448091 + - -0.9674405514539266 + - 0.9734678443447204 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9914736264097939 + - 0.009418140356644218 + - 0.12996671406954538 + - 0.012770075383121712 + - - 0.012787317033845868 + - -0.9996028254740906 + - -0.025113259989317457 + - -0.09268180167331933 + - - 0.1296785743941085 + - 0.02656106052923503 + - -0.9912002710888826 + - 0.9710644777634188 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9996679860866866 + - -0.005507940009145991 + - 0.025171018855896007 + - 0.05443720729722115 + - - -0.00893736883051754 + - -0.9903588619291481 + - 0.13823692718225059 + - -0.0931837087939768 + - - 0.024166940885753763 + - -0.13841599327844742 + - -0.9900792754991725 + - 0.9740254285745621 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9654841930358586 + - 0.01719639045769525 + - -0.25989335727009893 + - 0.1000719914790309 + - - 0.008151941883112883 + - -0.9993243439018444 + - -0.035838548082796226 + - -0.0894497411925336 + - - -0.26033405240465785 + - 0.03248291613102239 + - -0.9649720417287717 + - 0.9739516271752116 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956024463830626 + - 0.014438011996167826 + - 0.09255977833627049 + - 0.012680368401263934 + - - 0.029054240862223298 + - -0.9869199766791427 + - -0.15857115349129644 + - -0.0929491212004215 + - - 0.08905964206070519 + - 0.16056308243565484 + - -0.9829994286441778 + - 0.9730585401100754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9650327022067898 + - -0.018530215516158056 + - 0.2614737363185566 + - 0.05450099282080252 + - - -0.010990983140628763 + - -0.9994814280095883 + - -0.03026670371078182 + - -0.09328562165396996 + - - 0.26189899190539806 + - 0.02633450544131359 + - -0.9647359285639244 + - 0.9750851001692529 + - - 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: + - - 0.9991645920878146 + - -0.011293776952248353 + - -0.039275546083331565 + - 0.0238671576519008 + - - -0.015234294986839732 + - -0.9947162996015613 + - -0.10152536413739503 + - -0.03431797508596599 + - - -0.03792142104727864 + - 0.10203888429970985 + - -0.9940573584641005 + - 0.9692134226047839 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991352326975856 + - -0.01006522943633157 + - -0.040342012080900005 + - 0.09188703731007206 + - - -0.010499364622953276 + - -0.9998890766984959 + - -0.010563978490326632 + - -0.03345825777987995 + - - -0.04023120834446506 + - 0.010978408601605743 + - -0.9991300838327914 + - 0.9686581470820746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9770776156049528 + - 0.02388886611757033 + - -0.21153877932747198 + - 0.09996149318927891 + - - 0.0031667446214748915 + - -0.9952049202454627 + - -0.09776061808174076 + - -0.08937830749674464 + - - -0.21285982432634495 + - 0.09484982232370505 + - -0.9724681004500448 + - 0.9729836915802578 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9957603366319359 + - 0.01083242266887753 + - 0.09134555604831807 + - 0.012687266937518664 + - - 0.03154947561495706 + - -0.9730247492547364 + - -0.22853329719359874 + - -0.09297878163146615 + - - 0.08640591750033594 + - 0.23044629733818525 + - -0.969241209123944 + - 0.973061674935165 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9809242493463532 + - -0.0027084993856699383 + - 0.19437150273476608 + - 0.05435231944438422 + - - -0.024698053938315354 + - -0.993536039201137 + - 0.11079776595300514 + - -0.09306398142167599 + - - 0.19281499727965515 + - -0.11348481325531917 + - -0.9746504881158435 + - 0.9725892567351808 + - - 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: + - - 0.9990328648427893 + - -0.01118175771885714 + - -0.04252414911936335 + - 0.023832620604949444 + - - -0.013776859505417788 + - -0.9980285000258047 + - -0.061231619923126035 + - -0.034245290108208246 + - - -0.04175563562175831 + - 0.06175824989877032 + - -0.9972173210806479 + - 0.9693344707660052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993436706554882 + - -0.011856272273716505 + - -0.034229471637561376 + - 0.09188412498810851 + - - -0.012093556459982405 + - -0.9999041986351561 + - -0.006733457056771163 + - -0.03345744161333754 + - - -0.03414635870725216 + - 0.007142993739159009 + - -0.9993913166660384 + - 0.9689154133334347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9834339142149091 + - 0.0248032739532398 + - -0.17956206161977317 + - 0.09996872592641376 + - - 0.0029226802154133282 + - -0.9926350780928661 + - -0.12110763675312948 + - -0.0893604918214677 + - - -0.1812434669506769 + - 0.11857655476851257 + - -0.9762634922739499 + - 0.9727820555894297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9873055537107457 + - 0.0032445442222663826 + - 0.15879929642384272 + - 0.012810375264063164 + - - 0.01948153334997583 + - -0.9947160457452532 + - -0.10079909818675051 + - -0.0928048217650699 + - - 0.1576331610742216 + - 0.10261316323804734 + - -0.9821518850259523 + - 0.9718440817484504 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997193187477519 + - -0.007835125672611975 + - -0.022358321230030537 + - 0.05447313589980988 + - - -0.005101548819166199 + - -0.9927851924476399 + - 0.11979789587613125 + - -0.09328733422964999 + - - -0.023135641814665993 + - -0.11965020878543044 + - -0.9925465075327334 + - 0.9749825376820359 + - - 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: + - - 0.999492497740293 + - -0.011602272166503946 + - -0.02966705650118993 + - 0.023881367642352984 + - - -0.013142006521081835 + - -0.9985478950517337 + - -0.052243554170374414 + - -0.03421332060675924 + - - -0.029017832887213862 + - 0.05260692509857776 + - -0.9981936068750408 + - 0.9691358118863072 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9759220887114176 + - 0.016407018467861436 + - -0.21750146323677721 + - 0.10001052705120603 + - - 0.004103810852100241 + - -0.9983715876352729 + - -0.05689755477272246 + - -0.08941629797218195 + - - -0.21808080039662842 + - 0.05463499563118883 + - -0.9744002164155887 + - 0.9735044731915353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9984012159992486 + - 0.016015851348999365 + - 0.0542079735536064 + - 0.012727619962249014 + - - 0.02465962180760881 + - -0.9863576378767026 + - -0.1627590650458439 + - -0.09271797261423251 + - - 0.05086172375694162 + - 0.1638355965834601 + - -0.9851756099034396 + - 0.9712141978269078 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9734532798610016 + - -0.008822611342131342 + - 0.22871570443886063 + - 0.05439164134420222 + - - -0.021887293602956073 + - -0.9982657456180057 + - 0.054648398919492865 + - -0.09304678286070071 + - - 0.22783691164207032 + - -0.05820363094199301 + - -0.9719581673295259 + - 0.9730080211342487 + - - 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: null + base_right_marker_pose: + - - 0.9994068000631215 + - -0.011828378669513397 + - -0.03234404807135965 + - 0.09188445543914564 + - - -0.011726455426743977 + - -0.9999256675508614 + - 0.003339104084753128 + - -0.033479218184752274 + - - -0.03238114004658283 + - -0.0029578422903915585 + - -0.9994712166632258 + - 0.968870734202461 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.984415758658604 + - 0.01808526444154087 + - -0.17492437598769572 + - 0.09994672634168764 + - - 0.003966985222143837 + - -0.9967284412763683 + - -0.0807259399389656 + - -0.0893541697553122 + - - -0.1758120505905454 + - 0.07877396499390979 + - -0.9812669286724621 + - 0.972899177258542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9937493579637482 + - 0.014942066730254343 + - 0.11062977984461012 + - 0.012650483384866922 + - - 0.025354147198170838 + - -0.9953135826124897 + - -0.09331687675304776 + - -0.09282302068838075 + - - 0.10871697552126697 + - 0.09553851008320491 + - -0.9894710770530835 + - 0.9716815241781024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9944196229060195 + - -0.003135420609376178 + - 0.10545038035518092 + - 0.05438424273359586 + - - -0.020240951248683258 + - -0.9866586393861626 + - 0.16153957167578276 + - -0.09306518074905443 + - - 0.10353703430173405 + - -0.1627725359581561 + - -0.9812161760110525 + - 0.9731014279054645 + - - 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: + - - 0.9995872174406596 + - -0.01371111322792267 + - -0.025246784018773765 + - 0.023853587540608436 + - - -0.014962706364937559 + - -0.9986335311608808 + - -0.05007182700269759 + - -0.03425860557129649 + - - -0.02452574458556118 + - 0.050428918441728476 + - -0.9984264680172108 + - 0.9689326602293519 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.96846595987601 + - 0.014258383343652568 + - -0.2487375787167349 + - 0.1000294151253677 + - - 0.007273651505169044 + - -0.9995536064347097 + - -0.028977264486954115 + - -0.08942182736955037 + - - -0.24903971280745524 + - 0.026254263802113955 + - -0.9681373534147876 + - 0.973622133352515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988391287105887 + - 0.016974577474876993 + - 0.0450805798123932 + - 0.012771126013402693 + - - 0.01733179868966395 + - -0.9998213247029459 + - -0.007545026403441775 + - -0.09263984718554966 + - - 0.0449444513911686 + - 0.008317595133033895 + - -0.9989548607921936 + - 0.9703580367992178 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9799730460922256 + - -0.007736185276239627 + - 0.19897984915587913 + - 0.054434154401596546 + - - -0.020363387918961817 + - -0.9978998388589746 + - 0.06149182090079211 + - -0.09312618885458532 + - - 0.1980862472893729 + - -0.0643122308943245 + - -0.9780724797233635 + - 0.9734972687655348 + - - 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: null + base_right_marker_pose: + - - 0.9991728921436893 + - -0.011698498509785665 + - -0.03894453412010404 + - 0.0919088891992815 + - - -0.010909832571240672 + - -0.99973232498579 + - 0.020402302119482487 + - -0.03349350648718972 + - - -0.039172785942321 + - -0.019960548868297335 + - -0.9990330671856632 + - 0.9688080573383289 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9777291169316652 + - 0.010522767540256949 + - -0.20960688268117517 + - 0.09989353850685162 + - - 0.008776986441367412 + - -0.9999186300405055 + - -0.009257310998706709 + - -0.08930978756928815 + - - -0.2096872395093089 + - 0.007211425740617338 + - -0.9777419173410504 + - 0.9722961582241659 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985940024475243 + - 0.018736455319846385 + - 0.04958793722147858 + - 0.012698871319838474 + - - 0.02557029179641116 + - -0.9896812697794697 + - -0.14098632708579925 + - -0.09285331516849336 + - - 0.0464346686569452 + - 0.14205607867931938 + - -0.9887688769661876 + - 0.9721496877462678 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9950177738825106 + - -0.0045540462365402466 + - 0.0995936259043141 + - 0.05435754502690249 + - - -0.016413418373993648 + - -0.9928081918726953 + - 0.1185853863161508 + - -0.09307031082719024 + - - 0.09833732432384591 + - -0.11962923895664442 + - -0.9879365444356646 + - 0.9727212999669563 + - - 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: + - - 0.9988638381291896 + - -0.01345964237486283 + - -0.0457151058728404 + - 0.02387142407777848 + - - -0.015530875753284505 + - -0.9988545663084707 + - -0.04525867058424133 + - -0.034243894212924335 + - - -0.04505357672993621 + - 0.04591724503775927 + - -0.9979287458691538 + - 0.9692746590924333 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997444135384483 + - -0.01137005692747371 + - -0.01954045557631575 + - 0.09186400837045801 + - - -0.011239833611890298 + - -0.9999139721129034 + - 0.006761250903033938 + - -0.03346628486864484 + - - -0.019615650359878035 + - -0.006539891349461645 + - -0.9997862051869376 + - 0.9686029848540212 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9732372361945112 + - 0.02923847887462337 + - -0.22793506408090763 + - 0.10003087911305696 + - - 0.001879112191480882 + - -0.9928522489803127 + - -0.11933516092127792 + - -0.08946735498700482 + - - -0.22979501957579734 + - 0.11571310663807134 + - -0.9663357211292178 + - 0.973778441416641 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994050220341485 + - 0.017799076209997933 + - 0.029543101038887843 + - 0.012798544665348887 + - - 0.025319473444958558 + - -0.9602483747987984 + - -0.27799637220787 + - -0.09300180157107747 + - - 0.023420636144077914 + - 0.2785789862540555 + - -0.9601277114114922 + - 0.9737617411952633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9925385011130632 + - -0.013108311003393994 + - 0.12122498088625254 + - 0.05454767418832288 + - - 0.00824216553762391 + - -0.9847177090039324 + - -0.17396292789355022 + - -0.09350040748992905 + - - 0.12165274561424579 + - 0.17366406006046403 + - -0.9772621980450439 + - 0.9766054800537134 + - - 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: + - - 0.9983568822395315 + - -0.010848149701771014 + - -0.05626591626384781 + - 0.023899731752665118 + - - -0.01580730943784588 + - -0.9959546289893046 + - -0.08845623755910346 + - -0.034300163206186486 + - - -0.055078713250207266 + - 0.08920030629333243 + - -0.9944896383089554 + - 0.969558422610283 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996707580959318 + - -0.012935756620294232 + - -0.02215945867040864 + - 0.09185796802954432 + - - -0.012273252873372591 + - -0.9994812253930829 + - 0.029776624231892646 + - -0.0334552523830734 + - - -0.02253314606998513 + - -0.02949485187963484 + - -0.9993109181034633 + - 0.9684329025538524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.985551031110296 + - 0.02088154620062706 + - -0.1680866624860624 + - 0.09994978471362037 + - - 0.0032245881281146235 + - -0.9945048047120857 + - -0.10464127023302676 + - -0.0893732694093465 + - - -0.1693480649692709 + - 0.10258730151850369 + - -0.9802025701141148 + - 0.9728118636753472 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9948374575919463 + - 0.017205473467553873 + - 0.10001202255103941 + - 0.012652282255555444 + - - 0.028341266834352143 + - -0.9934145920504184 + - -0.11101450759033893 + - -0.09283850110714237 + - - 0.0974433454178189 + - 0.11327585790475686 + - -0.9887736720047341 + - 0.9720449316394417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9844044962924435 + - -0.007374443157755337 + - 0.1757651992498329 + - 0.05431679291531906 + - - -0.0200155069498618 + - -0.9973281453927303 + - 0.07025631565231542 + - -0.09304720182121921 + - - 0.17477747898616816 + - -0.07267866258820936 + - -0.981921913821883 + - 0.9724366353906199 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9875700039396222 + - 0.018687164888513935 + - -0.156064977452099 + - 0.09991455417179797 + - - 0.004057525453536795 + - -0.9956074516762655 + - -0.09353789955887862 + - -0.08930790695440673 + - - -0.1571274126493801 + - 0.0917419862174482 + - -0.9833078786214363 + - 0.9722704631408302 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9967181786173471 + - 0.016212216132311733 + - 0.07930975010550304 + - 0.012711360580336483 + - - 0.020749163208413322 + - -0.9981744917188176 + - -0.05671998155880958 + - -0.0928161657958971 + - - 0.07824541289985473 + - 0.058179447659463764 + - -0.9952350512467756 + - 0.9725421961081555 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984294184882239 + - -0.002373572288323284 + - 0.05597376574663501 + - 0.05432136682362882 + - - -0.005589692948372197 + - -0.9983372617581743 + - 0.057371309187899 + - -0.0930386538436019 + - - 0.055744521076155865 + - -0.05759407903406989 + - -0.9967825592526223 + - 0.9723837723942109 + - - 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: + - - 0.9984800312739753 + - -0.011973702583374964 + - -0.053798304746210834 + - 0.023866385711891345 + - - -0.015035626891005365 + - -0.9982680507279112 + - -0.056875555556774246 + - -0.0342728798568697 + - - -0.05302411782496497 + - 0.0575979977285853 + - -0.9969307466351627 + - 0.9692170557140489 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9760966786922103 + - 0.022950124752527296 + - -0.2161216454219232 + - 0.09992454088549639 + - - 0.004280217082954289 + - -0.9962460527793193 + - -0.08646087012832562 + - -0.08935863618751952 + - - -0.21729462392741988 + - 0.08346912061036607 + - -0.9725306947941397 + - 0.972765721024978 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999692446715621 + - 0.01750449255970288 + - 0.017567148885422837 + - 0.012748514767535314 + - - 0.017212174058621934 + - -0.9997131256675983 + - 0.016655552590533376 + - -0.09267435703225085 + - - 0.017853656317712865 + - -0.016348061296301383 + - -0.9997069509851079 + - 0.970721502625144 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9967628065867117 + - -0.006583401287612608 + - 0.08012843585686598 + - 0.0543463760625863 + - - -0.015840778070008527 + - -0.9931867961630646 + - 0.11545153822051656 + - -0.09299966843507365 + - - 0.07882244068486056 + - -0.11634709603094061 + - -0.9900759446071035 + - 0.9723975366381238 + - - 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: + - - 0.9997197696509847 + - -0.013701356191569513 + - -0.01930427433222462 + - 0.02388174853817756 + - - -0.014619384617542848 + - -0.9987284927085656 + - -0.04824594745138862 + - -0.03430466171658717 + - - -0.018618693895824115 + - 0.04851464408392109 + - -0.9986489240704288 + - 0.9690374173236173 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9742743730552507 + - 0.025330030679875614 + - -0.22393712410753805 + - 0.09999960600494662 + - - 0.0066209135503806395 + - -0.9964517164628727 + - -0.0839055436902286 + - -0.08937316466752096 + - - -0.2252678616926008 + - 0.08026435263522053 + - -0.9709850792800536 + - 0.9733146807984724 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988205429415286 + - 0.024892960976606572 + - 0.04168768993128838 + - 0.012624915950907693 + - - 0.027162776224056544 + - -0.9981279600089304 + - -0.0547974364018345 + - -0.09278668432814699 + - - 0.04024557846263274 + - 0.05586515857158565 + - -0.9976268728698019 + - 0.9710007431694557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870512599386508 + - -0.0062251116477545654 + - 0.16028430440468885 + - 0.054452678450704325 + - - -0.018581263896572213 + - -0.9969570357229142 + - 0.07570604701466713 + - -0.09322755291515036 + - - 0.1593252863971313 + - -0.07770403404942397 + - -0.9841633686573175 + - 0.9746034628103759 + - - 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: + - - 0.9985329927133852 + - -0.011717552268045502 + - -0.05286361160284174 + - 0.023863938331194906 + - - -0.015083582615036756 + - -0.9978531082418787 + - -0.06373115335152867 + - -0.034274431252853524 + - - -0.052003346030287737 + - 0.0644350319381183 + - -0.9965659931287978 + - 0.9693384310168496 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998790812270346 + - -0.01140892209700384 + - -0.010566902155581813 + - 0.09189874496903162 + - - -0.011420604580057859 + - -0.9999342357901995 + - -0.0010458899065538077 + - -0.03346469780506676 + - - -0.010554274755145593 + - 0.0011664438499847112 + - -0.9999436217573161 + - 0.9688099364577879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9694787590491216 + - 0.016697471255892257 + - -0.24460607148276994 + - 0.10008450913385689 + - - 0.008174495849042679 + - -0.9993249112194389 + - -0.03581758553944442 + - -0.08944763082738781 + - - -0.24503900377325502 + - 0.032724857064929794 + - -0.968960768225366 + - 0.9740088147699393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9859021321911987 + - 0.006934264883990793 + - 0.1671792502416699 + - 0.012681320280337941 + - - 0.031041172507476733 + - -0.9893768206305337 + - -0.14202095763787176 + - -0.09301420491978053 + - - 0.1644184641401607 + - 0.14520820489743597 + - -0.9756439647126688 + - 0.9737615819950195 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998785936293643 + - -0.004129818067125663 + - 0.015024733092376062 + - 0.054452148724812126 + - - -0.005760698740263878 + - -0.9938951917119223 + - 0.11017786638860598 + - -0.09323558691292694 + - - 0.014477995434058545 + - -0.1102510430547214 + - -0.993798317141641 + - 0.9741654197137669 + - - 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: + - - 0.9980724930148177 + - -0.011783015550910608 + - -0.06092995348524019 + - 0.02387224593814615 + - - -0.015812653495260627 + - -0.9976888746953989 + - -0.0660822918675495 + - -0.034294882014385165 + - - -0.06001048805521712 + - 0.0669183820303224 + - -0.9959521431624208 + - 0.9693722746314626 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995055185161548 + - -0.009119133753214662 + - -0.030092521584997346 + - 0.09187773984557397 + - - -0.009886596744975808 + - -0.9996271052855407 + - -0.025453989535108034 + - -0.033500598746198706 + - - -0.02984918190762996 + - 0.025738915634543284 + - -0.9992229653893087 + - 0.9689495410978879 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9781651648005483 + - 0.025078511479727193 + - -0.20631039390364533 + - 0.09993838072159829 + - - 0.004628356945619838 + - -0.9950752328274967 + - -0.09901443998371255 + - -0.08938036228523671 + - - -0.20777749801819265 + - 0.0958975978597247 + - -0.9734640014104453 + - 0.9728341399418781 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9900148560545234 + - 0.0027736057365032284 + - 0.14093577226013193 + - 0.0127219315823493 + - - 0.0284789248732828 + - -0.9831249967992097 + - -0.18070470803666214 + - -0.09276468227503848 + - - 0.13805627703731277 + - 0.18291404478544512 + - -0.9733873414991714 + - 0.9720505066255823 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963586082643713 + - -0.005659100695170579 + - 0.0850734877432867 + - 0.05441238352858621 + - - -0.009263672212422438 + - -0.9990731823194947 + - 0.04203523221226122 + - -0.093211890029515 + - - 0.08475675851886989 + - -0.04267025836949961 + - -0.9954875895439653 + - 0.9743324475923218 + - - 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: null + base_right_marker_pose: + - - 0.9990222783436344 + - -0.011063318676818 + - -0.04280292458406399 + - 0.09186704335119061 + - - -0.011687490474115228 + - -0.9998285847744519 + - -0.014359792280344685 + - -0.03347299440661154 + - - -0.04263672055296192 + - 0.0148460111737918 + - -0.998980333146112 + - 0.968543603312118 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9792317906087938 + - 0.025153412893237373 + - -0.2011775486502348 + - 0.09996236009163695 + - - 0.0015692672791896983 + - -0.9931847140801188 + - -0.1165403840640597 + - -0.08938832152339571 + - - -0.20273785453462245 + - 0.11380434762088132 + - -0.972597518401771 + - 0.9729352262518793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971427467684479 + - 0.004043288589641016 + - 0.0754320514400599 + - 0.012817141864607634 + - - 0.015136225564584788 + - -0.9890096084171929 + - -0.14707443399221312 + - -0.092929797615942 + - - 0.07400835927605054 + - 0.1477959616358063 + - -0.9862449576456223 + - 0.9718956726528771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9898719095266462 + - -0.003074004902634827 + - 0.14193009978129975 + - 0.05436387344441797 + - - -0.011626833788419184 + - -0.9981623218744186 + - 0.059470967087534056 + - -0.09306050780125129 + - - 0.14148646389717853 + - -0.06051883743206459 + - -0.9880885845154493 + - 0.9732013275810216 + - - 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: + - - 0.9994793000242501 + - -0.01329719687140202 + - -0.029399207104922626 + - 0.023884916415983233 + - - -0.014859313202314903 + - -0.9984534812072959 + - -0.05357094992799935 + - -0.03427698568779831 + - - -0.028641397210863628 + - 0.05397990756194271 + - -0.9981311737168689 + - 0.9692520472429227 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999815108120363 + - -0.01097019255446433 + - -0.015792544113751826 + - 0.09189824062245512 + - - -0.010835430920465383 + - -0.9999043665702888 + - 0.008593669206961321 + - -0.03346187051633064 + - - -0.01588530802454409 + - -0.00842096128650571 + - -0.9998383591361045 + - 0.9687586718079844 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9706793916835291 + - 0.024364681132231066 + - -0.2391398772146097 + - 0.10004532286524037 + - - 0.0043706573997821015 + - -0.9964742924306883 + - -0.08378473535587153 + - -0.08946106582510965 + - - -0.24033812830008397 + - 0.08028291747367183 + - -0.9673635496787796 + - 0.9738024398509996 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997921096138277 + - 0.009997697995239082 + - 0.063667353620013 + - 0.01276300030109219 + - - 0.022994173235345878 + - -0.9781092715764034 + - -0.20681760286179987 + - -0.09309621685956393 + - - 0.06020592893895661 + - 0.20785162710711277 + - -0.9763057652341932 + - 0.973242115910695 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.968024174701016 + - -0.008710452231906828 + - 0.2507056545360168 + - 0.05440671019502809 + - - -0.015619825069128582 + - -0.9995506618580793 + - 0.02558310856570791 + - -0.09316810208059202 + - - 0.2503701624779333 + - -0.028681046023299857 + - -0.9677252602571569 + - 0.9735636635192709 + - - 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: + - - 0.99903911999767 + - -0.011565608030452174 + - -0.04227379123247698 + - 0.023859733335580467 + - - -0.014541904146437527 + - -0.99738523126532 + - -0.07079006623545477 + - -0.034287950697935166 + - - -0.04134452488633689 + - 0.07133678689645469 + - -0.996595049705352 + - 0.9696658484944765 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9993012617210199 + - -0.012144844075952078 + - -0.03534814118378196 + - 0.09189354914224843 + - - -0.01177535590645466 + - -0.9998740330804513 + - 0.010642319517322228 + - -0.03350816077205265 + - - -0.035472937798469606 + - -0.010218646378227697 + - -0.9993183926808025 + - 0.9689227868228494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9739612744871696 + - 0.030398433359536875 + - -0.22466724516184788 + - 0.1000228013947486 + - - -0.0001554590148364187 + - -0.990880395897575 + - -0.13474426465850184 + - -0.08942205306327686 + - - -0.2267143833809906 + - 0.13127062228522982 + - -0.9650744075422508 + - 0.9735405166028425 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9953025729334408 + - 0.016363775214778643 + - 0.09542020316889306 + - 0.012747946976358235 + - - 0.023562950775988294 + - -0.9969189698254395 + - -0.07481547268388405 + - -0.092767361702462 + - - 0.0939019470660805 + - 0.07671241400780479 + - -0.9926215945033103 + - 0.9719708311768365 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9883150644686323 + - -0.011514750822782908 + - 0.1519892886286808 + - 0.054580403667636224 + - - -0.0027937132041128557 + - -0.9983434072961019 + - -0.057468567712637975 + - -0.09341866497690873 + - - 0.1523992405194212 + - 0.05637243672131009 + - -0.9867099978550966 + - 0.9765050146768118 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9800045912106599 + - 0.03365803972867487 + - -0.19610746433435564 + - 0.10006595743378605 + - - 0.002253465042909967 + - -0.9874033302781193 + - -0.15820741212402187 + - -0.08946590676540486 + - - -0.19896211473878136 + - 0.15460206892956727 + - -0.9677356442651939 + - 0.9738176543395112 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9861483457072685 + - -0.0020594917119897815 + - 0.16585294315358345 + - 0.012773019972878339 + - - 0.030671523441479297 + - -0.9804139844836341 + - -0.1945447935019193 + - -0.0928384971818882 + - - 0.1630052082253703 + - 0.19693698871165335 + - -0.9667704611584856 + - 0.9725392093759267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.997444839204142 + - -0.004443298493959023 + - 0.07130252340216882 + - 0.05445308590984593 + - - -0.005639433365901463 + - -0.9998465893543393 + - 0.016582959561146336 + - -0.0933124136812316 + - - 0.07121790179677302 + - -0.016942693262543555 + - -0.9973168782331303 + - 0.9750610494057997 + - - 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: null + base_right_marker_pose: + - - 0.9996482676526726 + - -0.013559007704582793 + - -0.02279241735923841 + - 0.09187325538078589 + - - -0.013026535801733307 + - -0.9996424762990488 + - 0.02335013798056351 + - -0.033481042169085956 + - - -0.023100873230612048 + - -0.023045018740983022 + - -0.9994674966036716 + - 0.968622719774953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9742867306129968 + - 0.03574886040872689 + - -0.22245760389547334 + - 0.10005988628616577 + - - -0.0017162542797954546 + - -0.986126484118374 + - -0.16598678197850647 + - -0.08948808537404669 + - - -0.22530517309348455 + - 0.16210051295356998 + - -0.9607085940479055 + - 0.9740191999663597 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9969513422606452 + - 0.013186150991632676 + - 0.07690348878122348 + - 0.01266370928855962 + - - 0.03110850002370184 + - -0.9710656582505952 + - -0.236777846498808 + - -0.09294432011857814 + - - 0.07155614851969914 + - 0.2384483440671451 + - -0.9685154127945835 + - 0.9728321508230884 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9771949445937366 + - -0.025750922019303246 + - 0.2107769680861738 + - 0.0546397553339151 + - - 0.013431613729139643 + - -0.9831359685141572 + - -0.18238217886175664 + - -0.09358931265203135 + - - 0.21191892792545775 + - 0.1810540179860319 + - -0.9603696218425689 + - 0.9777334853975657 + - - 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: null + base_right_marker_pose: + - - 0.9997803704646769 + - -0.011328798473122648 + - -0.01763148203267578 + - 0.09189677016815379 + - - -0.011554928438500525 + - -0.9998516079693972 + - -0.012776762883940525 + - -0.033501684178686444 + - - -0.01748412028940337 + - 0.01297768724259767 + - -0.9997629144809981 + - 0.9687706049533013 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9770222639556253 + - 0.012042052450470792 + - -0.2127968155490222 + - 0.10003483083564556 + - - 0.008446679984365385 + - -0.9998059433487038 + - -0.017796888544094495 + - -0.08940371699716065 + - - -0.21296983197689334 + - 0.015590529734082518 + - -0.9769343816502443 + - 0.973330357765682 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9854189578588498 + - -0.0015143470013075002 + - 0.1701387205945136 + - 0.01275609783440541 + - - 0.02877650435612266 + - -0.9840715626255883 + - -0.1754282543625026 + - -0.09291529779120468 + - - 0.1676943358894998 + - 0.17776632522722768 + - -0.9696791960879573 + - 0.9731916096653037 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965642347500491 + - -0.001033334507049611 + - 0.0828170165898621 + - 0.05444099916388728 + - - -0.011978350708583989 + - -0.9912077045876332 + - 0.13177179318965912 + - -0.09318762995437402 + - - 0.08195270057387444 + - -0.13231106751104635 + - -0.9878145252438522 + - 0.9739682508734104 + - - 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: null + base_right_marker_pose: + - - 0.9997287451599551 + - -0.010897838269141518 + - -0.020583323880292832 + - 0.0918979383189148 + - - -0.011040751980871032 + - -0.9999156384938314 + - -0.0068423454436422355 + - -0.03350833232728067 + - - -0.02050702066606193 + - 0.007067744798227643 + - -0.9997647268667107 + - 0.9690186008096069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9809671874928692 + - 0.028791452021340584 + - -0.192027157852302 + - 0.10002426135286183 + - - 0.0027592486843389854 + - -0.9909129761338197 + - -0.13447624428245267 + - -0.08946051736752808 + - - -0.19415396882121172 + - 0.1313869324557003 + - -0.9721325580242918 + - 0.9734387508189005 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999012056538821 + - 0.013354801531546081 + - 0.042385848654103685 + - 0.012808336857938417 + - - 0.01872031291540269 + - -0.9914896685721943 + - -0.12883239887136122 + - -0.09272502231507077 + - - 0.04030459991644845 + - 0.12949859609529796 + - -0.9907601389008955 + - 0.9714813847828943 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9705706254356696 + - -0.012176091093210328 + - 0.24050863570172065 + - 0.05443330235301909 + - - -0.011346976111905552 + - -0.9999239463512298 + - -0.004831940241681887 + - -0.0931816494018317 + - - 0.24054917828695443 + - 0.001960693518422551 + - -0.9706349718129871 + - 0.9737263169387714 + - - 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: + - - 0.9982776874670913 + - -0.010326635070391669 + - -0.05774962608951941 + - 0.023870902585208072 + - - -0.014423905230872301 + - -0.9973728433409694 + - -0.0709884661324685 + - -0.034268459821332975 + - - -0.056864836790824956 + - 0.07169917694139012 + - -0.9958040059985096 + - 0.9694017198862417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996385382131029 + - -0.011916673234657466 + - -0.024099498297460376 + - 0.09190539829212217 + - - -0.011901942242730106 + - -0.9999288846414727 + - 0.0007546061965257861 + - -0.03346984714146189 + - - -0.02410677684846346 + - -0.00046750259840644046 + - -0.9997092801166244 + - 0.9687631756539202 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9797089822443106 + - 0.016221399848229474 + - -0.1997678059567685 + - 0.09992622552523242 + - - 0.004156876738194772 + - -0.9981495453697541 + - -0.06066469693270807 + - -0.08932935318750684 + - - -0.2003822110008788 + - 0.058603338344481073 + - -0.9779635055815131 + - 0.9727591859703444 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9916685752639037 + - 0.012917011122010644 + - 0.12816625007283802 + - 0.012714389287705706 + - - 0.024075379971194175 + - -0.9960129646135987 + - -0.0858984889324133 + - -0.09282313367833786 + - - 0.1265456949615514 + - 0.08826848330691515 + - -0.9880257395135988 + - 0.972798699782268 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912310183514088 + - -0.011013884524627756 + - 0.13168053237174895 + - 0.05441387441750002 + - - -0.0008183494637262444 + - -0.9970128945750324 + - -0.07723094169612754 + - -0.09322131836427977 + - - 0.13213780141270806 + - 0.07644594429264118 + - -0.9882791200055895 + - 0.9743833180438533 + - - 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: + - - 0.9996981356430646 + - -0.013746049755317551 + - -0.0203637842235913 + - 0.023848961107348327 + - - -0.014521393815789693 + - -0.9991558046653327 + - -0.03842924830410874 + - -0.03423567533007916 + - - -0.01981834285270584 + - 0.038713358414072446 + - -0.9990538069427877 + - 0.9690793917591193 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994035803222486 + - -0.010081172709723862 + - -0.033028072845196134 + - 0.09189236959089583 + - - -0.010979722304644484 + - -0.9995713904465748 + - -0.027138185252772645 + - -0.03351555672386687 + - - -0.03274033196508178 + - 0.02748463857316725 + - -0.999085914876853 + - 0.9690419013160771 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9644905273920559 + - 0.024828343816542774 + - -0.2629478577861426 + - 0.10001723480054206 + - - 0.006810167173058443 + - -0.9975785353901114 + - -0.06921479142492105 + - -0.0894408502126344 + - - -0.26402962749295567 + - 0.06496629181543202 + - -0.9623241328854241 + - 0.9736082565223637 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9931996569197684 + - 0.0032689601335563426 + - 0.11637764129805869 + - 0.012780460584215407 + - - 0.026854351702166934 + - -0.9790830667612811 + - -0.20168091673725827 + - -0.09283156302467752 + - - 0.11328409106803444 + - 0.20343466342039598 + - -0.9725127518083859 + - 0.9722104928687103 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9953630411737424 + - -0.00544752918527756 + - 0.0960351013491116 + - 0.05448242739356361 + - - -0.0097515197154212 + - -0.9989660326210409 + - 0.044404656654665496 + - -0.09324709959461408 + - - 0.095693908523993 + - -0.045135242274242045 + - -0.9943869899471979 + - 0.9745928602027253 + - - 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: + - - 0.9982989429887025 + - -0.01078660741207824 + - -0.05729633084392967 + - 0.023919349903263495 + - - -0.016285911760743847 + - -0.9952095868155767 + - -0.09639837855737342 + - -0.03433328704947824 + - - -0.05598204628057653 + - 0.0971675224079893 + - -0.9936923483067244 + - 0.9695337757605754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9686872527308492 + - 0.023364459374297673 + - -0.24718233843643955 + - 0.09998279974935284 + - - 0.004348536047188718 + - -0.997006248772809 + - -0.0771986408055108 + - -0.08942100152541164 + - - -0.24824604051425686 + - 0.07370645796752663 + - -0.9658888452730342 + - 0.973360087546008 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989979962818581 + - 0.006848776542366476 + - 0.04422779312497143 + - 0.012848829447954976 + - - 0.011323170284285738 + - -0.9947482440448511 + - -0.10172372773546612 + - -0.09287355005230774 + - - 0.043298836468727515 + - 0.10212259901490414 + - -0.9938290524687312 + - 0.9718026828870655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9795813370680777 + - -0.0077076414606960224 + - 0.20090046374020773 + - 0.054471677420288855 + - - -0.015743125291420253 + - -0.9991372580164618 + - 0.03843037404716903 + - -0.09328037302953282 + - - 0.2004309309312707 + - -0.04080847836491871 + - -0.9788575534875156 + - 0.9747939013529935 + - - 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: + - - 0.9991913582908084 + - -0.013501710789827181 + - -0.03787259329274089 + - 0.02386466038531907 + - - -0.015878928053344517 + - -0.997875361612278 + - -0.0631872006900255 + - -0.034290726265115326 + - - -0.03693899241785307 + - 0.06373748106814948 + - -0.9972828306685323 + - 0.9692063231002542 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991434772193133 + - -0.009104421450664524 + - -0.04036609270350827 + - 0.09192149090349676 + - - -0.010468736055662866 + - -0.9993765903089878 + - -0.033717003244328955 + - -0.03352505853262681 + - - -0.04003395428253882 + - 0.03411070583306515 + - -0.9986159132780098 + - 0.9690708320916798 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9769251799989795 + - 0.022418098571340354 + - -0.21240202809862033 + - 0.10001539584677632 + - - 0.005755361089302446 + - -0.9968781928607512 + - -0.07874480565355148 + - -0.08943756867628108 + - - -0.21350425874603338 + - 0.07570533306927273 + - -0.9740044322497604 + - 0.9736093566967534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993595515412698 + - 0.02040899725887433 + - -0.02939318924716061 + - 0.012766474971283134 + - - 0.015922401230237138 + - -0.9892288380484293 + - -0.14550870459329404 + - -0.09301635113752538 + - - -0.03204627719869316 + - 0.14494750361507583 + - -0.9889202482068323 + - 0.9724624261135077 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.980442821177321 + - -7.169915552625652e-05 + - 0.196804139339311 + - 0.05436965195581244 + - - -0.026051755172422707 + - -0.9912470562916963 + - 0.12942402962928526 + - -0.09311778513719572 + - - 0.1950722441924837 + - -0.13201995399286073 + - -0.9718629282431912 + - 0.9733096700307348 + - - 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: null + base_right_marker_pose: + - - 0.9988301290144442 + - -0.007635002890047206 + - -0.04775018433323186 + - 0.09183792692932405 + - - -0.009957421259095099 + - -0.9987691883770545 + - -0.048589691401662034 + - -0.03356770548346791 + - - -0.047320430417078535 + - 0.049008316432099554 + - -0.9976767822223958 + - 0.9688780820120955 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.968593845249318 + - 0.028870430969239285 + - -0.24696651829912195 + - 0.10010959280038068 + - - 0.003022930570768672 + - -0.9945302757472136 + - -0.10440494486821926 + - -0.08949919292572045 + - - -0.24862989529802013 + - 0.10037942437482884 + - -0.9633831773112264 + - 0.9743180288220445 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979181595809992 + - 0.010594572852297639 + - 0.06361683585772537 + - 0.012793644703899485 + - - 0.02255002590007249 + - -0.9814714599523048 + - -0.19027682368328025 + - -0.09290633440712484 + - - 0.06042220709621152 + - 0.1913152589972097 + - -0.9796671008890999 + - 0.9729387599335217 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9712881054211441 + - -0.007810353521285532 + - 0.23777807856334682 + - 0.054556093658690324 + - - -0.021000465402152755 + - -0.9983742015949585 + - 0.05298994284317373 + - -0.09338269547894262 + - - 0.23697762915578674 + - -0.05646195150278085 + - -0.9698730078274169 + - 0.9758761663587674 + - - 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: null + base_right_marker_pose: + - - 0.9995755811676139 + - -0.013754678778007451 + - -0.02568007681337287 + - 0.0919037896654724 + - - -0.013360999703583601 + - -0.9997915341560886 + - 0.015439297805834036 + - -0.03348040005313002 + - - -0.025887085976365482 + - -0.015089633578394945 + - -0.9995509800596083 + - 0.968847095550298 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9823839152729296 + - 0.022654609635789122 + - -0.18549558397783886 + - 0.09997659625710928 + - - 0.0049516351664542265 + - -0.9954316462724917 + - -0.09534840800146935 + - -0.08940872111255499 + - - -0.18680825549800464 + - 0.09275023591067755 + - -0.9780082154135031 + - 0.9733303670760463 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971319901082448 + - 0.018742186948355333 + - 0.0733247893359675 + - 0.012649614685012616 + - - 0.02707527087759941 + - -0.9930705350286341 + - -0.11435839350413793 + - -0.09279024508677522 + - - 0.070673361386563 + - 0.11601570103367706 + - -0.9907298486994267 + - 0.9718634792890504 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9942913446281626 + - -0.011236305907647827 + - 0.10610592550404584 + - 0.05441525458678151 + - - 0.0028060773172572445 + - -0.9913419888120438 + - -0.13127523432952187 + - -0.09317100875751119 + - - 0.10666230790494803 + - 0.1308235706886609 + - -0.9856512290991467 + - 0.9736553843046326 + - - 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: null + base_right_marker_pose: + - - 0.9997998359828856 + - -0.009865963117895553 + - -0.017405480181581338 + - 0.09192336194381298 + - - -0.010114590407593924 + - -0.9998472376573985 + - -0.014254697813587706 + - -0.033510727546659756 + - - -0.01726218495676909 + - 0.014427893838894775 + - -0.9997468943937222 + - 0.9691330116354625 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9776136853283961 + - 0.019112111965323312 + - -0.20953808588143732 + - 0.09995008484418207 + - - 0.004315688588116698 + - -0.9974779633515687 + - -0.07084551827756513 + - -0.08933722480202176 + - - -0.21036363062716437 + - 0.06835524708631635 + - -0.9752305897094935 + - 0.9727984914370595 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997621139044103 + - 0.01727163753107453 + - 0.06673644783281309 + - 0.012700933240500024 + - - 0.027540619806009685 + - -0.9873466857952149 + - -0.15616669398404787 + - -0.09280353997096351 + - - 0.06319475605655449 + - 0.15763315827008478 + - -0.9854735969171129 + - 0.9718981976481929 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872976559342823 + - -0.005490532276255619 + - 0.15878662614337152 + - 0.05441495848218773 + - - -0.016672131930839437 + - -0.997465358567914 + - 0.06917296056887957 + - -0.09311989470372466 + - - 0.15800436260923978 + - -0.07094161340360451 + - -0.9848867492682302 + - 0.9735061521433255 + - - 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: + - - 0.9987900255602652 + - -0.013880209538362566 + - -0.0471786458527157 + - 0.023903573964502635 + - - -0.01613108674184659 + - -0.9987329374229535 + - -0.04766872923673387 + - -0.03426499861264345 + - - -0.04645721560588668 + - 0.048372094121395794 + - -0.9977483989606089 + - 0.9693450117076018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9663670757813131 + - 0.026570907730932923 + - -0.2557902689865826 + - 0.10007197189116454 + - - 0.004061678861193737 + - -0.9961008957909323 + - -0.08812779453345185 + - -0.08950578609893725 + - - -0.25713455156921744 + - 0.08412486116990639 + - -0.9627070323428831 + - 0.9741793029903203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993414610690164 + - 0.019411262184018955 + - 0.030656925626466058 + - 0.01274106754101474 + - - 0.025960608886162747 + - -0.9727691116534246 + - -0.2303178286613232 + - -0.0928468230183555 + - - 0.025351350549883595 + - 0.230962027860491 + - -0.9726324335080887 + - 0.9726391226052604 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.976140447182425 + - -0.009277152975705277 + - 0.21694183968787764 + - 0.05451598923863728 + - - -0.018217089570436648 + - -0.9990635289922615 + - 0.03924541610317547 + - -0.09327669430288947 + - - 0.2163745942158601 + - -0.04226108694998343 + - -0.9753953226808747 + - 0.9752836181551471 + - - 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: + - - 0.9974312974774954 + - -0.010077203037683826 + - -0.07091725312853968 + - 0.023857300966600017 + - - -0.01499754125050679 + - -0.9974904293944813 + - -0.06919477597949772 + - -0.034257421243785675 + - - -0.0700419914679717 + - 0.07008061961306294 + - -0.9950793064805689 + - 0.969461940610878 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994667958375476 + - -0.01301650307173196 + - -0.02994486042728433 + - 0.09185411673475445 + - - -0.013006713508578429 + - -0.9999152730320542 + - 0.000521690462893754 + - -0.033467357290840063 + - - -0.029949113875567507 + - -0.00013192807473537272 + - -0.9995514159727112 + - 0.968740112513353 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9779657907538275 + - 0.028065936142891816 + - -0.20687004457790378 + - 0.10000938191773279 + - - 0.0033553218194797927 + - -0.9929071449331675 + - -0.11884503925765676 + - -0.08948024864102175 + - - -0.20873824261674837 + - 0.11553226722041497 + - -0.9711233913876147 + - 0.9738004353701704 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998304735862157 + - 0.011544221397781742 + - 0.0570472199805402 + - 0.01278008757297841 + - - 0.02376509881251471 + - -0.9755555151377375 + - -0.2184643150786271 + - -0.09289420262070808 + - - 0.05313072965450935 + - 0.21944969317969262 + - -0.9741760404206813 + - 0.9730512903322006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9837720394615916 + - -0.007797411208213399 + - 0.17925338142425776 + - 0.05432433806194008 + - - -0.01782539645416141 + - -0.998360066907267 + - 0.05440066218503569 + - -0.09309352458562106 + - - 0.17853523353901993 + - -0.056713112975470055 + - -0.9822977110844757 + - 0.9725860660972633 + - - 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: + - - 0.9987236130430149 + - -0.010708995230700416 + - -0.04936053252807485 + - 0.023854900416910484 + - - -0.014491244941277848 + - -0.99693227524345 + - -0.07691581370544383 + - -0.03428241939408208 + - - -0.048385416918304926 + - 0.07753293493134054 + - -0.9958149905632948 + - 0.9695094830338407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.998065602711444 + - -0.007509984954792123 + - -0.06171428368069117 + - 0.0918694201775725 + - - -0.010414284814643198 + - -0.9988465034841033 + - -0.046874354922282827 + - -0.03348866042966113 + - - -0.06129107076925252 + - 0.047426391424600756 + - -0.9969925486383528 + - 0.9689642722783017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.977774507307594 + - 0.027931986072255378 + - -0.20779031982614368 + - 0.1000073134920672 + - - 0.0019584537674059536 + - -0.9922593136182639 + - -0.12416770512759359 + - -0.08944376479581832 + - - -0.20965013073745667 + - 0.12100106896995344 + - -0.9702605649978238 + - 0.9735551433864644 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997439505471488 + - 0.02097747394922323 + - 0.008484039785956061 + - 0.012722372310177442 + - - 0.022107601260694484 + - -0.9854519412762517 + - -0.16851031244812784 + - -0.09276652877991418 + - - 0.0048256927873792845 + - 0.16865472724349348 + - -0.9856633784754028 + - 0.9716794682308099 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9830399892375659 + - -0.016290654556414548 + - 0.1826663464733719 + - 0.054485043860196654 + - - -0.006868835665031381 + - -0.9986185660015838 + - -0.05209394142841723 + - -0.0932730583137785 + - - 0.18326264937627953 + - 0.04995572250567639 + - -0.9817938822036543 + - 0.9747976092031319 + - - 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: null + base_right_marker_pose: + - - 0.9996412637041131 + - -0.011333960106453404 + - -0.024266957954164045 + - 0.09188990065700736 + - - -0.011136245482254949 + - -0.9999038142174802 + - 0.00826718512513585 + - -0.033456814734239435 + - - -0.02435832376422481 + - -0.007993976584881518 + - -0.9996713301889562 + - 0.968629189279147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9738596176832195 + - 0.02141321012590016 + - -0.22613915954119407 + - 0.09998945628203015 + - - 0.0073661821984813865 + - -0.9980002765990057 + - -0.06277887597055853 + - -0.08941687191579448 + - - -0.22703124103460376 + - 0.0594720298998785 + - -0.9720699014236966 + - 0.973355373811231 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950471104547968 + - 0.008920011882814783 + - 0.09900344117034506 + - 0.012771447585595551 + - - 0.026172807676870406 + - -0.9843328675879732 + - -0.1743668257563555 + - -0.09296578006827401 + - - 0.09589698699056758 + - 0.17609440415313635 + - -0.9796910373745812 + - 0.9737044165295881 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9903873082182795 + - -0.005942191594567855 + - 0.13819431999617093 + - 0.05444796258650793 + - - -0.011763974493971437 + - -0.9990755084038985 + - 0.04134897110688013 + - -0.093225029831769 + - - 0.13782085700015012 + - -0.04257721064778511 + - -0.9895416072653029 + - 0.97393124101679 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9798820203519493 + - 0.024652453005378695 + - -0.19804919275725333 + - 0.10008763230986861 + - - 0.002940600615591262 + - -0.9940173610319605 + - -0.10918259401148336 + - -0.08950375590833987 + - - -0.1995559547069485 + - 0.10640367722909963 + - -0.9740922330113938 + - 0.9742754757157355 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997455069133696 + - 0.017869043661410747 + - 0.013770210062170026 + - 0.012821358005919709 + - - 0.020137281411967724 + - -0.9820249302171057 + - -0.1876739894855514 + - -0.09285739843991866 + - - 0.010169134863148953 + - 0.1879035223478108 + - -0.9821348456222393 + - 0.9728812228182795 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9868318097112284 + - -0.010881514758458288 + - 0.1613833076207802 + - 0.05439108282897897 + - - -0.009442616469640314 + - -0.9999085598153847 + - -0.009680341013127921 + - -0.09315915190983778 + - - 0.16147388747493882 + - 0.008028987762141844 + - -0.986844323598837 + - 0.9736550185481566 + - - 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: null + base_right_marker_pose: + - - 0.9996368106046011 + - -0.01004139019440197 + - -0.025008345951395155 + - 0.09188543688679714 + - - -0.010682048569804177 + - -0.9996147487314975 + - -0.025617337036026637 + - -0.03354141435192836 + - - -0.024741477777473982 + - 0.02587517345698006 + - -0.9993589618730389 + - 0.9689295526502184 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9781027211539937 + - 0.031298015397295854 + - -0.20575592604672036 + - 0.09998846384812597 + - - 0.0028570283067100993 + - -0.9905539208846025 + - -0.13709400865609014 + - -0.08938349120190442 + - - -0.2081031096846164 + - 0.13350417241544213 + - -0.9689529047829214 + - 0.9731886574758011 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9844925446830128 + - 0.003725081743401727 + - 0.17538686732355702 + - 0.012671291606682952 + - - 0.03758629976273123 + - -0.9810362010073922 + - -0.19014531911969276 + - -0.0929488004347292 + - - 0.17135255916884384 + - 0.19378879244937944 + - -0.9659628379949713 + - 0.9736289837589158 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990886150686308 + - -0.0040080404649155115 + - 0.13464238556154232 + - 0.05444221838981993 + - - -0.009697067706993015 + - -0.9990863005850035 + - 0.041623681495733436 + - -0.09317187542543243 + - - 0.1343525334928873 + - -0.04254996586372155 + - -0.9900196448298584 + - 0.9739202701028086 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9691766369004204 + - 0.029432274033840057 + - -0.24460250965921776 + - 0.09999732694082628 + - - 0.0021158667541279225 + - -0.9937961464227343 + - -0.11119686354930272 + - -0.08941608616033221 + - - -0.24635780806434682 + - 0.10725185593042397 + - -0.9632262817247098 + - 0.9733357387637955 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.99449233853498 + - -0.0019047260472947799 + - 0.10479198735548186 + - 0.012915486964066351 + - - 0.01315967582494443 + - -0.9896531687164631 + - -0.142875570275842 + - -0.09286477375344655 + - - 0.10397986116267459 + - 0.14346768858579081 + - -0.9841774285180709 + - 0.9718627612325557 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9936593251379031 + - -0.005886003757610305 + - 0.11227867351484168 + - 0.05446397385531662 + - - -0.009025370042164192 + - -0.9995818086691333 + - 0.027472722350460898 + - -0.09323338414000758 + - - 0.11207001499995 + - -0.028311883326774746 + - -0.9932969087842776 + - 0.9746035004798945 + - - 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: null + base_right_marker_pose: + - - 0.9996768269063001 + - -0.008782041832952928 + - -0.023856183428944095 + - 0.09185299388672932 + - - -0.009387448458611327 + - -0.9996336708901321 + - -0.025385031695003953 + - -0.03355868564142272 + - - -0.023624511804227363 + - 0.0256007766281358 + - -0.9993930571492122 + - 0.968912688235341 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9611422702486669 + - 0.021042033791733368 + - -0.27525037539510483 + - 0.10004138966149183 + - - 0.007971194749056675 + - -0.9987904066086217 + - -0.04851993117119161 + - -0.08945532781600486 + - - -0.2759383923913293 + - 0.044440482451162826 + - -0.9601474090596699 + - 0.9739936470250362 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990997802761482 + - 0.014409954709244126 + - 0.03989965234723128 + - 0.012821110839856686 + - - 0.01993759698970938 + - -0.9896929160009102 + - -0.14181122749589076 + - -0.09298435286710113 + - - 0.03744490991347578 + - 0.14247906942036392 + - -0.9890892747870027 + - 0.9743343575752729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890280085569935 + - -0.0018625420932131872 + - 0.147716381037239 + - 0.05442862346687857 + - - -0.022243785829218377 + - -0.9903979738095116 + - 0.13644437498848422 + - -0.09320800501862628 + - - 0.146043871085957 + - -0.13823308001692375 + - -0.9795727657031219 + - 0.9744155571209978 + - - 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: null + base_right_marker_pose: + - - 0.9992770373152791 + - -0.00858296840156186 + - -0.03703694571392488 + - 0.09183381250107339 + - - -0.009830108181156896 + - -0.999386236107305 + - -0.0336232070513879 + - -0.03346810417350714 + - - -0.03672562685026874 + - 0.033962975910416617 + - -0.9987480886588785 + - 0.9684437432443025 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9792074431997254 + - 0.025901908206552166 + - -0.20120107935474912 + - 0.100047818906436 + - - 0.003123150597754065 + - -0.9936223810233434 + - -0.11271561497790086 + - -0.08945335746183783 + - - -0.20283744504553508 + - 0.10974358787993943 + - -0.9730433267879897 + - 0.9736385219105779 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9985863066924764 + - 0.012162394643017238 + - 0.05174421941460811 + - 0.012796360169814856 + - - 0.0211682011331175 + - -0.9839397502332125 + - -0.17724129082070936 + - -0.09279791159205598 + - - 0.04875751580082279 + - 0.17808605803810387 + - -0.982806217209365 + - 0.9721284520499062 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9831205425535572 + - -0.0015916697449577816 + - 0.18295208497478874 + - 0.054403820023839894 + - - -0.02248735325115423 + - -0.9934315720936471 + - 0.1121963925948674 + - -0.09315540497649938 + - - 0.18157179779072832 + - -0.1144166865232812 + - -0.9766987785863537 + - 0.9735758414385153 + - - 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: null + base_right_marker_pose: + - - 0.999592151873909 + - -0.012392978723862887 + - -0.025728272200786353 + - 0.09187530298600581 + - - -0.01243334209937485 + - -0.999921709662919 + - -0.0014094499014319437 + - -0.03348050190960224 + - - -0.02570879064304245 + - 0.0017287634698290382 + - -0.9996679796114994 + - 0.969071500747006 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9756342467747227 + - 0.026806847419601647 + - -0.21775952206905141 + - 0.1000241312975185 + - - 0.0033518105497437143 + - -0.9942131162022143 + - -0.10737339026742708 + - -0.08941733824917253 + - - -0.21937771510880072 + - 0.10402726807383138 + - -0.9700782162334837 + - 0.9732056853676292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9949446899788607 + - 0.0074257008269092645 + - 0.10014950249551 + - 0.012796167304212363 + - - 0.02152045671808179 + - -0.9898605788766041 + - -0.1404026507182789 + - -0.09280974128855189 + - - 0.09809145643487047 + - 0.14184813482490027 + - -0.9850163312459252 + - 0.9720033972447564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9927702942122472 + - -0.008078980803246993 + - 0.11975755925581023 + - 0.05439297463253143 + - - -0.002973143873072902 + - -0.9990812791569473 + - -0.042752287115755495 + - -0.09323073396475595 + - - 0.1199929303969119 + - 0.042087144204599476 + - -0.9918822354228668 + - 0.974083010970335 + - - 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: null + base_right_marker_pose: + - - 0.9993800083894666 + - -0.008808686876323552 + - -0.034088207154155045 + - 0.09189061313492981 + - - -0.009471454099260465 + - -0.9997682882270322 + - -0.01933032366089482 + - -0.03355243745769629 + - - -0.03391003374689126 + - 0.019641203911782833 + - -0.999231871349278 + - 0.9689139785357384 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9752401525015032 + - 0.016513114359925963 + - -0.22053109078535987 + - 0.10001854493258094 + - - 0.006953214737380999 + - -0.9990048836947744 + - -0.04405559168604163 + - -0.08944160689015405 + - - -0.22103913172481587 + - 0.041431381923939734 + - -0.9743844943543658 + - 0.9735296901651309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9915574530296395 + - 0.008527015151162195 + - 0.1293874312056092 + - 0.012666234694752905 + - - 0.03637556009082825 + - -0.9760600249592868 + - -0.21443797775709947 + - -0.09289928896739919 + - - 0.12446138344664559 + - 0.21733411533647354 + - -0.9681297673047032 + - 0.9726396060133156 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997557552482027 + - -0.004430506057313873 + - 0.021651800483374936 + - 0.05439134499651893 + - - -0.006828284853808788 + - -0.9936895986408117 + - 0.11195693850323679 + - -0.09319375951575315 + - - 0.021019143037978867 + - -0.1120774382698784 + - -0.993477147928834 + - 0.9742058738653239 + - - 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: + - - 0.9992006349277472 + - -0.010265095876937143 + - -0.03863572138092178 + - 0.023844897161088997 + - - -0.01372436965508337 + - -0.9958142536330261 + - -0.09036378665632411 + - -0.034247466511241255 + - - -0.037546409116685914 + - 0.09082180392359712 + - -0.9951591164705803 + - 0.9692516874429928 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996477449530289 + - -0.010369290716645335 + - -0.02443079655594276 + - 0.0918874006054996 + - - -0.011069643957411083 + - -0.9995265400306059 + - -0.028708165338486056 + - -0.03348705892056808 + - - -0.024121546239416827 + - 0.028968492961826523 + - -0.9992892361186226 + - 0.9688244047557812 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9628466157945869 + - 0.0288660376360636 + - -0.2685016691272228 + - 0.10003547175888128 + - - 0.002051579228923515 + - -0.995023849096747 + - -0.09961591615481047 + - -0.08946840876834163 + - - -0.2700410810887461 + - 0.09536399530162387 + - -0.9581145667009421 + - 0.973921741214752 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9828269500523718 + - -2.9648606366718296e-05 + - 0.18452963277401532 + - 0.01285042116348495 + - - 0.01543072645282947 + - -0.9964843340613654 + - -0.08234600567978677 + - -0.09276172133203658 + - - 0.1838833296737112 + - 0.08377929989703702 + - -0.979371201320966 + - 0.9722174820881258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.995275197987408 + - -0.005341855073546601 + - 0.09694712401870985 + - 0.054500909463691904 + - - -0.011229317867816413 + - -0.9981180382862347 + - 0.06028502357851162 + - -0.09330782479349717 + - - 0.09644263938398524 + - -0.061088838849755425 + - -0.9934621135587601 + - 0.9751000423115244 + - - 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: null + base_right_marker_pose: + - - 0.9994299010437645 + - -0.009469543951108711 + - -0.03240679924042366 + - 0.09188046669915217 + - - -0.009806657335960004 + - -0.9998992813664913 + - -0.010259463663782028 + - -0.033449864935552916 + - - -0.03230638282980881 + - 0.010571417129761852 + - -0.9994221044024999 + - 0.9686783513984825 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9799011245935804 + - 0.029164734442097832 + - -0.1973403260490826 + - 0.09998221378612765 + - - 0.0006904426303705261 + - -0.9897448298365004 + - -0.14284500376594186 + - -0.08943803219351329 + - - -0.19948260402654286 + - 0.13983772765902516 + - -0.9698722083934309 + - 0.9732304976321529 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9892116065987208 + - -0.00628871797602679 + - 0.14635863280516032 + - 0.012793039101065686 + - - 0.027010141895466095 + - -0.9741198434322178 + - -0.2244125283186711 + - -0.09324219587168556 + - - 0.14398211557399948 + - 0.22594464511868734 + - -0.9634407961764054 + - 0.9746930350061616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999675009388098 + - -0.005413894126991398 + - 0.024911149216523452 + - 0.05452606347654375 + - - -0.005605155595692292 + - -0.9999553010658944 + - 0.007614335228061952 + - -0.09340238419595864 + - - 0.024868812509933974 + - -0.007751491508023079 + - -0.9996606706996867 + - 0.9761379850575772 + - - 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: + - - 0.9991140035076326 + - -0.011535658680389554 + - -0.0404738999079646 + - 0.02383604256181948 + - - -0.013431667360598122 + - -0.998809730288671 + - -0.046890436046032435 + - -0.03425438249330441 + - - -0.03988481298520312 + - 0.04739252324451999 + - -0.9980797315012733 + - 0.9693301962572852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9672161323397443 + - 0.019613456764110183 + - -0.25319610118544217 + - 0.10007028561540379 + - - 0.006446439390852247 + - -0.9985880748310134 + - -0.05272855226982076 + - -0.08947830261819807 + - - -0.2538727964176673 + - 0.04936769306999804 + - -0.9659769324989189 + - 0.9740153633746751 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9841834146828542 + - 0.011889779050254198 + - 0.17675304641599043 + - 0.012679518524652824 + - - 0.029375425338237553 + - -0.994885587951652 + - -0.09664238858954757 + - -0.09286466824396218 + - - 0.1747000018585998 + - 0.10030603192346721 + - -0.9794991624857948 + - 0.9724520445534688 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963296413195879 + - -0.004486524425987629 + - 0.08548167596951074 + - 0.05452951619422492 + - - -0.012922324927478364 + - -0.9950640588131173 + - 0.09838969649731806 + - -0.09335807304171392 + - - 0.08461831566776833 + - -0.09913319301293945 + - -0.9914697931337141 + - 0.976047236408565 + - - 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: + - - 0.9988863353203257 + - -0.011120417300859463 + - -0.04585221291698812 + - 0.023816595023402342 + - - -0.013839751693380312 + - -0.9981369968959602 + - -0.05942219030446666 + - -0.03425771503404418 + - - -0.045105990548879905 + - 0.0599905971512988 + - -0.9971793107912116 + - 0.9690555647517305 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994648153686019 + - -0.008281557655310332 + - -0.031646463357037344 + - 0.09191169670576416 + - - -0.009914520042827855 + - -0.9986084367511755 + - -0.05179664411614442 + - -0.033548180784956326 + - - -0.031173468407074967 + - 0.052082682843493426 + - -0.9981561045324011 + - 0.9690566093385903 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9554600132029506 + - 0.036596601769393125 + - -0.2928427084787153 + - 0.1000897392270379 + - - 0.0020708650616719226 + - -0.9930884827644876 + - -0.11734980578775096 + - -0.08956628311553765 + - - -0.2951133251619007 + - 0.11151660925377428 + - -0.9489321214778357 + - 0.9744570628283791 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9961160944467709 + - 0.005500926580840315 + - 0.08787756363750744 + - 0.012805351669474102 + - - 0.026668453513533537 + - -0.9700160034291233 + - -0.24157348090920147 + - -0.09287038827477667 + - - 0.08391376508838384 + - 0.24297879104593476 + - -0.9663952540914863 + - 0.9724400362737422 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9912213426729938 + - -0.01170640750926117 + - 0.1316936211544607 + - 0.0545529770369228 + - - -0.000568235780025266 + - -0.9964404387393957 + - -0.08429785971742831 + - -0.09351443259253375 + - - 0.1322116747403413 + - 0.0834830046660279 + - -0.9876996815805331 + - 0.9771166394751987 + - - 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: + - - 0.9984128000229314 + - -0.010922630204589017 + - -0.05525013031463147 + - 0.02386918522166472 + - - -0.014737701135632554 + - -0.9974993563504359 + - -0.06912187964532837 + - -0.034252917114867824 + - - -0.05435697669671055 + - 0.06982642930782215 + - -0.9960770998544808 + - 0.9693525042177925 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996215001827587 + - -0.010021243664705708 + - -0.025620910362114675 + - 0.09188879674113448 + - - -0.01033734161972887 + - -0.9998717143124481 + - -0.012234961631437936 + - -0.03351399589068388 + - - -0.025495014034276203 + - 0.012495182803718113 + - -0.9995968560705328 + - 0.9690203115667229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9772028888356231 + - 0.024953113798616137 + - -0.21083608837925755 + - 0.10001971103199127 + - - 0.003400936033016848 + - -0.9947814016614027 + - -0.1019725283724709 + - -0.0894617186337884 + - - -0.2122803516235361 + - 0.09893080925742176 + - -0.9721881234073267 + - 0.9736421017022373 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996010277099854 + - 0.017555710294732803 + - 0.022126509828450738 + - 0.01276612106711832 + - - 0.02133150075357268 + - -0.9826966561426637 + - -0.18398980700470294 + - -0.09280926447026233 + - - 0.01851357547156796 + - 0.18438839183114245 + - -0.9826790770547543 + - 0.9723806888034224 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9848517039414272 + - -0.006073359835486551 + - 0.17329234127328394 + - 0.05440180448983001 + - - -0.00951863399547922 + - -0.9997730842369639 + - 0.019057167737316194 + - -0.09308751976735467 + - - 0.1731372774723217 + - -0.02041799048919351 + - -0.9846860356549466 + - 0.9729601815720451 + - - 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: + - - 0.9989439936343399 + - -0.013777574130771006 + - -0.04383008137052586 + - 0.023850747682676487 + - - -0.014497872120173935 + - -0.9997643270218293 + - -0.016158654602889386 + - -0.03425339833417051 + - - -0.043597124743070974 + - 0.016777033875494937 + - -0.9989083150362085 + - 0.9691244800512746 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995603268541347 + - -0.01216781454435703 + - -0.027038810411511478 + - 0.09189120358794559 + - - -0.01211328482504526 + - -0.9999242559546317 + - 0.0021796064606301067 + - -0.03353573929122329 + - - -0.0270632834298216 + - -0.001851119334355775 + - -0.9996320083146633 + - 0.9688479734332613 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9855366582180788 + - 0.01819200019416118 + - -0.1684830746314815 + - 0.09986666728821143 + - - 0.006626591350355405 + - -0.9975978443695043 + - -0.06895381930244013 + - -0.08929840514755062 + - - -0.1693327599592504 + - 0.06684004816166583 + - -0.9832897967366125 + - 0.972011687183309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9951734807932913 + - 0.004035073397764955 + - 0.09804826009899069 + - 0.012826961205576023 + - - 0.013336519033807519 + - -0.9954453053759161 + - -0.09439693461713064 + - -0.0929520061343024 + - - 0.09722078165611285 + - 0.09524894848618853 + - -0.9906945833234634 + - 0.9719208392774807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9976591700187493 + - -0.006107834972933803 + - 0.06810928592669246 + - 0.05431897832754465 + - - -0.008580242284807174 + - -0.9993125265729759 + - 0.036067349177192204 + - -0.09305567101318903 + - - 0.0678421691857988 + - -0.03656731581999022 + - -0.9970257125540377 + - 0.9725488331472976 + - - 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: + - - 0.9985521167290885 + - -0.010835303650042805 + - -0.05269028725171348 + - 0.023863266671160028 + - - -0.014500563047319438 + - -0.9974636187770337 + - -0.06968545678644647 + - -0.03430454828145047 + - - -0.05180158151222244 + - 0.0703485992116144 + - -0.9961765258937779 + - 0.9693519177782589 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997614579778016 + - -0.013199631042338036 + - -0.017401059808140603 + - 0.091860993787352 + - - -0.01308021911446866 + - -0.999890238340118 + - 0.006958386311508023 + - -0.033516990470273844 + - - -0.017490997970894314 + - -0.006729116768851585 + - -0.9998243765669519 + - 0.9685609086194832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9744153345947786 + - 0.027872480904680523 + - -0.2230199105792216 + - 0.1000333776493293 + - - 0.0022081383526585483 + - -0.9934199389266687 + - -0.11450741927032411 + - -0.08943834257045444 + - - -0.22474403180409774 + - 0.11108532644392101 + - -0.9680651684764237 + - 0.9738058650001107 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9924796246079355 + - 0.005312650296251364 + - 0.1222946052977035 + - 0.012700610543331959 + - - 0.035984021145307854 + - -0.9675783186240697 + - -0.24999469504538085 + - -0.09302264178500114 + - - 0.11700147418005205 + - 0.2525152927556046 + - -0.9604929369673921 + - 0.9736463613595477 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983418641026032 + - -0.004540743872730454 + - 0.05738383069490698 + - 0.054492151820602325 + - - -0.009768079003375651 + - -0.9957897125579929 + - 0.09114512052904876 + - -0.09327017016343522 + - - 0.05672836162558636 + - -0.09155451932457116 + - -0.994182912234225 + - 0.9751661793092044 + - - 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: null + base_right_marker_pose: + - - 0.9995060269657389 + - -0.008077386982858818 + - -0.03037199168136495 + - 0.09187952462365896 + - - -0.009189696632008686 + - -0.9992854149356342 + - -0.03666345554812248 + - -0.03349885671982677 + - - -0.030054143391143373 + - 0.03692445417940051 + - -0.9988660236230773 + - 0.9687889482879175 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9736481809811881 + - 0.03522695143326325 + - -0.22531817850484692 + - 0.0999979328187906 + - - 5.020001873969407e-05 + - -0.9880310755447962 + - -0.1542549553101975 + - -0.08943343033204398 + - - -0.22805529406699082 + - 0.15017874566832495 + - -0.9619964278506997 + - 0.9734727453761629 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992957222286662 + - 0.013199898137665665 + - 0.03512580567963666 + - 0.012722819059057557 + - - 0.01952810078347307 + - -0.9822745883836964 + - -0.18642769723254882 + - -0.09295109149348549 + - - 0.03204235970210158 + - 0.18698234062283964 + - -0.9818405631669157 + - 0.9718072323491637 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9884675093221001 + - -0.008141884549241474 + - 0.15121406260844447 + - 0.054502488306754436 + - - -0.0081479489445993 + - -0.9999666369913385 + - -0.0005795103353048828 + - -0.09326367793466075 + - - 0.15121373595860907 + - -0.0006592573240738149 + - -0.988500870731645 + - 0.9747807548445766 + - - 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: + - - 0.9987620096246503 + - -0.011644412635861882 + - -0.04836171817559419 + - 0.02385378872103439 + - - -0.014684342855011306 + - -0.9979063501366114 + - -0.06298639878531295 + - -0.034285000327096075 + - - -0.0475270260530395 + - 0.06361858228058667 + - -0.9968419422271322 + - 0.9691469137659743 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9747367527170034 + - 0.02583062019489204 + - -0.22185815730564956 + - 0.10004513293933816 + - - 0.000944086678094062 + - -0.993757933799798 + - -0.11155392288171788 + - -0.08943287782968551 + - - -0.2233548110139008 + - 0.10852625521182997 + - -0.968676767723187 + - 0.9737045232183106 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9958508628526844 + - 0.007161672380523723 + - 0.09071807650230361 + - 0.012738956749366537 + - - 0.03164968147507131 + - -0.9619196063962255 + - -0.2714939566418703 + - -0.09307869148587739 + - - 0.08531914567135736 + - 0.27323868920642497 + - -0.9581551346742683 + - 0.9744509251091655 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9989144127512151 + - -0.0032199636345219378 + - 0.04647179609276464 + - 0.05460167731672725 + - - 0.0015232140059704535 + - -0.9948169100095577 + - -0.10167101542783466 + - -0.09351876532356539 + - - 0.046558305563960914 + - 0.1016314291606063 + - -0.9937320447634689 + - 0.9770689133893284 + - - 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: + - - 0.9985855782033968 + - -0.010911802478567673 + - -0.05203629090218037 + - 0.023895248717179553 + - - -0.014934270898466984 + - -0.9968765856171019 + - -0.0775502456548063 + - -0.03427053794635691 + - - -0.05102754703999417 + - 0.0782176809619048 + - -0.9956295414600872 + - 0.9695048185192678 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996946510895034 + - -0.010712645004517749 + - -0.0222675508317192 + - 0.09186224976072899 + - - -0.010720069381807506 + - -0.9999425154908891 + - -0.0002140705531093081 + - -0.03350480060096602 + - - -0.022263977530649164 + - 0.0004527148767781021 + - -0.9997520244309359 + - 0.9688516853680259 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.845876693725586 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9708667387125888 + - 0.038560251635414634 + - -0.23649710919035627 + - 0.10006720592333564 + - - -0.00206262296743958 + - -0.9855856382145383 + - -0.16916469883440943 + - -0.08951431805690914 + - - -0.23961118765215444 + - 0.16472418383180948 + - -0.9567927790346608 + - 0.9741879407502 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9950255430924428 + - 0.013107726952520151 + - 0.0987540180839619 + - 0.012676066872378567 + - - 0.032752521737191384 + - -0.9792417880039046 + - -0.20003197981015858 + - -0.09305415456586144 + - - 0.09408209666798516 + - 0.20227137247038957 + - -0.9747999030393375 + - 0.9739995089034276 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9962282442479357 + - -0.003746727227550696 + - 0.08669052657446333 + - 0.05461922919351664 + - - 0.0009335076841763077 + - -0.9985467427908976 + - -0.053884422842710784 + - -0.093548074110766 + - - 0.08676643317596378 + - 0.05376211023360968 + - -0.9947769707714135 + - 0.9775283911972438 + - - 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: + - - 0.9988787147847026 + - -0.011517822112560474 + - -0.045920071034833865 + - 0.023852943693888896 + - - -0.013829146826350185 + - -0.9986364924065976 + - -0.050337965114854125 + - -0.034271946297016666 + - - -0.04527767494158709 + - 0.05091655730341983 + - -0.99767601772532 + - 0.9694039299891511 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.10787314921617508 + - -9.845876693725586 + - 0.254972904920578 + shoulder_marker_pose: + - - 0.9750401658108531 + - 0.03966599371410654 + - -0.21845659522709876 + - 0.1000991111903397 + - - -0.0035935709308857616 + - -0.9809639680414167 + - -0.19415658539540562 + - -0.08950983261016127 + - - -0.2219994623946389 + - 0.19009550848747372 + - -0.9563367274916197 + - 0.9741419656411725 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982156168653581 + - 0.014336948500089458 + - 0.05796580158868237 + - 0.012790273676359598 + - - 0.01937248584535497 + - -0.9959967840872586 + - -0.08726461413431602 + - -0.09284925873273145 + - - 0.056482643690643854 + - 0.08823184229939512 + - -0.9944972865554592 + - 0.9722404884146201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9884040192181149 + - -0.008202343938052517 + - 0.15162524970267358 + - 0.054535659452121715 + - - -0.00739570884879287 + - -0.9999553452065908 + - -0.005883118509046805 + - -0.09339046152313658 + - - 0.15166673426991203 + - 0.004693521778951854 + - -0.9884205443884755 + - 0.9758038375711042 + - - 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: null + base_right_marker_pose: + - - 0.9996542804373199 + - -0.00927160031831817 + - -0.024604004366806806 + - 0.09184914620312071 + - - -0.009411420058148228 + - -0.9999401810598002 + - -0.005573102778885288 + - -0.03347377766388 + - - -0.024550860999842168 + - 0.005802734668438331 + - -0.9996817411029048 + - 0.9686402394919776 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9795173313739975 + - 0.022400755391834035 + - -0.20010997900114164 + - 0.10005479681495791 + - - 0.003996407418023144 + - -0.9957597085098921 + - -0.09190555824346897 + - -0.08946709032198721 + - - -0.20132020828945935 + - 0.08922336614457962 + - -0.9754534149143765 + - 0.9739439861697381 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9945521173437231 + - 0.014971401033105305 + - 0.10315979370967832 + - 0.01265290334953994 + - - 0.025788630348504295 + - -0.9942075171425869 + - -0.1043377180214363 + - -0.09271972318614495 + - - 0.10100016055366276 + - 0.10642964816383865 + - -0.9891772831802476 + - 0.9706279876891296 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.98420180839551 + - -0.006394736445589004 + - 0.17693475548009002 + - 0.0543510092184776 + - - -0.01882094938933057 + - -0.9974638315865101 + - 0.06864165310394921 + - -0.09312985764206967 + - - 0.1760470738612035 + - -0.07088731919426844 + - -0.9818260618675583 + - 0.97303831043318 + - - 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: + - - 0.99729347066411 + - -0.010981597943441529 + - -0.072698953756864 + - 0.023864401546950912 + - - -0.015180492207761374 + - -0.9982324385142634 + - -0.05745912768391878 + - -0.03428484477492209 + - - -0.07193946084774439 + - 0.058407218770246086 + - -0.9956973991973966 + - 0.9693586714536893 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9991759847648203 + - -0.011754931512977244 + - -0.038848076585295814 + - 0.09188128854388035 + - - -0.011393893575562 + - -0.99988993990124 + - 0.009501961559816375 + - -0.033488758260007315 + - - -0.03895549586952477 + - -0.009051500948498851 + - -0.9991999497959052 + - 0.9687527416483155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9782453324849689 + - 0.016710014903347357 + - -0.20677728326221512 + - 0.0999633672918994 + - - 0.005011158710003356 + - -0.9983631985598317 + - -0.05697202866113303 + - -0.08936366301965729 + - - -0.20739083335517894 + - 0.05469642733590299 + - -0.9767278756526468 + - 0.9729059817245056 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998269054831056 + - 0.019110181566998837 + - 0.05562099538111862 + - 0.012632560911772126 + - - 0.030933264327995872 + - -0.9749631132160402 + - -0.22020458902144102 + - -0.09288315426799434 + - - 0.050020269138864294 + - 0.22154396590420544 + - -0.9738666458230884 + - 0.9723919935207976 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935618863423034 + - -0.007103979715823751 + - 0.11306772961424934 + - 0.0544223935054193 + - - -0.007719013478171019 + - -0.9999576942609659 + - 0.0050026512187982385 + - -0.09318527479526657 + - - 0.11302740746760338 + - -0.005843214910500388 + - -0.9935746886876007 + - 0.9740146891304201 + - - 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: + - - 0.9988098242375638 + - -0.01164498919534293 + - -0.04736379665068208 + - 0.023873764056743046 + - - -0.015343518218725791 + - -0.9967968448394223 + - -0.0784896589803012 + - -0.0343065242107724 + - - -0.04629807183024415 + - 0.07912296976739873 + - -0.9957891564984972 + - 0.9694132072134957 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9800723948781119 + - 0.01820655156306874 + - -0.19780450520163478 + - 0.09991453821053253 + - - 0.006666816329592585 + - -0.9982446241129668 + - -0.05884916303218955 + - -0.08933261070566423 + - - -0.19852872426404627 + - 0.056357713844185225 + - -0.9784733791638621 + - 0.9725956258947708 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978414066043405 + - 0.02024905948449078 + - 0.062470015654429126 + - 0.012631180442865519 + - - 0.029323075478480953 + - -0.9885602198356225 + - -0.14794880534505847 + - -0.09277002551545066 + - - 0.058759548248385765 + - 0.1494612570151216 + - -0.9870200849735057 + - 0.9713278618050174 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9711758937866691 + - -0.00912089721330907 + - 0.23818940480568954 + - 0.0544635704847645 + - - -0.011954569453501549 + - -0.9998738838754015 + - 0.010454884652703198 + - -0.09320854548914048 + - - 0.23806400735274072 + - -0.013000983729863368 + - -0.971162449245856 + - 0.974101522642205 + - - 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: null + base_right_marker_pose: + - - 0.9994059252283426 + - -0.008033959710214214 + - -0.033514953526077834 + - 0.09187879303942705 + - - -0.009112862634544572 + - -0.9994410556284268 + - -0.032164142440606266 + - -0.03350434869181759 + - - -0.03323781510695947 + - 0.0324504517027166 + - -0.9989205252827699 + - 0.9690094139134217 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9751544740221989 + - 0.023821426863278677 + - -0.22024143891803408 + - 0.09998018804854933 + - - 0.00535615451654569 + - -0.9964462239801188 + - -0.08406089652483151 + - -0.08940953581757151 + - - -0.22146120067245087 + - 0.0807927121587152 + - -0.9718165846798232 + - 0.9732251929154683 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995957566717754 + - 0.021278947505729787 + - 0.08726815966146598 + - 0.012626202548552283 + - - 0.033623946310045214 + - -0.9892189460675536 + - -0.1425317753188343 + - -0.09284359910273723 + - - 0.08329439076066239 + - 0.14488990004154143 + - -0.9859355766650086 + - 0.9722343763718896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9821975423971346 + - -0.014106776240590544 + - 0.18732054498406436 + - 0.05452632729150454 + - - -0.004116129033906997 + - -0.9985531056021323 + - -0.05361672103098741 + - -0.09332734000840516 + - - 0.18780587102325952 + - 0.05189117609417242 + - -0.9808344715866995 + - 0.9754687003297529 + - - 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: + - - 0.9993305700276595 + - -0.013306297248368652 + - -0.03407864817933902 + - 0.02389277765108904 + - - -0.014126436651085683 + - -0.999613598451362 + - -0.02393945652393693 + - -0.034199141012165785 + - - -0.03374693461243514 + - 0.024404840598878336 + - -0.9991323977129392 + - 0.9690030460188377 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9992946441326906 + - -0.010707536129860551 + - -0.03599392834558165 + - 0.09186119513068247 + - - -0.010946599436483453 + - -0.9999192732989618 + - -0.006451267011532339 + - -0.0334438310231074 + - - -0.03592194549987953 + - 0.006840727688238745 + - -0.9993311854816699 + - 0.9686370710683936 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9902557694227646 + - 0.008963520211232144 + - -0.13897181883515564 + - 0.0998787594143628 + - - 0.006589837801441916 + - -0.9998246026250103 + - -0.017531058824006893 + - -0.08927960508691432 + - - -0.13910458354302768 + - 0.01644443039946765 + - -0.9901411493045613 + - 0.9721322741688105 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970024937072355 + - 0.018341404439498374 + - 0.07516395695238849 + - 0.012683283476066677 + - - 0.025208284521239188 + - -0.9954901975326188 + - -0.0914538627285063 + - -0.09276903898867961 + - - 0.07314759007000855 + - 0.09307448361207797 + - -0.9929685647427594 + - 0.9713837241978005 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9995672912971002 + - -0.008541691801544885 + - -0.02814728530685552 + - 0.054292322439562654 + - - -0.004628456054690524 + - -0.990661690361456 + - 0.13626442178621795 + - -0.09296992291291424 + - - -0.02904836593558926 + - -0.1360751805119138 + - -0.9902725572715433 + - 0.9718668047285106 + - - 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: null + base_right_marker_pose: + - - 0.9993753429491405 + - -0.010566701504459423 + - -0.03372341507919306 + - 0.091894714963114 + - - -0.010728143085325142 + - -0.9999318256999455 + - -0.0046098696635177945 + - -0.033496283855730974 + - - -0.033672404892265737 + - 0.0049687796982243295 + - -0.999420572320323 + - 0.96889956048669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9711662043128085 + - 0.034899041153820504 + - -0.23583524021485044 + - 0.10005423156497284 + - - -0.0010383743165926426 + - -0.988598885467522 + - -0.15056947044853597 + - -0.08953614108216261 + - - -0.23840118577605882 + - 0.14647286635728085 + - -0.9600575889193583 + - 0.9742226212637494 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9885390089421412 + - -0.004973528736977217 + - 0.15088370293571046 + - 0.012798132364545505 + - - 0.03146006621696458 + - -0.9707276813556787 + - -0.2381134874034887 + - -0.093065409753631 + - - 0.14765125137740442 + - 0.24013128213902002 + - -0.9594457125366479 + - 0.9744024048027885 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9947246845160089 + - -0.003361035252914755 + - 0.10252563316827258 + - 0.05447816058682883 + - - -0.016113504742822908 + - -0.992175023334289 + - 0.12381065397011236 + - -0.09332764303556386 + - - 0.1013072405084136 + - -0.12480956098645864 + - -0.986995145128353 + - 0.9753218799438703 + - - 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: + - - 0.9981851825874248 + - -0.010801421483612085 + - -0.0592424725753639 + - 0.0238525844076129 + - - -0.014903818817551423 + - -0.9974880711483706 + - -0.0692490007246034 + - -0.034308431387211416 + - - -0.058345672055114595 + - 0.07000626550985194 + - -0.9958387948567783 + - 0.9694457323474462 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9759067339384746 + - 0.032274492714309266 + - -0.21578786753099277 + - 0.09999387053705062 + - - 0.0016652840074558566 + - -0.9900722259857104 + - -0.14054968573737597 + - -0.08940823771060132 + - - -0.218181744155449 + - 0.13680403667923924 + - -0.966271898621476 + - 0.9732222402960419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986632700407954 + - 0.026072947913036444 + - 0.04463042077495454 + - 0.012639534662315249 + - - 0.02797482996549292 + - -0.9987033069282464 + - -0.04253367629288103 + - -0.09266610687283555 + - - 0.04346357049101195 + - 0.043725348685972984 + - -0.998097696582085 + - 0.9705867343990664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9881015963734714 + - -0.008008039493025478 + - 0.15359396650804866 + - 0.05446466638813027 + - - -0.007881143031774415 + - -0.999967913616488 + - -0.001435033797656476 + - -0.09323794537287353 + - - 0.15360053004045962 + - 0.00020746316744674849 + - -0.98813300427135 + - 0.9744507606116126 + - - 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: + - - 0.999027642774611 + - -0.0137711017659609 + - -0.041882284182645245 + - 0.023870273786295314 + - - -0.01502598230523591 + - -0.9994430431439357 + - -0.029796364995612303 + - -0.0342578464386023 + - - -0.04144862878271179 + - 0.03039671474584978 + - -0.9986781518110289 + - 0.9692747737990183 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998908616415502 + - -0.01053920914297533 + - -0.010353254384920947 + - 0.09191926237243322 + - - -0.010664376962290757 + - -0.9998698031255935 + - -0.012109825002620912 + - -0.03353869952203857 + - - -0.010224278445172636 + - 0.012218914363746298 + - -0.999873073075802 + - 0.9691217357605895 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9660718435847024 + - 0.013266491667319186 + - -0.2579325362021923 + - 0.10009802838714368 + - - 0.0111787600128301 + - -0.9998918247875167 + - -0.009558977333691963 + - -0.08943790785676903 + - - -0.2580314483884278 + - 0.006351292933839257 + - -0.9661156414843096 + - 0.9742769012547616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962731701591473 + - 0.015628998373248347 + - 0.08482632156879001 + - 0.012660814896873445 + - - 0.026508032009394583 + - -0.9913314043210943 + - -0.12868321975205768 + - -0.09275494220810482 + - - 0.08207980665201205 + - 0.13045221813605337 + - -0.9880511748504489 + - 0.9711858443699288 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.99019354831769 + - -0.009189791059633764 + - 0.1393997295919289 + - 0.05449353828950585 + - - -0.008110663164462668 + - -0.9999326000901309 + - -0.00830737142680087 + - -0.09336223371719829 + - - 0.1394666770703857 + - 0.0070952813383596295 + - -0.9902013446616168 + - 0.975498453850339 + - - 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: + - - 0.9989940840014617 + - -0.012055971046018937 + - -0.043191129786311226 + - 0.02387298361266541 + - - -0.015548180607851275 + - -0.9965558147974064 + - -0.08145404884512523 + - -0.034303871159981576 + - - -0.04206036388176005 + - 0.08204365640082091 + - -0.9957408117750918 + - 0.9693499697325577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999688263140038 + - -0.010242456108488908 + - -0.022769906300201502 + - 0.0918413415287983 + - - -0.009976869542147186 + - -0.999881226892207 + - 0.011747092520061432 + - -0.0334604554361001 + - - -0.022887520927205147 + - -0.011516258133681519 + - -0.9996717147065862 + - 0.9685391208627897 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9784636626706141 + - 0.02665836888059364 + - -0.20469047902096668 + - 0.09998096643943855 + - - 0.0022669967360486806 + - -0.9929534904798665 + - -0.11848302186241202 + - -0.08941092688602728 + - - -0.2064066897147603 + - 0.11546729888793736 + - -0.9716293435917417 + - 0.9732394510164027 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993830381696998 + - 0.029245427287800618 + - 0.019448598958653595 + - 0.012621323455092042 + - - 0.031228343429139643 + - -0.993330116431058 + - -0.11099581234322292 + - -0.09280359164295594 + - - 0.016072759108886243 + - 0.11153467969118042 + - -0.9936305559114076 + - 0.9717845818045778 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9657036107590298 + - -0.011793586021287897 + - 0.25937896502170465 + - 0.054410799467665395 + - - -0.014799111215802536 + - -0.9998440386653833 + - 0.009637668417111944 + - -0.09318973884608275 + - - 0.2592248492606265 + - -0.013145709340099232 + - -0.9657275329262138 + - 0.973864279616014 + - - 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: + - - 0.9992495077689354 + - -0.013048126963795767 + - -0.03647146290289291 + - 0.02384218106000116 + - - -0.015160606510931705 + - -0.9981864186393434 + - -0.058258301161145505 + - -0.03426997142796352 + - - -0.03564515722733065 + - 0.05876750825667785 + - -0.9976351050056032 + - 0.9687199374802608 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9845450600246479 + - 0.0249630675628702 + - -0.17334321457419127 + - 0.10003854956995002 + - - 0.003845402235223167 + - -0.9926319468093056 + - -0.121107518574269 + - -0.08946601549525132 + - - -0.17508922771750374 + - 0.11856923475935548 + - -0.977386872689555 + - 0.9735282924798533 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998232371294895 + - 0.018662795190186505 + - 0.002279160283474518 + - 0.012738838618151116 + - - 0.01880122781179883 + - -0.9930266090622054 + - -0.11638156008228807 + - -0.0928655378571212 + - - 9.126158807782735e-05 + - 0.11640383915536263 + - -0.99320196229227 + - 0.9712486845002826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9945137398006724 + - -0.005361720836258066 + - 0.10446852778399122 + - 0.05442140898861291 + - - -0.001185653908109179 + - -0.9991991538149739 + - -0.0399955652572957 + - -0.09318125310938755 + - - 0.10459930961765808 + - 0.03965227566123349 + - -0.9937236444114608 + - 0.9736701380388233 + - - 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: + - - 0.9983007831153404 + - -0.00963885244071953 + - -0.05746859102956983 + - 0.02384771206020656 + - - -0.014670438979941271 + - -0.9960313634218718 + - -0.08778554152081568 + - -0.0342996775260703 + - - -0.05639436719596859 + - 0.08847946430439703 + - -0.9944802963080631 + - 0.9694842394117758 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9747585641884879 + - 0.022230586293986318 + - -0.22215207083037303 + - 0.10005123844208572 + - - 0.0057962881912605995 + - -0.9972147987655121 + - -0.0743575696635036 + - -0.08947053305978916 + - - -0.22318634497746787 + - 0.07119302041692405 + - -0.9721725203170032 + - 0.9738880953334611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9866782386592314 + - 0.003597916169088262 + - 0.1626441156499583 + - 0.01278116603056139 + - - 0.021315232853115297 + - -0.9939960182485565 + - -0.10731997276571523 + - -0.09292630188323239 + - - 0.1612814750823363 + - 0.10935707889870047 + - -0.9808309309407051 + - 0.9732479137368311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9892948247323432 + - -0.0053008130634012605 + - 0.14583432771014188 + - 0.05444867555246027 + - - -0.018058136047871563 + - -0.9961060305988828 + - 0.0862941453808711 + - -0.09325371095932476 + - - 0.14480902416727603 + - -0.08800384756023585 + - -0.9855382637596152 + - 0.9747460925810982 + - - 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: null + base_right_marker_pose: + - - 0.9992509987864936 + - -0.007786658970071429 + - -0.03790526831825294 + - 0.09191070036699994 + - - -0.009500774365842398 + - -0.998930377418579 + - -0.04525302594109106 + - -0.03352472035670048 + - - -0.03751235410693784 + - 0.04557926077131478 + - -0.9982561566436225 + - 0.9692964953785881 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9716334965281951 + - 0.008287734039306834 + - -0.236346486940017 + - 0.10003059226909186 + - - 0.010682695246205486 + - -0.9999037343542704 + - 0.008854493021125285 + - -0.08939797800854835 + - - -0.23625035120962382 + - -0.01112813950659195 + - -0.9716284969392628 + - 0.9735519839404159 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9825006265295176 + - 0.005451230029632997 + - 0.18617949124506028 + - 0.012709247494898471 + - - 0.027191323986940547 + - -0.993060618326992 + - -0.11441695778095731 + - -0.0929284907443363 + - - 0.18426380753946958 + - 0.11747719957156011 + - -0.9758309058499228 + - 0.9728652217172971 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9892103332426598 + - 0.0009998012219851783 + - 0.1464988634886373 + - 0.05441537418117907 + - - -0.029018098800889618 + - -0.9788273521286008 + - 0.20262024742580653 + - -0.09315390467052463 + - - 0.1435996746094074 + - -0.2046851609727236 + - -0.9682371188555228 + - 0.9737445360886102 + - - 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: + - - 0.999694436161573 + - -0.011108915986168805 + - -0.02208226195856493 + - 0.02383792555169415 + - - -0.012536104927977349 + - -0.9977685884446619 + - -0.06557964612882242 + - -0.03426575083692365 + - - -0.021304468564814816 + - 0.06583643291338828 + - -0.9976029689813536 + - 0.96903126741454 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999586485515988 + - -0.00983850517333935 + - -0.027019655618635823 + - 0.0919290665423731 + - - -0.01023528903748535 + - -0.9998412285352866 + - -0.014586177681927574 + - -0.033471822562199466 + - - -0.026871859483754295 + - 0.014856700071139777 + - -0.9995284796497208 + - 0.9688644596871552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9756503559740504 + - 0.02940691345704674 + - -0.21735136606112804 + - 0.1000580951555392 + - - 0.001662910376200243 + - -0.9919344607095767 + - -0.1267409183566333 + - -0.08946719488607754 + - - -0.2193253692959149 + - 0.12329338626922297 + - -0.967830110755746 + - 0.9740115161216003 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960240478365596 + - 0.0049669693431653415 + - 0.08894619354879013 + - 0.012737826320156595 + - - 0.025836674347912286 + - -0.9716369624641599 + - -0.23506186298942766 + - -0.09313146709858566 + - - 0.0852558642552799 + - 0.236425342103939 + - -0.9679021103505874 + - 0.9736684485599573 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9889295589690621 + - -0.011712003923151602 + - 0.14792280541336567 + - 0.05451477212338133 + - - -0.0025500409760861953 + - -0.998074392216098 + - -0.06197584120838869 + - -0.09333521152336686 + - - 0.1483638254032183 + - 0.06091253209784674 + - -0.9870551346024965 + - 0.9750984209037187 + - - 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: + - - 0.999225255148376 + - -0.01218734067851777 + - -0.037421360221785875 + - 0.023866104591435892 + - - -0.01377242086913598 + - -0.9990059455685641 + - -0.04239623971607291 + - -0.0342801782282105 + - - -0.03686746393591916 + - 0.04287877617009464 + - -0.9983998200405931 + - 0.9691712500253327 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999558434477635 + - -0.010404284614976323 + - -0.027833198275980346 + - 0.09192276384569664 + - - -0.010913242533549364 + - -0.9997748593458201 + - -0.018197026060587367 + - -0.033455278218220225 + - - -0.02763760485323208 + - 0.018492741324539576 + - -0.999446937719197 + - 0.9691361370552363 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9798444532816423 + - 0.01645723930350056 + - -0.19908291400245018 + - 0.09996264084675796 + - - 0.0060218182626601375 + - -0.9985811371106076 + - -0.05290983190010823 + - -0.08937076697992348 + - - -0.19967119240894807 + - 0.05064456418406159 + - -0.9785532908536947 + - 0.9730215734427565 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978558884417487 + - 0.013209442857985226 + - 0.06410254691905741 + - 0.0127711037265249 + - - 0.02675872664832992 + - -0.9761622970228007 + - -0.21538602651827182 + - -0.09296330715119487 + - - 0.05972936003581733 + - 0.21663951737979698 + - -0.9744227640296386 + - 0.973780221787637 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.987616096277549 + - -0.006978926446408141 + - 0.15673461952979825 + - 0.05445899570549008 + - - -0.012300285103509568 + - -0.9993794227539088 + - 0.033007156230676245 + - -0.09324698082744631 + - - 0.1564069990757043 + - -0.03452627929157027 + - -0.987089046985333 + - 0.9745598446775042 + - - 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: + - - 0.9990277220959148 + - -0.0112643301759053 + - -0.042623061240784695 + - 0.023890135936019626 + - - -0.014702637514698604 + - -0.9965865699567928 + - -0.08123448179108998 + - -0.034313641233069056 + - - -0.04156251837844851 + - 0.08178217071858475 + - -0.9957832262187382 + - 0.96955446566831 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999723687776476 + - -0.011727786241155287 + - -0.020371723748490993 + - 0.09190884614699833 + - - -0.011785733527767111 + - -0.9999268279435483 + - -0.002726764376819858 + - -0.03349068934624086 + - - -0.020338254197829503 + - 0.0029661066460928724 + - -0.9997887565018667 + - 0.9688368673720432 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9712611235120219 + - 0.03760344331677583 + - -0.23502725587660478 + - 0.1000408143004125 + - - -0.0012875994352380925 + - -0.9865966844717867 + - -0.1631726823857881 + - -0.08947178270155028 + - - -0.23801296612130063 + - 0.15878590378242316 + - -0.9581945860409257 + - 0.9740213544586376 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9941862112611503 + - 0.010443882883442753 + - 0.10716670494382363 + - 0.012704931489491277 + - - 0.03227869238186864 + - -0.9784180865694252 + - -0.20409834367760402 + - -0.0929357272934483 + - - 0.10272226319701253 + - 0.20637096012797343 + - -0.9730668853987078 + - 0.9726139186063312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9923987350127922 + - -0.010837247461540037 + - 0.12258590788694751 + - 0.05448400023881102 + - - -0.004391445563883633 + - -0.9985991301723768 + - -0.0527303747837176 + - -0.09332618610655571 + - - 0.12298563310756783 + - 0.051791227890727 + - -0.9910561047502311 + - 0.975102032151073 + - - 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: + - - 0.9990513373229911 + - -0.011277252776873786 + - -0.042062441238584686 + - 0.02382716280155726 + - - -0.012264680342681463 + - -0.9996534801430642 + - -0.023291570448395804 + - -0.03422163806127194 + - - -0.041785200839947384 + - 0.023785357001046552 + - -0.9988434580969625 + - 0.9689305151187938 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996675365315589 + - -0.00920542591926834 + - -0.024084778150711732 + - 0.0919680031531897 + - - -0.010137635531500927 + - -0.9991926957654306 + - -0.03887396397130471 + - -0.03354442383145459 + - - -0.023707483011795847 + - 0.03910520250115972 + - -0.9989538219490373 + - 0.9695833925124552 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.14709974825382233 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.968304768775291 + - 0.01836477518102602 + - -0.24909558366133372 + - 0.10001110756874934 + - - 0.008639151879942974 + - -0.9991590856902813 + - -0.04008099970504821 + - -0.08942623690985224 + - - -0.2496221941691592 + - 0.03665864857180592 + - -0.967649163521089 + - 0.9735401788743808 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9938927184002454 + - 0.009763309072100105 + - 0.1099178880207086 + - 0.012800704075050977 + - - 0.02168486575076772 + - -0.9939368979417665 + - -0.10779243715247508 + - -0.0927642531955698 + - - 0.10819903376805899 + - 0.10951767302979806 + - -0.9880783614601614 + - 0.9716544836937184 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9799676799219088 + - -0.0028785426718029444 + - 0.19913578357632733 + - 0.054393601537464725 + - - -0.028598617276724914 + - -0.991566579728019 + - 0.12640346932081092 + - -0.09311733944528747 + - - 0.19709253004193406 + - -0.12956632262499534 + - -0.9717855229643547 + - 0.9735274105051887 + - - 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: + - - 0.9979426226501337 + - -0.010207132674686847 + - -0.06329562655297873 + - 0.023817831773217734 + - - -0.014137730109951013 + - -0.9979781539351714 + - -0.06196554571280009 + - -0.03426040411177104 + - - -0.06253516199316182 + - 0.06273291568792473 + - -0.996069241972555 + - 0.9694852469034001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994378013064429 + - -0.011121297432442692 + - -0.03162906990668953 + - 0.09187204347533323 + - - -0.011911475566880558 + - -0.9996188575417658 + - -0.024904947233727624 + - -0.033482897371441 + - - -0.03134003939950806 + - 0.025267694598326403 + - -0.9991893441886394 + - 0.9688940185084619 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9740380528343543 + - 0.033002672840588526 + - -0.2239658349303234 + - 0.10011332336617293 + - - 0.00020199108687429454 + - -0.9894430992578079 + - -0.14492174623121476 + - -0.08953522962960567 + - - -0.2263842548196774 + - 0.14111405640998656 + - -0.9637618960372207 + - 0.9744974000950668 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.987053833973534 + - 0.004524017828149807 + - 0.1603254879950092 + - 0.012656488662061418 + - - 0.03298918335415134 + - -0.9839559746687379 + - -0.17533497567604553 + - -0.09290780864649473 + - - 0.15696000324851375 + - 0.17835406689050823 + - -0.9713667609115735 + - 0.9729165758232033 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954909034236467 + - -0.009870621003961843 + - 0.09434210110956807 + - 0.05456066106225416 + - - 0.000477238737481284 + - -0.9940374906003013 + - -0.10903778943212002 + - -0.09338378359732348 + - - 0.09485585613950921 + - 0.10859115121432338 + - -0.9895505689119625 + - 0.9761434850355832 + - - 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: + - - 0.9995638310820338 + - -0.013020119624283313 + - -0.02650705712780433 + - 0.023876095751170657 + - - -0.01444974889755295 + - -0.9984104721788627 + - -0.05447691070883739 + - -0.03421290022926905 + - - -0.025755627528852736 + - 0.05483616989314923 + - -0.9981631340227133 + - 0.9688604141214793 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9719456632367575 + - 0.028284053375058092 + - -0.23349869387201433 + - 0.1000628526758212 + - - 0.0026126889222258688 + - -0.993980391286169 + - -0.10952696286846413 + - -0.08948765097718633 + - - -0.23519098956349388 + - 0.10584419711666344 + - -0.9661688280858958 + - 0.9739166197804784 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986001026267556 + - 0.0198637250134038 + - 0.04902313191162927 + - 0.012674577485269737 + - - 0.03246425403416528 + - -0.9618758405380693 + - -0.27155283021760007 + - -0.09297040466541996 + - - 0.0417601154672531 + - 0.2727641835318109 + - -0.9611741740904127 + - 0.9729473927631266 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9897547014433026 + - -0.010579719515175705 + - 0.14238574544475702 + - 0.054525566314498224 + - - -0.0016055816414707437 + - -0.9980125639265085 + - -0.06299479623293555 + - -0.0933143497565277 + - - 0.14276923015296927 + - 0.06212078379911758 + - -0.9878046138491718 + - 0.9750025122773378 + - - 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: + - - 0.9990951969908166 + - -0.013662659428339073 + - -0.04027553956468457 + - 0.02387383363889794 + - - -0.01600433853020789 + - -0.9981647027074675 + - -0.05840451538300186 + - -0.03429212133010741 + - - -0.03940366097321108 + - 0.058996254171413416 + - -0.9974802221075113 + - 0.9692747794716378 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999159998823259 + - -0.011052334328731359 + - -0.006770456795099347 + - 0.09192311163202627 + - - -0.011131720038853155 + - -0.9998683895919329 + - -0.011802046594190428 + - -0.03352018836230105 + - - -0.006639125567795485 + - 0.011876422050465919 + - -0.9999074320210719 + - 0.968913252154651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9655033497552253 + - 0.022195438774846636 + - -0.2594429496229008 + - 0.10007020209173523 + - - 0.005966490101823468 + - -0.9979846943111375 + - -0.0631739734112944 + - -0.08949541318464979 + - - -0.2603222668296046 + - 0.05944671915503936 + - -0.9636899942276035 + - 0.9742962920149609 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962235077919195 + - 0.013074020494777367 + - 0.08583584630482417 + - 0.012757922746637501 + - - 0.01876355453514444 + - -0.9976553772998686 + - -0.06581547816329668 + - -0.09275711752412558 + - - 0.08477412072071237 + - 0.06717751210605273 + - -0.9941330546376934 + - 0.9719614735418594 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9761326399527769 + - -0.0089596809817159 + - 0.21699030700823516 + - 0.054477532502746805 + - - -0.020520265874298605 + - -0.9984835988386682 + - 0.051082497380499275 + - -0.09327029325393228 + - - 0.2162035797744116 + - -0.054315991815362244 + - -0.9748362863198324 + - 0.9749139428794051 + - - 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: null + base_right_marker_pose: + - - 0.9998630095566627 + - -0.012058985138671166 + - -0.011337680438181688 + - 0.09190207221624208 + - - -0.012077763146843685 + - -0.9999257982276487 + - -0.0015892376057693846 + - -0.03345350901672986 + - - -0.011317674569529035 + - 0.0017259537143721631 + - -0.9999344635155413 + - 0.969019062575335 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9739119369154736 + - 0.022726192738185626 + - -0.2257854275571773 + - 0.09993021357522502 + - - 0.004588818594731061 + - -0.9967414319665121 + - -0.08053235713209701 + - -0.08936832209071077 + - - -0.2268798842503565 + - 0.07739533555049559 + - -0.9708426649862331 + - 0.9729135056689651 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983792799163208 + - 0.018062264122403682 + - 0.05396821331618518 + - 0.01270494859850267 + - - 0.03040441370955969 + - -0.9709075232384042 + - -0.23751663719841948 + - -0.09292489677847948 + - - 0.048108056089876235 + - 0.23877256109913514 + - -0.9698831264670054 + - 0.9726939581825644 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9738963770739743 + - -0.009320769795595766 + - 0.22680160928133822 + - 0.054395333011142896 + - - -0.020162437739770857 + - -0.9987593491462367 + - 0.04553282988544038 + - -0.09312907395087602 + - - 0.22609582664564412 + - -0.04891713138977078 + - -0.9728760411429709 + - 0.9734226463452547 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.96969745751974 + - 0.024063625484114313 + - -0.24312092219369408 + - 0.0999964067680738 + - - 0.0019740158056403972 + - -0.9958766276868901 + - -0.09069644804834784 + - -0.0894365937370567 + - - -0.24430092947295767 + - 0.08746819053546187 + - -0.9657465358483568 + - 0.9733026676826346 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998200565050841 + - 0.01651245851321894 + - -0.00933773655762856 + - 0.012843719569581344 + - - 0.013921468327246944 + - -0.9730645735368055 + - -0.23011199109835404 + - -0.09297768300035625 + - - -0.012885935347653647 + - 0.22994058893871852 + - -0.9731193545648613 + - 0.972679226893442 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9728976982591286 + - -0.006013492374242334 + - 0.2311577526961935 + - 0.05444732815234988 + - - -0.0170548959927504 + - -0.9988051628507405 + - 0.045797130754910764 + - -0.09318242831754327 + - - 0.23060615612937593 + - -0.048498294528476524 + - -0.9718378034338154 + - 0.9740086898965361 + - - 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: + - - 0.9982262288969012 + - -0.009329748651206646 + - -0.05879924942018339 + - 0.023886647542591552 + - - -0.013735626022633361 + - -0.9970905739688288 + - -0.0749781293463516 + - -0.034248857728095876 + - - -0.05792865025216785 + - 0.07565277980759981 + - -0.9954501134599087 + - 0.969383956734937 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995366355158476 + - -0.009514927810140144 + - -0.02891332582784965 + - 0.09189554220726125 + - - -0.009781104580761877 + - -0.9999109507526488 + - -0.009078576877188264 + - -0.03349956726186695 + - - -0.028824369114340994 + - 0.00935717445079657 + - -0.9995406940347444 + - 0.9688791860949125 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9765925359419017 + - 0.012429590297913006 + - -0.21473826866115758 + - 0.09997742294980473 + - - 0.006154029196448611 + - -0.9995349032333302 + - -0.029868129218061045 + - -0.08935434923519321 + - - -0.21500964319586857 + - 0.027847486481971055 + - -0.9762148179726745 + - 0.9728598199311866 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9975828579783104 + - 0.013458041794758388 + - 0.06817127385399738 + - 0.012819235166591822 + - - 0.018739873177012978 + - -0.9968207212570643 + - -0.07744202235128635 + - -0.09268570816003892 + - - 0.06691232039868023 + - 0.07853235501115576 + - -0.9946634660000677 + - 0.9711365053190923 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9926832232846619 + - -0.00405428462192175 + - 0.12067966268339735 + - 0.05433547744761835 + - - -0.024352733373060875 + - -0.9856208945395516 + - 0.16720764523285042 + - -0.0930337930112379 + - - 0.11826648970200614 + - -0.16892310387646386 + - -0.97850805944065 + - 0.9722589921613042 + - - 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: + - - 0.9990036189880057 + - -0.011480996482572886 + - -0.0431272068262568 + - 0.023898945026415888 + - - -0.015278027266231098 + - -0.9959348103877026 + - -0.08877181614039344 + - -0.03433139054811589 + - - -0.04193269764419982 + - 0.08934226423019882 + - -0.9951178868307523 + - 0.9692232477139469 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998049523883409 + - -0.010890541534753535 + - -0.016475839427088697 + - 0.09189896678621429 + - - -0.011262182220384323 + - -0.99968036665324 + - -0.022634658815153905 + - -0.033472253390326036 + - - -0.016224069507440528 + - 0.02281579788487296 + - -0.9996080326485448 + - 0.9691751549902567 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9765782945226408 + - 0.028285295829428445 + - -0.21329504613818895 + - 0.10007155940773022 + - - 0.0019992493516217905 + - -0.9924715423288778 + - -0.12245913877440277 + - -0.08945189477862667 + - - -0.21515305637912857 + - 0.11916450691032172 + - -0.9692827155291377 + - 0.9739834909789615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988673730704473 + - 0.019604047624780508 + - 0.04335495741053442 + - 0.012709243217169002 + - - 0.025456137522788688 + - -0.9899871156732747 + - -0.13884342211041786 + - -0.09284405381257106 + - - 0.04019895617755249 + - 0.13978981406968158 + - -0.9893648729384926 + - 0.9719361880319664 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.973868858583681 + - -0.012428586829349313 + - 0.22677075761734286 + - 0.054397948583894476 + - - -0.012317173756808547 + - -0.9999223234709824 + - -0.0019063722187377158 + - -0.09316116654889478 + - - 0.22677683636465815 + - -0.0009366182878381893 + - -0.9739462968945565 + - 0.9733105666718115 + - - 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: + - - 0.9983393321226743 + - -0.011570595171204408 + - -0.05643313976943407 + - 0.023831988246012892 + - - -0.014090969536065704 + - -0.9989113482665267 + - -0.04446979741223075 + - -0.03425714976874457 + - - -0.055857161710796306 + - 0.04519114550147272 + - -0.9974155291822361 + - 0.9688166630515718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996455542685051 + - -0.009706080110054421 + - -0.024790277128552987 + - 0.09191198806687982 + - - -0.010457645658549635 + - -0.9994840342064876 + - -0.03036944210231523 + - -0.03349115909794837 + - - -0.024482717955600218 + - 0.03061792571718184 + - -0.9992312741033902 + - 0.9691166421733992 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9727263431433019 + - 0.022891253746820966 + - -0.23082342137867665 + - 0.09996828547725783 + - - 0.006038078610380889 + - -0.9972801071706624 + - -0.07345699046630286 + - -0.08934733925593433 + - - -0.2318771290182676 + - 0.07005981975119763 + - -0.970218850927292 + - 0.9728865735016607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9963051845277804 + - 0.020316174553995762 + - 0.08344598453225315 + - 0.012619893138532443 + - - 0.03324336429711026 + - -0.9871049610217996 + - -0.15658440106332808 + - -0.09277187025918467 + - - 0.07918874928469997 + - 0.15877987585850775 + - -0.9841331683309337 + - 0.9716066658614917 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.990128894648887 + - -0.007441894146575976 + - 0.13996210270242576 + - 0.05437634941585906 + - - -0.01479050552016264 + - -0.9985615212231148 + - 0.05153764914154564 + - -0.0931889363112962 + - - 0.1393772324586453 + - -0.053099025829954544 + - -0.9888146846240091 + - 0.9736708959972864 + - - 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: + - - 0.9988839256964949 + - -0.01337943843310718 + - -0.04529783231429429 + - 0.023867930249306904 + - - -0.016325857658804645 + - -0.9977312428920737 + - -0.06531334724803955 + - -0.03425924856986007 + - - -0.04432120662689227 + - 0.06597997866211569 + - -0.9968361314974913 + - 0.9685566883000325 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997521589018237 + - -0.011700876803432807 + - -0.01893964765178312 + - 0.09188740323749837 + - - -0.011924421404423407 + - -0.999860057818776 + - -0.011733411814332314 + - -0.03348512690347003 + - - -0.01879970599005566 + - 0.011956348132514056 + - -0.9997517775898288 + - 0.9688263033995973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9790978187437848 + - 0.024464772051324864 + - -0.20191318991001947 + - 0.09998835758785178 + - - 0.005256070218081383 + - -0.9954513219049298 + - -0.09512643924582638 + - -0.08938726202528383 + - - -0.20332199845817342 + - 0.0920768192663279 + - -0.974772806502505 + - 0.9734270814513066 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972354464914415 + - 0.019811963797304794 + - 0.07161669045348118 + - 0.012653816244142359 + - - 0.02855411031466617 + - -0.9919725922080455 + - -0.12318700861774849 + - -0.09280461727447112 + - - 0.0686012175194678 + - 0.12489140242044545 + - -0.9897959438976812 + - 0.9712767732309832 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9888384129773637 + - -0.010699498124304154 + - 0.14860724666144887 + - 0.05453005034101354 + - - -0.0072838772208841124 + - -0.9996970788077728 + - -0.023509482253676748 + - -0.09330550185456721 + - - 0.14881377003839324 + - 0.02216464218282958 + - -0.9886168066970471 + - 0.9752406732622038 + - - 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: + - - 0.9997167822385846 + - -0.013130531090719301 + - -0.01984803425546215 + - 0.023834094405385108 + - - -0.013933531503369415 + - -0.999067078351196 + - -0.040875783229801475 + - -0.034258025621461435 + - - -0.019292796852062612 + - 0.04114075969255746 + - -0.9989670794783702 + - 0.9691457111085899 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996154469074857 + - -0.008419911372137602 + - -0.026420889395194058 + - 0.09193447016782082 + - - -0.009270874470562388 + - -0.9994367540871475 + - -0.0322525265102829 + - -0.033514730928426266 + - - -0.026134444522484205 + - 0.03248506845045543 + - -0.9991304775339751 + - 0.9692183412653155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.796843528747559 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9719477748872317 + - 0.03566868239726511 + - -0.2324763815698321 + - 0.10008004627505462 + - - -0.0010728944366707321 + - -0.9877508646217306 + - -0.15603550344890083 + - -0.08949146767618023 + - - -0.23519432771494916 + - 0.15190778299701174 + - -0.9600039862811228 + - 0.9741585154457867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9982215120703224 + - 0.009433839057233847 + - 0.05886268360074408 + - 0.012819723920916811 + - - 0.025694936580916643 + - -0.9590584821873364 + - -0.2820400644919541 + - -0.09289216469891909 + - - 0.05379203541549407 + - 0.28305093256367336 + - -0.9575952101492015 + - 0.9728090780085337 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9803871659446431 + - -0.010607800840037889 + - 0.19679552691148436 + - 0.054508166869683426 + - - -0.01465689092104716 + - -0.9997095662399482 + - 0.019130047487230083 + - -0.09324715553172505 + - - 0.19653544311283702 + - -0.021639263612083574 + - -0.980257905793556 + - 0.9749957350605998 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9661129873440182 + - 0.021450563817280104 + - -0.2572266879566305 + - 0.09996741335136439 + - - 0.006997902072194321 + - -0.9983513141910351 + - -0.05697089449552959 + - -0.08938804019737932 + - - -0.2580246597746133 + - 0.05324027390006159 + - -0.9646702795169141 + - 0.973197391593737 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992776716659323 + - 0.024190079326570437 + - 0.029308274805718453 + - 0.012647017130292886 + - - 0.027409977596089628 + - -0.9929903744150366 + - -0.11497308140285835 + - -0.09275527943639873 + - - 0.026321626813233752 + - 0.11569337224431077 + - -0.992936158864529 + - 0.9710711963691556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9860270962416912 + - -0.014253991403250059 + - 0.16597406184779234 + - 0.054502147451855 + - - 0.0006748236541753916 + - -0.9959825629587625 + - -0.08954484292872428 + - -0.09333843203681329 + - - 0.16658364292515182 + - 0.08840564467934278 + - -0.9820561755310206 + - 0.9753796243524682 + - - 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: + - - 0.9995661691817714 + - -0.013124332616825957 + - -0.02636712575616132 + - 0.02388299939266947 + - - -0.014935319084264917 + - -0.9974559014117982 + - -0.0697040958812973 + - -0.03428201804106939 + - - -0.025385225449648843 + - 0.07006765753285044 + - -0.9972191903973421 + - 0.9692437640504482 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995943899855142 + - -0.01092292185697456 + - -0.02630105107394299 + - 0.09190952707934905 + - - -0.011069419000164768 + - -0.9999239839168739 + - -0.005430870170302005 + - -0.0335292231406749 + - - -0.02623973080057266 + - 0.005719804709455768 + - -0.9996393151340135 + - 0.969105577141601 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9667465791627833 + - 0.03275349051304689 + - -0.2536301648784471 + - 0.1000459180906817 + - - 0.001054273246489986 + - -0.9922664580058305 + - -0.12412157276027841 + - -0.0894925978995736 + - - -0.25573412010323976 + - 0.11972671036896945 + - -0.9593047350238851 + - 0.9738462550970796 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992658709927067 + - 0.02345247665614288 + - 0.030293570404958232 + - 0.012696766754286196 + - - 0.029036060616674002 + - -0.9794656413687971 + - -0.19950930946168213 + - -0.09283266682918645 + - - 0.024992523943209922 + - 0.20024244983695513 + - -0.9794275547636201 + - 0.971919110874093 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9908945999890849 + - -0.009175959511857616 + - 0.13432681593601548 + - 0.0544785508566008 + - - -0.004650115211663849 + - -0.9994121085313495 + - -0.03396783404106383 + - -0.09331131160084499 + - - 0.13455953381678193 + - 0.03303390815449713 + - -0.9903547307763272 + - 0.9749226351968319 + - - 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: + - - 0.996898297593727 + - -0.007153364547690152 + - -0.07837482778530905 + - 0.02383189173871879 + - - -0.015181250533643682 + - -0.9946358727952829 + - -0.10231818108724157 + - -0.0342685931289742 + - - -0.07722249599024719 + - 0.10319064843489774 + - -0.9916594053346252 + - 0.9696960853214178 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.09806649386882782 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9815268202912728 + - 0.02317817317353637 + - -0.18991543733262214 + - 0.09996736002748491 + - - 0.0032197339002644886 + - -0.9944952123288666 + - -0.10473254493506132 + - -0.08938254571174989 + - - -0.19129750223804556 + - 0.10218632463936017 + - -0.9761983511019596 + - 0.973124185659697 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9917714337612493 + - 0.0029032759645761528 + - 0.12798825791387752 + - 0.012869049533751502 + - - 0.010628577996947969 + - -0.9981587077583912 + - -0.0597178989572003 + - -0.0929735927602768 + - - 0.12757921658686616 + - 0.0605868394519231 + - -0.9899761504098518 + - 0.9726765728976359 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9983593165010076 + - -0.005065691166706651 + - 0.05703519903221598 + - 0.05457960683963607 + - - -0.00288738602826818 + - -0.9992655550575303 + - -0.03821012270969361 + - -0.09336508109030603 + - - 0.05718687049983328 + - 0.037982749355064224 + - -0.9976407031561342 + - 0.9757506731294667 + - - 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: + - - 0.9984665838534171 + - -0.008715950464453226 + - -0.05466729493571303 + - 0.023845384684675258 + - - -0.012797618824258089 + - -0.9971191216302314 + - -0.07476415071265761 + - -0.03427913297108599 + - - -0.053858164474070526 + - 0.07534911735950982 + - -0.9957016664807923 + - 0.9693621482387067 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9822043189011304 + - 0.026874294535574664 + - -0.1858828884679323 + - 0.10001870215153692 + - - 0.001400944709491446 + - -0.9907306518212193 + - -0.13583376934997976 + - -0.08943726304341897 + - - -0.1878103119796342 + - 0.13315610325898597 + - -0.9731375744872847 + - 0.9733563352199146 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979096789511784 + - 0.01909790303072832 + - 0.061737693149201245 + - 0.012663460048770366 + - - 0.026568024892380495 + - -0.9921079603374815 + - -0.12253952459643086 + - -0.09274785807957087 + - - 0.05891020886802119 + - 0.12392362621724048 + - -0.9905415297483973 + - 0.9715549913543807 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.986506891585789 + - -0.004637887585267141 + - 0.16365403402449644 + - 0.054323823394234264 + - - -0.0127703994528243 + - -0.998732963775829 + - 0.0486763183217909 + - -0.09304203436866239 + - - 0.1632209231427145 + - -0.05010945086802924 + - -0.9853161792958365 + - 0.9727112231190073 + - - 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: + - - 0.9987219466299364 + - -0.010952202605799767 + - -0.049340881404692304 + - 0.023838832557229656 + - - -0.014873531338792633 + - -0.9966981718274865 + - -0.07982187883820288 + - -0.03431067628433291 + - - -0.048303740903002025 + - 0.08045373536280526 + - -0.9955872362987324 + - 0.9697095974534715 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.14709974825382233 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9726706861437832 + - 0.02496557406213338 + - -0.23084292587889774 + - 0.10002660147707106 + - - 0.004615267016411337 + - -0.9960850503817732 + - -0.0882795090398017 + - -0.08944093189669775 + - - -0.23214313607545964 + - 0.08480148888839945 + - -0.9689779522029189 + - 0.9736215822575733 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9912013861889457 + - 0.015827328531922678 + - 0.1314127379238976 + - 0.01278823525221144 + - - 0.009819737933219021 + - -0.998882172516499 + - 0.04623827608857268 + - -0.0928376697480639 + - - 0.13199766954016764 + - -0.04454100470648096 + - -0.990248814256146 + - 0.9725745906751089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9931944307268835 + - -0.0032532989650065607 + - 0.11642267313090701 + - 0.0544052357898168 + - - -0.021143710091173357 + - -0.9880361639587902 + - 0.1527661030241322 + - -0.09312829851292057 + - - 0.11453281755323294 + - -0.15418804997613675 + - -0.9813808022107805 + - 0.9739486216925497 + - - 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: + - - 0.9985725699576803 + - -0.009595527747437004 + - -0.05254282420427807 + - 0.023885329576267194 + - - -0.015225370528730561 + - -0.9940538418068918 + - -0.10781997811733074 + - -0.03432569634534018 + - - -0.05119580666789386 + - 0.10846605660853992 + - -0.9927809949547869 + - 0.9698597264162927 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.999586937675951 + - -0.011425445077765837 + - -0.02637068888727225 + - 0.09190729109797462 + - - -0.011708070993807584 + - -0.9998753996962049 + - -0.010588019454029686 + - -0.03345976991284045 + - - -0.026246430256671272 + - 0.010892395839754727 + - -0.9995961587619533 + - 0.9689958595597794 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9779476883574865 + - 0.03037648252679542 + - -0.20662910769189283 + - 0.10009539947183792 + - - 0.00228572454701342 + - -0.9908635876992828 + - -0.13484852996974248 + - -0.08949041593632873 + - - -0.20883748298508034 + - 0.13140251093873603 + - -0.9690821873398827 + - 0.9743469733459924 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994775080740538 + - 0.029242993965448345 + - -0.01376801213016629 + - 0.012667843332948594 + - - 0.027293086210792825 + - -0.9917608495993452 + - -0.12516191372408578 + - -0.09284337818016097 + - - -0.017314684495245217 + - 0.12472074609270911 + - -0.9920407941183207 + - 0.9721665202949371 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9788592298957545 + - -0.004531101061852321 + - 0.2044849069517302 + - 0.0544273605479375 + - - -0.0221180768577979 + - -0.9962368493571944 + - 0.08380292750831494 + - -0.09315005554589711 + - - 0.20333567990887144 + - -0.08655408197201692 + - -0.9752758543970925 + - 0.9737118100810647 + - - 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: + - - 0.9984628433443213 + - -0.01071799385694752 + - -0.05437899473561193 + - 0.02384648237272338 + - - -0.015636574251183574 + - -0.9957420743601739 + - -0.09084722832637396 + - -0.03430201408795454 + - - -0.05317375298453644 + - 0.09155788309359023 + - -0.9943790555099997 + - 0.9691207847188686 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9751673506258233 + - 0.017530559476481865 + - -0.22077435937593431 + - 0.09990955840638654 + - - 0.0059705434904228916 + - -0.9985809005043033 + - -0.05292010731700541 + - -0.0893115572932802 + - - -0.22138877768270376 + - 0.05028781793293414 + - -0.973888158098096 + - 0.9726829663682665 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997679951333733 + - 0.016980287676495166 + - 0.013252386102837094 + - 0.01279505873578856 + - - 0.02010746478846095 + - -0.9563417225179703 + - -0.29155822682809357 + - -0.09304329076049907 + - - 0.007723067187070581 + - 0.2917570557874903 + - -0.9564612771207411 + - 0.973928706534716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910166747640659 + - -0.003034157155522649 + - 0.13370394246217818 + - 0.05437915944410919 + - - -0.008926887326052173 + - -0.999013736572066 + - 0.043495572452676434 + - -0.09312429708040727 + - - 0.13344010275116633 + - -0.044298397608419735 + - -0.9900663568403302 + - 0.9731324129084332 + - - 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: null + base_right_marker_pose: + - - 0.9997304946842974 + - -0.01059921262312094 + - -0.020654168830038917 + - 0.09190512772908979 + - - -0.010913666442876644 + - -0.9998253367991554 + - -0.015171940522873299 + - -0.033443438869188956 + - - -0.020489750683292996 + - 0.015393264313518767 + - -0.9996715548272398 + - 0.9687905618973303 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9800095810575834 + - 0.02550690523513091 + - -0.19730843575647247 + - 0.09999066500196782 + - - 0.0012073446956167768 + - -0.9924915963082289 + - -0.12230688278396468 + - -0.08937717303927474 + - - -0.19894663443779573 + - 0.11962369766426115 + - -0.9726820691279368 + - 0.9730824224634422 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992483850808873 + - 0.01352717599021707 + - 0.036327405948792635 + - 0.012782791938647614 + - - 0.017446849431017198 + - -0.9937952633849734 + - -0.10984799460401047 + - -0.0927959238314454 + - - 0.03461607080779236 + - 0.11039922999423953 + - -0.9932843186411979 + - 0.9718569916931792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9802874245300757 + - -0.00283532164660784 + - 0.19755638754378838 + - 0.05445044206401549 + - - -0.02149484036858744 + - -0.9954925804074836 + - 0.09237150096853261 + - -0.09325532716501804 + - - 0.1964040150957209 + - -0.09479706379846875 + - -0.9759298025726387 + - 0.9744942240391383 + - - 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: null + base_right_marker_pose: + - - 0.9999268427840493 + - -0.011856502770059044 + - -0.00239424768700102 + - 0.0918670066804387 + - - -0.011877745709418032 + - -0.9998883910994625 + - -0.009062256970029735 + - -0.03347892690915795 + - - -0.002286533792780915 + - 0.00909003226573114 + - -0.9999560705734141 + - 0.9689448039858669 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9688088469038777 + - 0.034772988590211995 + - -0.24535740752071014 + - 0.1001277349097608 + - - 0.0005808937859252579 + - -0.9904219287521123 + - -0.1380726823428699 + - -0.08955229114745956 + - - -0.24780855659800835 + - 0.13362350957616165 + - -0.9595497261556386 + - 0.9747418496864835 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9885246368431025 + - 0.008879614559065815 + - 0.1507985238637786 + - 0.012691416985345295 + - - 0.026745105375744378 + - -0.9927879764730189 + - -0.11686202594961755 + - -0.09289874240582442 + - - 0.14867327161481483 + - 0.11955411417383836 + - -0.9816328601322679 + - 0.9725309530980346 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9986311970965 + - -0.006784460079253133 + - 0.05186234941693734 + - 0.05444103001635198 + - - -0.011362398186499431 + - -0.9960120131474001 + - 0.08849274305566099 + - -0.093256949668855 + - - 0.0510551475667529 + - -0.08896089459699033 + - -0.9947257567487839 + - 0.9746885419384198 + - - 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: + - - 0.9981504950510313 + - -0.012043151790111568 + - -0.05958650622700978 + - 0.02387619429534047 + - - -0.017243741312492324 + - -0.9960109586259823 + - -0.08754897876331971 + - -0.03433198890062285 + - - -0.05829444754802114 + - 0.08841455079291358 + - -0.9943765004228322 + - 0.9696366305382345 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999104355943876 + - -0.011313068247037698 + - -0.007150893390326159 + - 0.091910426188542 + - - -0.011391101204976706 + - -0.9998749709307099 + - -0.010967466418973951 + - -0.03347906203668379 + - - -0.0070259236246860216 + - 0.011047940674678267 + - -0.9999142860285926 + - 0.9690626294409379 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9727045804201058 + - 0.026707506819006875 + - -0.23050489866651136 + - 0.10003097928260443 + - - 0.002111106392630596 + - -0.9943318758186912 + - -0.10629987751959862 + - -0.08943106344759383 + - - -0.23203737298018384 + - 0.10291175739630228 + - -0.9672475524549335 + - 0.973514226270148 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989981083814083 + - 0.022764337970867212 + - 0.03853004499239695 + - 0.012675889305031263 + - - 0.02747781289626706 + - -0.9915736582514514 + - -0.12659640619019155 + - -0.09289849068950257 + - - 0.03532349428929334 + - 0.12752829167907162 + - -0.9912057231335039 + - 0.9727485854993223 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9900902742549299 + - -0.008147751270044681 + - 0.1401958022732463 + - 0.05443229324340508 + - - -0.008813823866012071 + - -0.9999526255195405 + - 0.0041307657203920635 + - -0.09319590927609489 + - - 0.1401555041183064 + - -0.005325492072976489 + - -0.9901151820871772 + - 0.9741402407863059 + - - 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: + - - 0.998591185059749 + - -0.009913299076851897 + - -0.05212841473111424 + - 0.023847373254374103 + - - -0.013920319158786242 + - -0.9969280201771391 + - -0.07707624342303834 + - -0.03426103933505177 + - - -0.051204197440089715 + - 0.07769330143006423 + - -0.995661529375025 + - 0.9694050318078736 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9994237199077505 + - -0.009196459288601338 + - -0.03267496323345105 + - 0.09186681165918144 + - - -0.00995670894809303 + - -0.9996817014369503 + - -0.02318102152726717 + - -0.03349932685734883 + - - -0.03245137951886243 + - 0.02349299786484811 + - -0.9991971712423158 + - 0.9689341517226421 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9666333937124927 + - 0.027594402960408916 + - -0.25467318485684304 + - 0.10008792471491462 + - - 0.002354840610912087 + - -0.9950962912353606 + - -0.09888288980064704 + - -0.08948887122844484 + - - -0.2561529560351908 + - 0.09498378858988667 + - -0.9619582854882766 + - 0.9742218485140495 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.990436177935044 + - 0.007744739202018201 + - 0.1377541159171463 + - 0.012698810182355202 + - - 0.0320960055711263 + - -0.9839656220723669 + - -0.17544657593158614 + - -0.09292237630472079 + - - 0.1341865263869666 + - 0.17818999296939297 + - -0.9748037251374079 + - 0.9721814567370699 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965675574319027 + - -0.0038748991932477093 + - 0.08269273626173838 + - 0.05458938866474324 + - - 0.0015053771386481936 + - -0.9978904983788478 + - -0.06490213467125852 + - -0.09342675960688793 + - - 0.0827697850298144 + - 0.06480384557615321 + - -0.9944594633692523 + - 0.9765558582114734 + - - 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: + - - 0.9989391861570625 + - -0.010037236966046997 + - -0.04494169816499112 + - 0.023819096075080714 + - - -0.014153865591100937 + - -0.9956362202515036 + - -0.09223982335265506 + - -0.03426888825002024 + - - -0.04381974952797876 + - 0.09277807282643556 + - -0.9947221012694542 + - 0.9694005007718995 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997977543425075 + - -0.011081990901713712 + - -0.01678213005948626 + - 0.09186286744941942 + - - -0.011185776932599435 + - -0.9999188118176056 + - -0.006103127696602662 + - -0.03347707754025017 + - - -0.01671313274324428 + - 0.006289614528828186 + - -0.999840543258266 + - 0.9686849115789329 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9783009656159511 + - 0.023457533160764002 + - -0.2058566608417354 + - 0.10002439689440472 + - - 0.0019570356426705238 + - -0.9945720470017732 + - -0.10403179001726916 + - -0.08942508985979411 + - - -0.20717960972641816 + - 0.10137153180610188 + - -0.9730367011849526 + - 0.9732950739420426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.994991057873246 + - 0.01495929634868716 + - 0.0988383235644502 + - 0.01273455835346205 + - - 0.02093983257774204 + - -0.9979936735200583 + - -0.05975074079502943 + - -0.0926656726994263 + - - 0.0977461925800434 + - 0.061521110740060725 + - -0.9933080261275521 + - 0.9712610652680943 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9804843558783053 + - -0.010227353577699319 + - 0.1963309173734522 + - 0.05435463007403388 + - - -0.018346218911014338 + - -0.9990480099887389 + - 0.039578908388309186 + - -0.0931138857082254 + - - 0.19573922481090433 + - -0.042408430486611415 + - -0.9797385778329283 + - 0.9730787193095698 + - - 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: + - - 0.9989563135372083 + - -0.010218134559113787 + - -0.044518236378845555 + - 0.023840502228159914 + - - -0.013223104902752816 + - -0.9976155781840428 + - -0.0677370479224561 + - -0.034281589420224426 + - - -0.04371993985450709 + - 0.06825502099223299 + - -0.9967094957752075 + - 0.9693370892493685 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997731043036808 + - -0.010468962873733667 + - -0.01855103035762949 + - 0.09191642123713606 + - - -0.010648368514711744 + - -0.9998972335008868 + - -0.00959868143280349 + - -0.03350257724681773 + - - -0.018448635693627875 + - 0.009794041740871692 + - -0.9997818384964904 + - 0.9688432018528419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9780874356940977 + - 0.014584744326194613 + - -0.20768305990206315 + - 0.1000277153990512 + - - 0.008924161309014321 + - -0.9995634001375127 + - -0.0281667969507559 + - -0.08940270608473894 + - - -0.2080031910386836 + - 0.025696193073565472 + - -0.9777905594651907 + - 0.973537387503143 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9962507121036607 + - 0.012007267320834146 + - 0.0856758085134594 + - 0.012808304656017748 + - - 0.0164087969551452 + - -0.9985711672978773 + - -0.05085641772520048 + - -0.0928035943729553 + - - 0.08494274551386807 + - 0.05207157931963747 + - -0.9950242613181477 + - 0.9719709739621452 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9981048816186024 + - -0.002092540279927678 + - 0.06150013466889643 + - 0.05443637389242528 + - - -0.007352226744771064 + - -0.9963177423096498 + - 0.08542190070992195 + - -0.09319415368706875 + - - 0.06109492655703081 + - -0.08571217903063236 + - -0.9944449870730968 + - 0.9741425236392234 + - - 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: null + base_right_marker_pose: + - - 0.9998127019914942 + - -0.011747175486230424 + - -0.015380663333012218 + - 0.09188899258527401 + - - -0.01184542091831974 + - -0.9999099173372274 + - -0.006312148123084198 + - -0.033476737202694236 + - - -0.015305127890207014 + - 0.006493156301493846 + - -0.9998617864392607 + - 0.9685993644115862 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.10787314921617508 + - -9.83607006072998 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9750915414993222 + - 0.011323379025716574 + - -0.22151358148861994 + - 0.09995239459365665 + - - 0.00833987251352362 + - -0.9998615417066833 + - -0.01439944243340396 + - -0.08934027827950075 + - - -0.22164596144061294 + - 0.012193379489489505 + - -0.9750509675261555 + - 0.9729314643893138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9968327457517918 + - 0.012489649886616836 + - 0.07853970742658334 + - 0.012777608372428445 + - - 0.022543235932675473 + - -0.9914590153713161 + - -0.12845553064241452 + - -0.09278914088944339 + - - 0.07626453638898822 + - 0.1298192184718823 + - -0.9886003697170676 + - 0.9721648297811422 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9728318585273098 + - -0.007747525005185158 + - 0.23138312576891665 + - 0.05436172108753655 + - - -0.01648952001876388 + - -0.9992203638852969 + - 0.0358714388683429 + - -0.09306089929628261 + - - 0.2309248162581299 + - -0.03871227522670952 + - -0.9722011566455371 + - 0.9728199339903635 + - - 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: + - - 0.9989122563871167 + - -0.012240281711385338 + - -0.044994216775328603 + - 0.02389140810128464 + - - -0.01632666334129341 + - -0.9956615065003165 + - -0.09160570144734832 + - -0.034300049187860504 + - - -0.04367773006624088 + - 0.09224066336029123 + - -0.9947783250147313 + - 0.9693354138016614 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9748582703830564 + - 0.02677274311806253 + - -0.2212116020729697 + - 0.1001012621739493 + - - 0.002926410751441632 + - -0.9942083022797874 + - -0.10743038582290036 + - -0.08949145620027434 + - - -0.22280661746426988 + - 0.10408204409924711 + - -0.9692905340042548 + - 0.9741280877154096 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995655350573744 + - 0.01968696668788333 + - 0.09101014348140075 + - 0.012639658083279215 + - - 0.03298862875623952 + - -0.9885785568695796 + - -0.14705164830916467 + - -0.09285153613222934 + - - 0.08707567540167567 + - 0.14941506028606827 + - -0.9849329756450703 + - 0.9725039103101163 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9935144228329084 + - -0.006882553358553163 + - 0.11349767434736129 + - 0.054469096409476815 + - - -0.013489703405041874 + - -0.9982515326596274 + - 0.057549156768354426 + - -0.09329288575500812 + - - 0.11290314222835875 + - -0.058706967235340135 + - -0.9918701389158722 + - 0.9750186614173167 + - - 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: + - - 0.9990978383365174 + - -0.013299022345942263 + - -0.04033169269867477 + - 0.023882143789217866 + - - -0.014598197198515088 + - -0.9993783465388676 + - -0.0320907012667465 + - -0.03425009158838485 + - - -0.03987984540907191 + - 0.032650520269674535 + - -0.9986708874580591 + - 0.9689270695595513 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996577588794645 + - -0.010098662259806568 + - -0.024132594817976086 + - 0.09190624435080647 + - - -0.010631205209083344 + - -0.9997005206565213 + - -0.02204192538966984 + - -0.03347556368494828 + - - -0.023902773644257417 + - 0.022290940304163284 + - -0.9994657429809531 + - 0.9688231527567347 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9693040951600272 + - 0.000564145498897899 + - -0.24586429762341852 + - 0.10001086641061267 + - - 0.013508818112220811 + - -0.9986090069519741 + - 0.05096629344578399 + - -0.08938459033955994 + - - -0.2454935496896238 + - -0.052723173029009765 + - -0.96796342084117 + - 0.973501204248618 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9960467949484417 + - 0.01386102818809626 + - 0.08774197496355798 + - 0.012710423429206114 + - - 0.02852369409671774 + - -0.9853503052585105 + - -0.1681403425773741 + - -0.09289893461894791 + - - 0.08412598378630531 + - 0.16997837457902887 + - -0.9818503811821114 + - 0.9724870828204082 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9933203259418487 + - -0.008935030545648317 + - 0.11504301499842468 + - 0.05445917910880322 + - - -0.006691700111340599 + - -0.9997801503671582 + - -0.01987138851318164 + - -0.09330141568115032 + - - 0.11519527429716603 + - 0.018968820758556777 + - -0.9931617353777932 + - 0.9751099223871958 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9756235423331182 + - 0.02059395278932889 + - -0.21848247699504264 + - 0.10003742493449672 + - - 0.005080930502049508 + - -0.9974398959728453 + - -0.07132908289690237 + - -0.08944276722139367 + - - -0.2193920868915098 + - 0.06848023824572108 + - -0.9732304810162893 + - 0.9738292132101385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964114597948175 + - 0.020317934392952604 + - 0.08216680796747765 + - 0.012617106717438218 + - - 0.024693353949312755 + - -0.9983108551427432 + - -0.05258968316029185 + - -0.09283748691883068 + - - 0.08095950259416516 + - 0.05442993703991947 + - -0.9952300944472775 + - 0.9718663112126774 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954588971102661 + - -0.0032801968217106414 + - 0.09513582118646706 + - 0.05445530356105097 + - - -0.014366699061432177 + - -0.9931354514095077 + - 0.11608433620308839 + - -0.09321373400019276 + - - 0.0941019772485724 + - -0.11692397300145191 + - -0.9886726467418147 + - 0.9738607805069023 + - - 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: null + base_right_marker_pose: + - - 0.9996329256648996 + - -0.010751427259591146 + - -0.02486806664208357 + - 0.09189689445634631 + - - -0.011087241260591995 + - -0.9998486701331304 + - -0.013405592647830332 + - -0.033466138895564844 + - - -0.024720174106644472 + - 0.013676390053367762 + - -0.999600855015263 + - 0.9685217452918311 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9726639268855135 + - 0.021293202601937733 + - -0.23123902105528235 + - 0.10001500496055078 + - - 0.005093646099404343 + - -0.9975038773623526 + - -0.07042776026884283 + - -0.08942885250238367 + - - -0.23216145266832414 + - 0.06732469212721588 + - -0.9703444984771687 + - 0.9735217942480052 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989689944102452 + - 0.013430111452266014 + - 0.04336565822587119 + - 0.012817655239445551 + - - 0.02347664862870757 + - -0.9704215471145216 + - -0.24027248670004245 + - -0.0929023848691309 + - - 0.03885608287189484 + - 0.24104284474391183 + - -0.9697363310826372 + - 0.9729136655388313 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.986897857474597 + - -0.013540764734625964 + - 0.16077707113407558 + - 0.05446542780533799 + - - -0.0001472464651655573 + - -0.9965473606356385 + - -0.08302611835213282 + - -0.09328765817411332 + - - 0.16134620302482666 + - 0.08191462446074803 + - -0.983492448913019 + - 0.9748017008643484 + - - 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: + - - 0.9990424149361183 + - -0.011484320066084781 + - -0.0422180476956062 + - 0.023842816828040823 + - - -0.014551190757239799 + - -0.9972206870364828 + - -0.07306958460284507 + - -0.034294368279174536 + - - -0.041261556031676465 + - 0.07361393712542236 + - -0.9964328739331816 + - 0.9693855811115573 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9829974098254749 + - 0.016474463158593994 + - -0.1828788788790097 + - 0.09992918287855428 + - - 0.005809039152036332 + - -0.9982586013366445 + - -0.05870281016730254 + - -0.08932774051619861 + - - -0.18352751112718083 + - 0.05664235977644627 + - -0.9813813202514199 + - 0.9726813845917505 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9978968007761634 + - 0.014168290752618705 + - 0.06325531232906309 + - 0.012751566911644944 + - - 0.02663915143094811 + - -0.9792466237780195 + - -0.200913925426758 + - -0.09275588395954953 + - - 0.0590959441225629 + - 0.20217643125868834 + - -0.9775645042818216 + - 0.9715395278289674 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9837118801862244 + - -0.009146535592265139 + - 0.17951957460717965 + - 0.054416901061942045 + - - -0.012919359041055194 + - -0.9997193291027188 + - 0.019858327733700457 + - -0.09313925706584505 + - - 0.1792875537856759 + - -0.02185415075152037 + - -0.9835539482674446 + - 0.9734570292169734 + - - 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: null + base_right_marker_pose: + - - 0.9999459201466465 + - -0.010399316153876246 + - -0.00010490761639625219 + - 0.09185239709845824 + - - -0.010399835899438747 + - -0.9999076971971436 + - -0.008743025744585853 + - -0.033474738362730266 + - - -1.397644426979025e-05 + - 0.008743643945030844 + - -0.9999617735169789 + - 0.9687434695945731 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9705601273297441 + - 0.01134099762962384 + - -0.24059181409689723 + - 0.10008337803546317 + - - 0.010511035752464917 + - -0.9999335575721714 + - -0.004732712591247594 + - -0.08947403447811175 + - - -0.24062950227493196 + - 0.002064512975453468 + - -0.9706148465900841 + - 0.9740788517710792 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9907297323513836 + - 0.015215042687479755 + - 0.13499296244980308 + - 0.012665263401829547 + - - 0.03105539930156827 + - -0.9927606304713544 + - -0.11602539704883683 + - -0.09285497877728764 + - - 0.13225036714193245 + - 0.11914207091593737 + - -0.9840299829419259 + - 0.9722602816383275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9977015676644101 + - -0.006248087892026091 + - 0.06747253721086989 + - 0.05452815832198155 + - - 0.0014198127679855097 + - -0.9935936145307478 + - -0.1130031561303843 + - -0.09339201076498285 + - - 0.06774633578048757 + - 0.11283922439213086 + - -0.99130103572371 + - 0.9759401591451671 + - - 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: + - - 0.9996109100393031 + - -0.014232665132706943 + - -0.0239887426435036 + - 0.023861100365406375 + - - -0.015555015168316975 + - -0.9983168709584981 + - -0.05587008737014152 + - -0.03429752116558343 + - - -0.0231531862496169 + - 0.0562214941357311 + - -0.9981498252084388 + - 0.9689268288612274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9780978833842766 + - 0.029747932056051384 + - -0.20600871597480166 + - 0.10002985370177392 + - - 0.0010763663654268455 + - -0.9904440390319522 + - -0.13791101109600004 + - -0.08947524827763371 + - - -0.20814267211373386 + - 0.13466872719552306 + - -0.9687832378612325 + - 0.9735701348796775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9940450234861324 + - 0.02184107418161596 + - 0.10675888141530696 + - 0.012657170941513024 + - - 0.022202115679560208 + - -0.9997510944989573 + - -0.002194335318252947 + - -0.09267709004606708 + - - 0.10668438190197219 + - 0.004551541137972296 + - -0.9942825182670486 + - 0.9704316275581354 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9945703218968661 + - -0.002465774121657676 + - 0.10403746805812354 + - 0.05436815269130637 + - - -0.008028899806543633 + - -0.9985575873288856 + - 0.05308748963561534 + - -0.09310517392127167 + - - 0.10375650133779858 + - -0.05363454806275565 + - -0.9931555385156161 + - 0.9730604493214505 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9692326859319134 + - 0.020569000524977735 + - -0.24528537815901816 + - 0.10000596960111306 + - - 0.007536791485199582 + - -0.9985151051789539 + - -0.05395165895105271 + - -0.08941042627365206 + - - -0.2460308868725992 + - 0.050443046566058525 + - -0.9679485016042001 + - 0.9736319614221401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970689729371667 + - 0.007875498463519042 + - 0.0761015093803964 + - 0.012738796396167554 + - - 0.02215391198278044 + - -0.9817936775516715 + - -0.18865412506336823 + - -0.09304545317120193 + - - 0.07323023548973927 + - 0.1897871208578624 + - -0.9790904868124303 + - 0.972764899550549 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9902184073816256 + - -0.0038801015857405337 + - 0.13947204198075472 + - 0.05447282499702144 + - - -0.016233508286881186 + - -0.996028318763986 + - 0.08754462535694511 + - -0.09327494873309203 + - - 0.1385784214490006 + - -0.08895242004505809 + - -0.9863485631747184 + - 0.9748682064247383 + - - 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: + - - 0.9994086640879203 + - -0.014226598537228904 + - -0.03130377038088327 + - 0.023876947384303408 + - - -0.015583986599865523 + - -0.9989295247449798 + - -0.04355392008103198 + - -0.034267812576879705 + - - -0.030650636333586296 + - 0.044016002622117176 + - -0.9985605289643272 + - 0.9690684730096438 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9740794439113897 + - 0.02230301558036876 + - -0.2251040036189931 + - 0.10001865769155065 + - - 0.005643539149580462 + - -0.9972138744664979 + - -0.07438171171318059 + - -0.08941134373050705 + - - -0.22613577208205024 + - 0.07118331312560117 + - -0.9714914042426301 + - 0.9736718593714109 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990623597639634 + - 0.014867437217998691 + - 0.040661537273323424 + - 0.01278688830516569 + - - 0.0212296401701224 + - -0.9867553118225756 + - -0.1608205738336309 + - -0.09282150456268748 + - - 0.03773199810648951 + - 0.1615330117978987 + - -0.9861457206814779 + - 0.9721622274742598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9697031801305904 + - -0.013002634823652217 + - 0.24393989819679446 + - 0.054444520891275 + - - -0.013760251920882363 + - -0.9999043405555309 + - 0.0014018577968474067 + - -0.09325429788353246 + - - 0.243898335196642 + - -0.004716060416436082 + - -0.9697893383938879 + - 0.9746085247652707 + - - 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: null + base_right_marker_pose: + - - 0.9999255418343419 + - -0.012064229500007887 + - -0.0018344355722912035 + - 0.09190508210883441 + - - -0.01203100496522713 + - -0.9997804397544797 + - 0.017155967004688022 + - -0.03346348377233696 + - - -0.002041006326405679 + - -0.01713261949937614 + - -0.999851142741891 + - 0.9686817652732066 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9741065704823187 + - 0.024973910851675156 + - -0.22470579235958285 + - 0.10003360177855962 + - - 0.003978040277657894 + - -0.9956198975735737 + - -0.09340875093445893 + - -0.08945224755119545 + - - -0.22605433979184011 + - 0.09009618933317341 + - -0.9699392311526099 + - 0.9737385832566852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994229283254314 + - 0.030302790557478313 + - -0.015347678060513206 + - 0.012697030085577486 + - - 0.026892210319270433 + - -0.9818980356537453 + - -0.18749148408250768 + - -0.09298485348486299 + - - -0.020751370112927003 + - 0.1869705550715051 + - -0.9821463191269876 + - 0.9732752637466369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913422746909636 + - -0.008336647002835564 + - 0.1310381422613131 + - 0.05448869863746376 + - - -0.005893522246711257 + - -0.999801711460342 + - -0.0190211502411925 + - -0.09332604050867561 + - - 0.13117073151459335 + - 0.01808419414075758 + - -0.9911948350935882 + - 0.9750929997056135 + - - 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: + - - 0.9990997817955942 + - -0.009978462647312924 + - -0.04123173897851401 + - 0.02384597676400643 + - - -0.01333144046718192 + - -0.996554416212029 + - -0.08186310660714197 + - -0.034252770424744415 + - - -0.04027280361566743 + - 0.08233909042185544 + - -0.9957903270656105 + - 0.9691063980162518 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9693866928372058 + - 0.01858378550937582 + - -0.24483480689290515 + - 0.1000823429219168 + - - 0.009352724285218966 + - -0.9992027543046929 + - -0.03881214163583329 + - -0.08949804583892901 + - - -0.24536088991236832 + - 0.03533410117799548 + - -0.9687876624912982 + - 0.9742249380919789 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9997055597676282 + - 0.023021734650590403 + - 0.007667692180242679 + - 0.012696870853580488 + - - 0.02409010542415438 + - -0.9795209076102059 + - -0.1998961189596547 + - -0.0928496367268815 + - - 0.002908709395294961 + - 0.20002197701292002 + - -0.9797870932613357 + - 0.9718790426236277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9732277411324944 + - -0.005107728975361426 + - 0.22978615057234533 + - 0.0544502187091028 + - - -0.021540482287715833 + - -0.9973798037785677 + - 0.06906181750749948 + - -0.09321794293146432 + - - 0.22883131672250392 + - -0.0721625811576943 + - -0.9707877164281103 + - 0.9742440823265328 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9814251242808374 + - 0.02185498443248648 + - -0.19059665549478755 + - 0.09997857900082117 + - - 0.0034245923593466225 + - -0.9953274452664576 + - -0.09649636711566002 + - -0.08939784327067096 + - - -0.19181500879106217 + - 0.09405124323901147 + - -0.9769142060834626 + - 0.9731829675271383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981358214044409 + - 0.014259458824726047 + - 0.05934264792969696 + - 0.012728417007339529 + - - 0.02022244168736779 + - -0.994667673290202 + - -0.10112997856055074 + - -0.09265441050793613 + - - 0.057584154777881674 + - 0.10214150745648111 + - -0.9931017961785362 + - 0.9710071353981828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9894986283765722 + - -0.007659838223713758 + - 0.14433915379850548 + - 0.054444939578738985 + - - -0.009154525650453323 + - -0.9999111059223961 + - 0.009694065873870587 + - -0.09322954425358877 + - - 0.1442520679262425 + - -0.01091362137140023 + - -0.9894807899942097 + - 0.9742866883231783 + - - 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: null + base_right_marker_pose: + - - 0.9998669965444913 + - -0.01237912824976989 + - -0.01061821100157733 + - 0.09190217087982003 + - - -0.012270808949050057 + - -0.9998726194494177 + - 0.010206474567481968 + - -0.033447814694441594 + - - -0.010743205705662619 + - -0.010074823032514873 + - -0.9998915348536711 + - 0.9689181727648435 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9801736650557437 + - 0.018865841253266756 + - -0.1972401236183889 + - 0.09993299570625068 + - - 0.004837398514927571 + - -0.9974385430142191 + - -0.07136492475495411 + - -0.08937009046768872 + - - -0.19808126086734854 + - 0.06899589077241501 + - -0.9777542539665696 + - 0.9727695742994074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989559491152743 + - 0.0242836153810531 + - 0.03869519028544458 + - 0.012651856723225307 + - - 0.02765588227837648 + - -0.9956348360371273 + - -0.08914272513630478 + - -0.09278795738128537 + - - 0.03636157178404511 + - 0.09011980522253299 + - -0.9952669274139707 + - 0.9715631159148022 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9965159432359768 + - -0.005469722864738639 + - 0.08322293559046268 + - 0.05438612956808046 + - - -0.012624790634194014 + - -0.9962415820888736 + - 0.08569320147189032 + - -0.09315430711669595 + - - 0.08244143095527948 + - -0.08644531363146397 + - -0.9928396739721901 + - 0.9733433893033804 + - - 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: + - - 0.9994913530962225 + - -0.013526656894334167 + - -0.028880177269975455 + - 0.023861112896864226 + - - -0.015130146479092353 + - -0.9983135652964938 + - -0.0560455530129194 + - -0.03428556490400951 + - - -0.028073363770724984 + - 0.05645400692834576 + - -0.9980104364926904 + - 0.9689685825070593 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9786617458765386 + - 0.017074574995771315 + - -0.20476729730745324 + - 0.0999413179836732 + - - 0.005638764895315281 + - -0.9983978701060411 + - -0.05630184098390072 + - -0.08936389643949644 + - - -0.20540056350541136 + - 0.053945823345601676 + - -0.9771900821514845 + - 0.9727111250588725 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9986332476643922 + - 0.02844215542656352 + - -0.043848380288898925 + - 0.012705530533654303 + - - 0.025200055125118342 + - -0.9970283740947352 + - -0.07279683009376411 + - -0.09270208237554116 + - - -0.04578857806221649 + - 0.07159235325578123 + - -0.9963824271204005 + - 0.9709219531386953 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9650296981653712 + - -0.00976707852153891 + - 0.261958557478099 + - 0.05444225563062957 + - - -0.016136038137884653 + - -0.9996239272365631 + - 0.022172784429631553 + - -0.09320351249996506 + - - 0.2616434786729169 + - -0.025624368739625036 + - -0.9648243787315028 + - 0.974065308444211 + - - 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: + - - 0.9989271485758762 + - -0.012088232043034108 + - -0.044703763646286844 + - 0.02383603576356606 + - - -0.014496151534007046 + - -0.9984390528497269 + - -0.05393810652260514 + - -0.03429024342306911 + - - -0.04398196708620953 + - 0.05452827148016483 + - -0.9975431089334503 + - 0.969201282737385 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998883930807285 + - -0.013255532253409811 + - -0.006891461899872191 + - 0.09186021538168185 + - - -0.013151921823328805 + - -0.9998029564977551 + - 0.014868595451535804 + - -0.03345592897719259 + - - -0.007087195128654587 + - -0.014776300045247995 + - -0.9998657072938253 + - 0.9685903082377019 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.976202087750621 + - 0.02618633942362414 + - -0.21527600771781272 + - 0.10008784991132905 + - - 0.0033735179692424445 + - -0.9943964425043309 + - -0.1056614144862829 + - -0.08945193612194487 + - - -0.21683658189484592 + - 0.10242065593581025 + - -0.9708202233111124 + - 0.97404338382015 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996165917750809 + - 0.01623801225370764 + - 0.022427581368032166 + - 0.012703549311810641 + - - 0.020665708863541556 + - -0.9766150809447968 + - -0.2139997947390486 + - -0.09295478048248683 + - - 0.01842818290387316 + - 0.21438122732467976 + - -0.9765762087239402 + - 0.9718542200618292 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9760191673805364 + - -0.019969201886963647 + - 0.21676673149217854 + - 0.05449258042776843 + - - 0.0013027240539722033 + - -0.9952298473993696 + - -0.09754923759551891 + - -0.09331833956583645 + - - 0.21768070152368527 + - 0.09549231289180028 + - -0.9713373926513542 + - 0.9751820753825233 + - - 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: + - - 0.9997230218509736 + - -0.012512468790493439 + - -0.019932829852397277 + - 0.02388306343563391 + - - -0.013891199739108613 + - -0.9974077617191202 + - -0.07060305540316725 + - -0.03425622337246774 + - - -0.018997740680562022 + - 0.0708603908204114 + - -0.9973053147666529 + - 0.9691679477117455 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9739864835349893 + - 0.014903050994524061 + - -0.22611552127662657 + - 0.09993932427463884 + - - 0.006514081230520702 + - -0.9992640442052619 + - -0.0378012791353336 + - -0.08934124660539142 + - - -0.22651246463907485 + - 0.03534500006507066 + - -0.9733667522231961 + - 0.972635921738692 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992723174706224 + - 0.011681269686256006 + - 0.036309550746444166 + - 0.012741500620743043 + - - 0.01794700517279934 + - -0.9839828077386545 + - -0.17735765864512895 + - -0.09302305039414178 + - - 0.03365621104965859 + - 0.17788024627055002 + - -0.9834764244477392 + - 0.9723717846475973 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9946062943251976 + - -0.0024343589565868073 + - 0.10369374708808995 + - 0.054339713141072804 + - - -0.017041154167140617 + - -0.9899746020821685 + - 0.1402137165077131 + - -0.09300882301749577 + - - 0.10231284549532393 + - -0.14122450611959694 + - -0.984676454739285 + - 0.9725881146151252 + - - 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: null + base_right_marker_pose: + - - 0.9998581527930562 + - -0.01164633300646594 + - -0.012167054728235734 + - 0.09190140367554214 + - - -0.01170839370650006 + - -0.999918742592438 + - -0.005041996546165049 + - -0.03349613382690479 + - - -0.012107345294116762 + - 0.005183738020044272 + - -0.9999132667637072 + - 0.9690877994704852 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.978297411170504 + - 0.027025177695647877 + - -0.2054356713611552 + - 0.09998340738546017 + - - 0.000723546797515991 + - -0.9918974473242264 + - -0.12703909032937769 + - -0.08942032273658851 + - - -0.20720437200291336 + - 0.12413337086457708 + - -0.9703902588446959 + - 0.9730962880784534 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9956227811791036 + - 0.005852788261838609 + - 0.09327927136694787 + - 0.012732762002130632 + - - 0.033264115600000276 + - -0.9548768684879697 + - -0.29513329978157044 + - -0.0930539746743733 + - - 0.08734286582507146 + - 0.29694428921292726 + - -0.9508918513129098 + - 0.974387930168319 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997902312821149 + - -0.0017732968621442776 + - 0.020404628178284007 + - 0.05450923181099829 + - - -0.0011668207853230686 + - -0.9995582929960778 + - -0.02969608445608359 + - -0.09339965523102689 + - - 0.020448275284489163 + - 0.029666046602245814 + - -0.9993506860541418 + - 0.9758532451234425 + - - 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: + - - 0.999130720708101 + - -0.012777068935132438 + - -0.03968059282240488 + - 0.023867440453221294 + - - -0.01570905944507536 + - -0.9970987812502412 + - -0.07447983539613263 + - -0.034299136755977774 + - - -0.03861383675137327 + - 0.07503843640902173 + - -0.9964327396631585 + - 0.9691050837378813 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9623614808233887 + - 0.0332360650721042 + - -0.26973272735420395 + - 0.10004283340327401 + - - 0.0011810480995765107 + - -0.9929960429256844 + - -0.11814171092090602 + - -0.08949357669436192 + - - -0.271770096502174 + - 0.11337646454381654 + - -0.9556603957132178 + - 0.9741391018711931 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9981282682331879 + - 0.013261180780804314 + - 0.05970009412150158 + - 0.01275081657916062 + - - 0.02764118000244433 + - -0.9686281418312775 + - -0.2469726463002701 + - -0.09297607584135574 + - - 0.05455204232556095 + - 0.24816056080043153 + - -0.967181684452991 + - 0.9736105157972434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987501195373175 + - -0.0015196165813343514 + - 0.04995887798619588 + - 0.05448104726710509 + - - -0.003545640317283861 + - -0.9991736422896405 + - 0.04049025794428262 + - -0.09336101308506578 + - - 0.04985606441481643 + - -0.040616786173943216 + - -0.997930182689133 + - 0.975764919177442 + - - 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: + - - 0.9991851501848447 + - -0.011947331970480675 + - -0.03855252143344828 + - 0.023871719089691462 + - - -0.01479871545628787 + - -0.9971078765872897 + - -0.0745444865059063 + - -0.03424082966448263 + - - -0.037550415056736515 + - 0.07505427173967215 + - -0.9964721885846557 + - 0.969166329957642 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995599868478244 + - -0.011107899993574259 + - -0.02750358613908218 + - 0.09184047727684494 + - - -0.011376085481261039 + - -0.9998890742987248 + - -0.009613728577580445 + - -0.03350021357027684 + - - -0.02739374694889697 + - 0.00992238155752429 + - -0.9995754743751608 + - 0.9686555628856086 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9799528432874418 + - 0.019657101699455296 + - -0.198257467162364 + - 0.10005933708463238 + - - 0.0030965056376294087 + - -0.9965032042273754 + - -0.08349715933737374 + - -0.08945520689658172 + - - -0.19920551344200968 + - 0.08120937333431359 + - -0.9765870166538946 + - 0.9739471942134394 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.993557069706228 + - -0.0009357978958332257 + - 0.11332904975809077 + - 0.01277790414842364 + - - 0.02169508710147584 + - -0.9799027586244311 + - -0.19829247801136968 + - -0.09302512282129122 + - - 0.11123701017392115 + - 0.19947357700339235 + - -0.9735690112390795 + - 0.9724893344039214 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9964818121518025 + - -0.00500928268393876 + - 0.08365945934353207 + - 0.054449455675143615 + - - -0.004638327101814487 + - -0.9999785340594829 + - -0.0046278874169612665 + - -0.09316924638633077 + - - 0.0836808459108551 + - 0.004223565702091835 + - -0.9964836564241301 + - 0.9738661500485725 + - - 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: + - - 0.9984019854929947 + - -0.01122365280389572 + - -0.055385060994672164 + - 0.02386660032724258 + - - -0.015935963358674882 + - -0.9962202505297795 + - -0.08538886055110252 + - -0.034288206589214026 + - - -0.05421734441557355 + - 0.08613502221583429 + - -0.9948071358370939 + - 0.9693499454820872 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998524598636767 + - -0.0134483051860669 + - -0.010686514500864738 + - 0.09188757630244494 + - - -0.013536497504448531 + - -0.9998745595805437 + - -0.008223645111873602 + - -0.03347889547972588 + - - -0.010574579890796838 + - 0.008367089771024929 + - -0.9999090809013073 + - 0.9689638769755564 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9798182921113401 + - 0.012415740407373407 + - -0.19950429527745359 + - 0.09996531407546444 + - - 0.004894447675379302 + - -0.9992600763060536 + - -0.03814897485873709 + - -0.08932853278625646 + - - -0.19983032509098728 + - 0.03640260005763731 + - -0.9791540695330198 + - 0.972877474368147 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9966838477551618 + - 0.012332938434977618 + - 0.08043137605141662 + - 0.012732856914339973 + - - 0.02750207156151665 + - -0.981335804085987 + - -0.1903251840370431 + - -0.0928035694968898 + - - 0.0765829203138047 + - 0.19190606621070674 + - -0.9784207265117297 + - 0.9722040991400756 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9943714468591506 + - -0.005690404606953541 + - 0.10579718789574977 + - 0.05442553734919893 + - - -0.007927405477345235 + - -0.9997535622209002 + - 0.020735743753686725 + - -0.09323130395679971 + - - 0.10565312069994515 + - -0.02145772872486655 + - -0.9941715063128359 + - 0.9741353146680148 + - - 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: + - - 0.9989226648510785 + - -0.011114112087152015 + - -0.045055367708346006 + - 0.023844279050512437 + - - -0.014091504123378623 + - -0.9976993257251952 + - -0.06631353526266026 + - -0.034243499779698 + - - -0.04421469391911302 + - 0.06687699126011504 + - -0.9967810837298399 + - 0.9690493816766373 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996778459526563 + - -0.009686882230700647 + - -0.02345993657505937 + - 0.09191174492785475 + - - -0.010004298333707404 + - -0.9998594854628148 + - -0.013450774880465826 + - -0.03344824480963545 + - - -0.023326344040750395 + - 0.013681141863284922 + - -0.9996342871425573 + - 0.9685870579855718 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9646343641711254 + - 0.03194058915241317 + - -0.2616492733121295 + - 0.1000493698215571 + - - 0.0008186455398433521 + - -0.9929894572488133 + - -0.11820011680277058 + - -0.08953718601479005 + - - -0.2635903512643223 + - 0.11380569650639312 + - -0.9578979017426894 + - 0.9741752379100231 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9987002026418371 + - 0.013044769998607021 + - 0.049272093712739835 + - 0.012777529975794174 + - - 0.02298510954254808 + - -0.9780836374350838 + - -0.20693980506676946 + - -0.09285158479617298 + - - 0.045492746481946324 + - 0.20780334972622294 + - -0.9771121623744585 + - 0.9724162067576699 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9911757708958345 + - -0.009793579545046706 + - 0.1321918189175976 + - 0.05450405065318134 + - - -0.003711140973101536 + - -0.9989262227784572 + - -0.04618039495547152 + - -0.0933368447351991 + - - 0.13250214572498756 + - 0.045282306094769686 + - -0.9901478142848245 + - 0.9751688184135223 + - - 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: + - - 0.9989246981364986 + - -0.011326628910625282 + - -0.044957256704852476 + - 0.023832538460079395 + - - -0.014745788730368341 + - -0.99696314610749 + - -0.07646598602106637 + - -0.03426654445039038 + - - -0.04395462623688611 + - 0.07704669221307013 + - -0.996058129855582 + - 0.9694784740321556 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9791659819919724 + - 0.018082398635274444 + - -0.2022548060474496 + - 0.0999152702103433 + - - 0.004674028326578459 + - -0.9977703710050554 + - -0.06657657398542885 + - -0.08930293417194493 + - - -0.2030077170180946 + - 0.06424417175145122 + - -0.9770673227710934 + - 0.9725082651590226 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996136256627137 + - 0.01841267550525405 + - 0.02082241028753493 + - 0.012785280912106579 + - - 0.0211062973529499 + - -0.9902661122853675 + - -0.1375774366357847 + - -0.09279908464598029 + - - 0.018086558586228697 + - 0.13796376422801282 + - -0.9902721222767734 + - 0.972171111536258 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9884857971041232 + - -0.003576235816898983 + - 0.15127140992536567 + - 0.05432828656796257 + - - -0.015614939966203327 + - -0.9967941215212036 + - 0.07847071396785192 + - -0.09306596648162781 + - - 0.15050582238995922 + - -0.07992928023042929 + - -0.9853726744681771 + - 0.9725322506781284 + - - 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: + - - 0.9988954403930771 + - -0.01201920267086256 + - -0.045425080397038596 + - 0.023858451301218022 + - - -0.015233379459473773 + - -0.9973537528847866 + - -0.07108752180852076 + - -0.034277869044603566 + - - -0.0444504590770936 + - 0.07170097889004001 + - -0.9964352092906226 + - 0.9691668316527042 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997664099192966 + - -0.011196131622005435 + - -0.018487082890056555 + - 0.09191740997462657 + - - -0.011105631174585368 + - -0.9999258758571148 + - 0.0049907662334283676 + - -0.0335041573213591 + - - -0.018541589826527 + - -0.004784289715870173 + - -0.9998166431994521 + - 0.968781022038163 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9753088353629298 + - 0.013747971541013551 + - -0.22041703414553315 + - 0.09991444374815237 + - - 0.008525844193522217 + - -0.9996603794601088 + - -0.02462591558619081 + - -0.08933900893531099 + - - -0.22068073238004587 + - 0.022138631759390494 + - -0.9750948135130387 + - 0.9728181784729935 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994979895603535 + - 0.020083598318279487 + - 0.024503427176651757 + - 0.012752478163108217 + - - 0.02158980132636227 + - -0.997790193517709 + - -0.06283796781070945 + - -0.09270958823491304 + - - 0.0231872668397912 + - 0.06333544661942121 + - -0.9977228933215964 + - 0.9711717443986615 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9913517440730137 + - -0.0004808836015734383 + - 0.13123066819290205 + - 0.054404232209050815 + - - -0.026140012176676043 + - -0.98067790722473 + - 0.19387506813597097 + - -0.0931377771690299 + - - 0.12860178570609757 + - -0.19562875819338502 + - -0.9722093240043099 + - 0.9735975436684896 + - - 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: null + base_right_marker_pose: + - - 0.9997163217628197 + - -0.010628510003470102 + - -0.021314567228176956 + - 0.0918960925868577 + - - -0.010760094317323476 + - -0.999923695219187 + - -0.006068287195657484 + - -0.03349341529643304 + - - -0.021248443973633506 + - 0.006295912508351232 + - -0.9997544023981023 + - 0.9687141729307716 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.845876693725586 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9713039646353774 + - 0.04017909974545748 + - -0.23442322459014603 + - 0.10010742905838066 + - - -0.0008619677491075485 + - -0.9850265371760833 + - -0.17240063245386847 + - -0.08953598670528533 + - - -0.23783999935922673 + - 0.16765548306732744 + - -0.956725547742018 + - 0.9744701230684616 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994211222206433 + - 0.01448121559297118 + - 0.030784977735576084 + - 0.01281836997194933 + - - 0.021670146933563866 + - -0.9685401781047075 + - -0.24791193623700167 + - -0.09294412506449805 + - - 0.026226421622245373 + - 0.24843554051675318 + - -0.9682933217868647 + - 0.9732021621784641 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9910981554184218 + - -0.006057434393101665 + - 0.13299531501062317 + - 0.05450605000714395 + - - -0.0071458836129887375 + - -0.9999447574416331 + - 0.007708333956405372 + - -0.09334618044134416 + - - 0.1329412752819501 + - -0.008590084607681236 + - -0.9910866903418903 + - 0.9755911058312198 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9850993112968621 + - 0.015365507800171378 + - -0.17129871001408845 + - 0.0999129006141341 + - - 0.0061192223924864736 + - -0.9985018101270666 + - -0.054375456690338504 + - -0.0893312105534657 + - - -0.17187757852541205 + - 0.052517010034982554 + - -0.9837174704442463 + - 0.9724188964450275 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995960756462946 + - 0.02702639939435449 + - -0.00878972629290099 + - 0.012702291457350825 + - - 0.02516495655551604 + - -0.9854386929238741 + - -0.16815857828265968 + - -0.09286666370076535 + - - -0.013206457287488947 + - 0.1678694618573111 + - -0.9857207684033295 + - 0.9723050251541243 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.985456140530994 + - -0.008648266343649883 + - 0.16970975982248993 + - 0.05434675162296628 + - - -0.014494987296737956 + - -0.9993421954833187 + - 0.03324261827606442 + - -0.09309527287962927 + - - 0.16931063295914206 + - -0.03521908312023497 + - -0.9849332595415514 + - 0.9728832130844068 + - - 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: + - - 0.9994668780286763 + - -0.015101575356963819 + - -0.028946539436504975 + - 0.02391149221174383 + - - -0.016897795368253005 + - -0.9978800633200877 + - -0.06284778229969927 + - -0.03428412634247527 + - - -0.027936074085380038 + - 0.06330340946612346 + - -0.997603254863706 + - 0.9690814341183569 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9780615729836362 + - 0.026082225851166707 + - -0.20667674505716407 + - 0.10001138575195029 + - - 0.0021124627345225824 + - -0.9933216756598966 + - -0.11535851145628388 + - -0.08938896304451346 + - - -0.20830529746977275 + - 0.11239113024995816 + - -0.9715848583048037 + - 0.9735544823137265 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999519547873725 + - 0.02868121787800003 + - -0.01174994295045836 + - 0.012671010352604675 + - - 0.025087531891941565 + - -0.9712562833961922 + - -0.2367104723221762 + - -0.0929089946716519 + - - -0.0182013505508561 + - 0.23630196720393934 + - -0.9715091822178906 + - 0.9724070808082859 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9921206204131395 + - -0.007699447789138532 + - 0.12504956239343387 + - 0.054460151048148386 + - - 0.0009349628789243909 + - -0.9976270756395212 + - -0.06884289211931863 + - -0.09332811693461948 + - - 0.12528288149408925 + - 0.06841736953931685 + - -0.9897591945265569 + - 0.9750746428936786 + - - 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: + - - 0.999224927655113 + - -0.011963746726501027 + - -0.03750216949588811 + - 0.023870224881996315 + - - -0.014700653561291313 + - -0.9971813075187246 + - -0.07357534043494665 + - -0.03424130403878782 + - - -0.03651622567441873 + - 0.07406962062486575 + - -0.9965842947603499 + - 0.9690766480195628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998729172347124 + - -0.012279219267517159 + - -0.010167111424896418 + - 0.09189606074300787 + - - -0.012223931544281898 + - -0.9999102558980134 + - 0.0054823031265144396 + - -0.03345074567250207 + - - -0.010233517388793254 + - -0.005357324346211958 + - -0.9999332848733977 + - 0.9687312959542407 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9781348295107806 + - 0.026613920026787037 + - -0.20626185919535384 + - 0.10001386615288052 + - - 0.0033573757554976064 + - -0.993669623536462 + - -0.11229161718019376 + - -0.08946917422126421 + - - -0.20794466409589013 + - 0.10914384326069232 + - -0.9720322207377355 + - 0.9734521873461073 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996080145939004 + - 0.025240849737933745 + - 0.01211266544356478 + - 0.012695581273250597 + - - 0.027330902007966118 + - -0.973572364029939 + - -0.22673745564548298 + - -0.09296089309545331 + - - 0.006069510282686059 + - 0.2269796279441471 + - -0.9738805930622425 + - 0.9730230881847426 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9871640626209945 + - -0.010132831416977692 + - 0.15938770089655044 + - 0.05443346404625668 + - - -0.0020429809920360278 + - -0.9987048238063733 + - -0.05083798908835382 + - -0.09325173027205386 + - - 0.1596963985138027 + - 0.04985980980064517 + - -0.9859062124098644 + - 0.9742228564512211 + - - 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: + - - 0.9984160959454775 + - -0.010974152027740212 + - -0.055180316637937314 + - 0.02384815115055197 + - - -0.014832078961517428 + - -0.9974367943115836 + - -0.06999893418553803 + - -0.03425524349523386 + - - -0.05427069919091045 + - 0.07070650140336472 + - -0.9960197196183547 + - 0.9695259905238024 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9996052745413511 + - -0.008803105744592137 + - -0.02667958842185762 + - 0.0918813669571397 + - - -0.009505903004496163 + - -0.9996080864060669 + - -0.026330807045558163 + - -0.03350059875007977 + - - -0.026437339449712053 + - 0.026574027185408567 + - -0.9992971971150374 + - 0.9687671348585192 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9765864134544254 + - 0.028338414016257297 + - -0.21325081792871292 + - 0.1000439087255445 + - - 0.003531254540645321 + - -0.9932638125211866 + - -0.11582110764988779 + - -0.0894106134880687 + - - -0.21509650693953875 + - 0.11235627720301575 + - -0.9701080144373041 + - 0.9735043231883689 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993109158764856 + - 0.023635811440939725 + - 0.028618906820979388 + - 0.012632997071910635 + - - 0.02973642582114767 + - -0.9712506012705715 + - -0.23619486554736122 + - -0.09287525081433372 + - - 0.022213473152187156 + - 0.2368831314152213 + - -0.9712841724549183 + - 0.9720579483071058 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9892036868633843 + - -0.011464345792976057 + - 0.1460980310319979 + - 0.054411692776213175 + - - -0.002100705467914651 + - -0.9979422165538614 + - -0.0640852514710251 + - -0.0932161602228683 + - - 0.14653208840532037 + - 0.06308645809606468 + - -0.987192203105591 + - 0.9741907648538566 + - - 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: null + base_right_marker_pose: + - - 0.9998588234630211 + - -0.012162949105621648 + - -0.011592920779387731 + - 0.09191700516235113 + - - -0.012115246636035552 + - -0.9999178867901239 + - 0.004176179608186478 + - -0.03351125293966043 + - - -0.011642763507481009 + - -0.0040351389351372885 + - -0.9999240789738398 + - 0.9689725938856849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9807392769874778 + - 0.01260413365975577 + - -0.1949143565486299 + - 0.09998948630832787 + - - 0.005443572649831786 + - -0.9992919306147433 + - -0.03722908708342544 + - -0.08937075204628267 + - - -0.19524558404964096 + - 0.03545099748873483 + - -0.9801134570477892 + - 0.9730953584705826 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.995348456632179 + - 0.014998204752802231 + - 0.09516566468076826 + - 0.012699871121779055 + - - 0.02674462063341984 + - -0.9919984130173565 + - -0.12338506327031712 + - -0.09281362199027657 + - - 0.09255363389469837 + - 0.12535630189678829 + - -0.9877852106746926 + - 0.971872420400846 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9835652864197506 + - -0.010012257460193552 + - 0.1802750178216182 + - 0.054352853076384385 + - - -0.014543694733396154 + - -0.9996101817789246 + - 0.023832025247690906 + - -0.09312729996154062 + - - 0.17996613096228897 + - -0.026062217565963 + - -0.9833274899655801 + - 0.9731711312544733 + - - 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: + - - 0.9992051212612476 + - -0.010257851407466446 + - -0.038521450255641194 + - 0.02385932278547603 + - - -0.013051052647287053 + - -0.9972484705078789 + - -0.07297368083421837 + - -0.03425248657914534 + - - -0.03766690417453022 + - 0.07341842108217098 + - -0.9965896546601857 + - 0.9693531905271584 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9725924253738492 + - 0.018806618483486963 + - -0.23175479543394598 + - 0.09998490418853168 + - - 0.006293105660346293 + - -0.9984875942944192 + - -0.054616122722981005 + - -0.0893837828467934 + - - -0.23243143274213432 + - 0.051660769848702125 + - -0.9712398230777396 + - 0.9732468172501321 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.998466156198594 + - 0.02003037948610595 + - 0.05161510267012188 + - 0.01264050237216626 + - - 0.028908494371747962 + - -0.9837011303239962 + - -0.17747220952152473 + - -0.09285713942949825 + - - 0.04721899913343413 + - 0.17869210977806474 + - -0.9827713345554508 + - 0.9722988826013261 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870154848053022 + - -0.00899862307744926 + - 0.16037287032807074 + - 0.05441720253572287 + - - -0.008344788468873134 + - -0.9999538998906413 + - -0.004750010411240148 + - -0.09318227933695926 + - - 0.16040822067451516 + - 0.003350056149846656 + - -0.9870450748896065 + - 0.973651954689253 + - - 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: null + base_right_marker_pose: + - - 0.9999065609472599 + - -0.013666158416934974 + - 0.0003247903120549564 + - 0.09184695685334003 + - - -0.013669893703919658 + - -0.9995141943185146 + - 0.028009094271938678 + - -0.03348737966482936 + - - -5.8144192359111215e-05 + - -0.028010916977743654 + - -0.9996076155918976 + - 0.9686173512499896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.845876693725586 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.974909919454555 + - 0.02867859961997728 + - -0.22074461912569965 + - 0.10009383634006122 + - - 0.003033068078987882 + - -0.9932854215977159 + - -0.11564978054227375 + - -0.08949817367343064 + - - -0.22257908582600788 + - 0.11207858477552655 + - -0.9684507945102704 + - 0.9740787100558652 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9869307371422313 + - 0.001409898638238486 + - 0.16113886020982593 + - 0.01271461036147142 + - - 0.03544767224895243 + - -0.97736791166313 + - -0.2085555748077319 + - -0.09302548485588476 + - - 0.1571979090701361 + - 0.21154190468340428 + - -0.9646444111416885 + - 0.9739400253782633 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9956140969521243 + - -0.0057028260895205084 + - 0.09338119577730077 + - 0.0544644003265214 + - - -0.01449010726698585 + - -0.9954954294653784 + - 0.09369571337544136 + - -0.09326181831018601 + - - 0.09242622323560092 + - -0.09463787660410763 + - -0.991211917588902 + - 0.9747252966338834 + - - 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: + - - 0.9989255455756617 + - -0.009905410722962341 + - -0.04527291944171544 + - 0.023837947743311327 + - - -0.013564705396219364 + - -0.9966015174539038 + - -0.08124908723235046 + - -0.03421974989986736 + - - -0.044314254635279715 + - 0.08177590260575386 + - -0.9956650785224587 + - 0.9689510610178538 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9733996631705992 + - 0.02296599282884776 + - -0.22795977476903528 + - 0.09997060864164485 + - - 0.004611984103388247 + - -0.9967259390757359 + - -0.08072256175458013 + - -0.08940794943312275 + - - -0.22906729435254192 + - 0.07752396756472944 + - -0.9703186121635656 + - 0.9732296995398124 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993253012001718 + - 0.016709465539403758 + - 0.03270682104046983 + - 0.012723199379711133 + - - 0.019568022243970043 + - -0.9958280190796094 + - -0.08912715030472161 + - -0.0927555282148666 + - - 0.03108110176048036 + - 0.08970702412502836 + - -0.995483106303661 + - 0.9714477749830004 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9890001481671103 + - -0.01045537384306503 + - 0.14754454270909365 + - 0.05444688496379482 + - - -0.005943203549904194 + - -0.9995020392253084 + - -0.030989545269586506 + - -0.093175264401445 + - - 0.14779507859532473 + - 0.029771777613254752 + - -0.9885698033020988 + - 0.9740590720965079 + - - 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: + - - 0.9994104717174266 + - -0.010017078429272618 + - -0.032838501203505406 + - 0.023851302192817517 + - - -0.012569772550286839 + - -0.9968369129564504 + - -0.07847400706914984 + - -0.03423531621503585 + - - -0.03194854988234803 + - 0.07884051691355609 + - -0.9963751618006237 + - 0.9691623404430372 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9611162364338641 + - 0.025024383769577246 + - -0.27500792766783555 + - 0.10003714388130502 + - - 0.004569495859537007 + - -0.9971903595193179 + - -0.07476969031180662 + - -0.08947716387500064 + - - -0.2761063196864466 + - 0.0706057157649911 + - -0.9585301941673612 + - 0.9739006827161244 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993280166323 + - 0.014579959061669348 + - 0.033629450895215386 + - 0.012809104628019598 + - - 0.020376604917559243 + - -0.9836272396732553 + - -0.17905934028920736 + - -0.09278413532677343 + - - 0.030468166104761833 + - 0.17962426942518792 + - -0.9832633485936919 + - 0.971735136933825 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9818480571239063 + - -0.010406854591277107 + - 0.18938344726909556 + - 0.054518680462151456 + - - -0.010624944448341864 + - -0.9999435443945279 + - 0.00013630545871898985 + - -0.09332448130913201 + - - 0.18937133700082476 + - -0.002146019856488245 + - -0.9819031985492741 + - 0.9753263960454396 + - - 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: + - - 0.9985857824572087 + - -0.008550278364035886 + - -0.05247216227888575 + - 0.023841310466548218 + - - -0.014001908902457394 + - -0.9944341685351247 + - -0.1044252411869054 + - -0.0342747665110425 + - - -0.051287246186664234 + - 0.1050122716150526 + - -0.9931475425075751 + - 0.9694569259081415 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999282021596188 + - -0.011447877228478578 + - 0.003540710775313021 + - 0.09194329768621613 + - - -0.011372787782186755 + - -0.9997242147071613 + - -0.020546392048482517 + - -0.0334822010999343 + - - 0.0037749468730142125 + - 0.02050464910966007 + - -0.9997826309458445 + - 0.9690740569819187 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9536700326450619 + - 0.026691004347320156 + - -0.2996682484376647 + - 0.10005884689907614 + - - 0.006229539697074531 + - -0.9975951821161421 + - -0.0690293086581636 + - -0.08946169187173901 + - - -0.30079006245208495 + - 0.06396438779190171 + - -0.9515429025663942 + - 0.9739912377314828 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9968511749020584 + - 0.015236347496054655 + - 0.07781766387758766 + - 0.012675287817679657 + - - 0.03285117714096774 + - -0.9725395203505024 + - -0.23040764205396208 + - -0.09293062040933538 + - - 0.072170182602225 + - 0.23223853054864396 + - -0.9699776954506569 + - 0.9732813638290851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9665116307823276 + - -0.014775933621256477 + - 0.2561970713105556 + - 0.05456808815928575 + - - -0.013501507818128181 + - -0.9998861838170302 + - -0.006732659092272041 + - -0.09339693369409392 + - - 0.25626739326165293 + - 0.0030481465574923074 + - -0.9666011235010236 + - 0.9762593135990676 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9635016727359969 + - 0.028105410057298046 + - -0.266222862580296 + - 0.1001156447411385 + - - 0.005219529213954055 + - -0.9962567762801877 + - -0.08628552735304243 + - -0.08950632526879329 + - - -0.26765142097459654 + - 0.08174669192890366 + - -0.9600417674293968 + - 0.9745544779910211 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.996915529961083 + - 0.002091877742828206 + - 0.07845412780677684 + - 0.012858079087359097 + - - 0.016793463839091423 + - -0.982177150774444 + - -0.1872058334264213 + - -0.09307728673219066 + - - 0.07666423999948178 + - 0.18794591920045758 + - -0.9791827846532014 + - 0.9734733679460691 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9713805374777761 + - -0.006795022091733069 + - 0.2374314197492818 + - 0.054496917305108535 + - - -0.025012846424292516 + - -0.9969592757267727 + - 0.07380081338375487 + - -0.09322164343887648 + - - 0.23620797811069286 + - -0.07762750940949938 + - -0.9685967999429571 + - 0.9744126326750905 + - - 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: null + base_right_marker_pose: + - - 0.9999032228722944 + - -0.009159471288941581 + - -0.010471340664202562 + - 0.09195242015001154 + - - -0.009586880973203014 + - -0.9990915480791397 + - -0.04152312933816753 + - -0.03347593355119116 + - - -0.01008149804366223 + - 0.04161949834555441 + - -0.9990826696298262 + - 0.9691953361962138 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9666955649885303 + - 0.026479232893383425 + - -0.25455556339802177 + - 0.10001904402780452 + - - 0.0034056860877338356 + - -0.9958761625217628 + - -0.09065908792393193 + - -0.08944172730764476 + - - -0.25590640072842674 + - 0.08677280188115033 + - -0.9627992495426637 + - 0.9735879869399577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994823116992122 + - 0.01710419648961227 + - 0.02724986353807303 + - 0.012775853227418327 + - - 0.02344798950135675 + - -0.9671962958736494 + - -0.2529456800118073 + - -0.0930125493656438 + - - 0.022029534464966118 + - 0.2534536875066845 + - -0.967096648686428 + - 0.9738338144259727 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9979635062435493 + - -0.005362767649862343 + - 0.06356163095150029 + - 0.05454743553325846 + - - 1.3015762375630409e-05 + - -0.9964425044689803 + - -0.0842753529697532 + - -0.09345840465004808 + - - 0.06378745987003291 + - 0.0841045540426923 + - -0.9944131857294578 + - 0.9763856427927724 + - - 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: + - - 0.9997908071109177 + - -0.013646324954113989 + - -0.015235479373701144 + - 0.023874753744478706 + - - -0.014868026729186539 + - -0.9964229752917094 + - -0.08318771599219162 + - -0.03424953817979103 + - - -0.014045775082918774 + - 0.08339683522810722 + - -0.9964174246149331 + - 0.9687899111956607 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998603420994506 + - -0.013489166664741127 + - -0.00986603666425302 + - 0.0919340405969575 + - - -0.013291720362108857 + - -0.9997153723519525 + - 0.019811725139744638 + - -0.03346657201638595 + - - -0.01013047217976778 + - -0.019677821675381794 + - -0.9997550484331285 + - 0.9689955040427383 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9825937700577911 + - 0.0212014191182873 + - -0.18455346886739177 + - 0.09999935607687108 + - - 0.006774377797186772 + - -0.9968946483773523 + - -0.07845487774546311 + - -0.0893946749455687 + - - -0.18564372019833475 + - 0.07583903918144863 + - -0.9796860973224825 + - 0.9731939253727238 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.997708199182344 + - 0.014483896129857433 + - 0.06609512869511386 + - 0.012672205687677128 + - - 0.029979822812813223 + - -0.9703319382361337 + - -0.23991069143125035 + - -0.0928995544508553 + - - 0.060659372799564015 + - 0.24134238415953338 + - -0.9685423553462988 + - 0.9721296223587783 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9971216184721818 + - -0.0035913552477274714 + - 0.0757336130321361 + - 0.0543942828715695 + - - -0.011143369006156928 + - -0.9949718585372765 + - 0.09953303997201796 + - -0.09316635421774572 + - - 0.07499535520690156 + - -0.1000904735045415 + - -0.9921479697157215 + - 0.9736652548039096 + - - 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: null + base_right_marker_pose: + - - 0.9995017857475114 + - -0.012995936805775132 + - -0.02876257836279674 + - 0.09184184815367887 + - - -0.012516564809916092 + - -0.9997807878121228 + - 0.016784276187258 + - -0.03348494956907605 + - - -0.028974400647725128 + - -0.016415905345465567 + - -0.9994453472595656 + - 0.9685129288845598 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9783660709069443 + - 0.02135487218471783 + - -0.20577609368457364 + - 0.10007549246849709 + - - 0.004552671847372793 + - -0.9966397816952736 + - -0.08178275320291237 + - -0.08941792372157649 + - - -0.20683110132946206 + - 0.07907663989050559 + - -0.9751757690521592 + - 0.9737129440845018 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990877471080742 + - 0.023508012046147712 + - 0.0356517453731346 + - 0.012631820897358993 + - - 0.027605803584259722 + - -0.9924880608046371 + - -0.11918627760241009 + - -0.0928296388142672 + - - 0.03258209918007008 + - 0.12006174465619622 + - -0.9922316182641687 + - 0.9718897618471993 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9839334488350976 + - -0.008701576293451758 + - 0.17832344443028111 + - 0.05443567716965936 + - - -0.010041888754397207 + - -0.9999276987503255 + - 0.006614963501235039 + - -0.09320499144376697 + - - 0.17825299081281812 + - -0.0082993880429583 + - -0.9839496894782771 + - 0.974280454899564 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9786702158409717 + - 0.025463834727788796 + - -0.20385338296614522 + - 0.10001604569242234 + - - 0.0013612482470191332 + - -0.9930705571153741 + - -0.1175117678948404 + - -0.08942052879553626 + - - -0.205433092828288 + - 0.11472777218928602 + - -0.9719232390778026 + - 0.9733503005059867 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999222269193871 + - 0.019105745829467988 + - 0.034493872257995634 + - 0.012788577720171996 + - - 0.02655009334405746 + - -0.9727554499302783 + - -0.2303083306664435 + - -0.0929135504214827 + - - 0.029153889800041948 + - 0.23104502831102383 + - -0.9725061673852179 + - 0.9733753494454074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9807630987005268 + - -0.012520253386001526 + - 0.1947998652014189 + - 0.054416329314528514 + - - -0.011072466891604167 + - -0.9999024059751793 + - -0.008519331076010543 + - -0.09321576749655686 + - - 0.1948875180822902 + - 0.006198530487032129 + - -0.98080601217342 + - 0.9740050437169055 + - - 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: + - - 0.9997484926461939 + - -0.011287157867416258 + - -0.01937915165684921 + - 0.023838515079653105 + - - -0.012756784445605835 + - -0.9969132437158289 + - -0.07746772847188498 + - -0.034302628178138936 + - - -0.018444942457798215 + - 0.07769546042891677 + - -0.9968065005438459 + - 0.9690494112166838 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9998433543854373 + - -0.010985433563797683 + - -0.013877569696898462 + - 0.09191459132815195 + - - -0.011220907373732434 + - -0.9997924289053467 + - -0.0170055973508147 + - -0.033438374749354474 + - - -0.013687875254655275 + - 0.017158652422708087 + - -0.9997590823383654 + - 0.9687944319028421 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9667458371883322 + - 0.03397552136580215 + - -0.2534721882711251 + - 0.10001049601790003 + - - 0.002674499872479256 + - -0.9924248058517531 + - -0.12282447549467418 + - -0.08944404040246523 + - - -0.2557251128252031 + - 0.11806213905410842 + - -0.9595134173071813 + - 0.9735884046387203 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9932388835470604 + - -0.0020247096538418864 + - 0.11607075756195727 + - 0.012827348641224957 + - - 0.0295518169708333 + - -0.9624992514061784 + - -0.2696699485598448 + - -0.09307584401632107 + - - 0.112264020611732 + - 0.27127678041691033 + - -0.9559318480324446 + - 0.9746600861813892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9852690120482214 + - -0.01949030747467018 + - 0.16989732726580672 + - 0.05461880182042725 + - - 0.013814685182686682 + - -0.9811660238302697 + - -0.1926717108306301 + - -0.09354784887664121 + - - 0.17045271593854136 + - 0.1921805442692925 + - -0.9664432264926551 + - 0.9774078753274432 + - - 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: + - - 0.9970600237951287 + - -0.005356059410399598 + - -0.07643704322676116 + - 0.023850017155451507 + - - -0.01658757626618583 + - -0.9889867149606222 + - -0.1470718530005347 + - -0.034333082247812396 + - - -0.07480749469986915 + - 0.14790737053639247 + - -0.9861679615956603 + - 0.9698432876658541 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9995391062392622 + - -0.008965730977067375 + - -0.029003288890464336 + - 0.09190194514977942 + - - -0.009469715617460893 + - -0.9998057339233919 + - -0.01728637903183268 + - -0.03348838601237162 + - - -0.02884266951135582 + - 0.017553064745354917 + - -0.9994298326213322 + - 0.9689054355112297 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9750906456918503 + - 0.01640343142551964 + - -0.22119936736283552 + - 0.10012582025042999 + - - 0.0063900371507798065 + - -0.9989252099905236 + - -0.04590852067536127 + - -0.0895056005106472 + - - -0.22171468176343678 + - 0.043351496892918166 + - -0.9741474465437361 + - 0.9745227667816434 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9970074424593537 + - 0.01608155663302519 + - 0.07561443788667195 + - 0.01272894113099913 + - - 0.019692037582356492 + - -0.9986890643511374 + - -0.04724803066059268 + - -0.09269848272560582 + - - 0.07475549034361038 + - 0.048595640562791746 + - -0.9960171084784526 + - 0.9714285383471775 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9835562246246511 + - -0.009417864807700575 + - 0.18035647153503187 + - 0.05452384742833883 + - - -0.010198138656293959 + - -0.9999422190089509 + - 0.0033995016404259858 + - -0.09331754938939199 + - - 0.18031403431250126 + - -0.00518290130333688 + - -0.9835954384623949 + - 0.9752042733765209 + - - 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: null + base_right_marker_pose: + - - 0.9998732771392161 + - -0.010738817678603779 + - -0.011751912940031091 + - 0.09189814745610744 + - - -0.010806640498834248 + - -0.9999252290394592 + - -0.005723010703627174 + - -0.03350543499902982 + - - -0.011689575869693426 + - 0.005849284165655027 + - -0.9999145661959006 + - 0.9689021377155274 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9553046434070364 + - 0.042174188978546634 + - -0.2925993439311802 + - 0.10007024406216304 + - - 0.0003931590114957112 + - -0.9899518403502456 + - -0.1414043818739509 + - -0.08955626291540301 + - - -0.2956228741334928 + - 0.1349692245334628 + - -0.9457221709983802 + - 0.9744986088179515 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.985528667782279 + - 0.003085170837615222 + - 0.1694807561352886 + - 0.012801187730275455 + - - 0.02108476439344556 + - -0.9943005393744827 + - -0.10450775143541187 + - -0.09276366091221372 + - - 0.16819238297187936 + - 0.10656884685739858 + - -0.97997673604516 + - 0.9717027889683577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9893298587147281 + - -0.011350006341651852 + - 0.14525015666614832 + - 0.054576206705958176 + - - -0.004466927305333754 + - -0.9988552288900034 + - -0.047626445170169535 + - -0.0934114814613532 + - - 0.14562443893778626 + - 0.04646944238037255 + - -0.9882480021274578 + - 0.9761191147143836 + - - 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: + - - 0.9990372832318403 + - -0.012485353203178982 + - -0.04205499575717101 + - 0.023904035419951748 + - - -0.01492559779517276 + - -0.9981921883527097 + - -0.05822011372442718 + - -0.0342559755708509 + - - -0.04125206956263574 + - 0.058791760196649744 + - -0.9974175633553779 + - 0.9693417298471176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9997928280587469 + - -0.01011222127821683 + - -0.017664765583313095 + - 0.09188580797478228 + - - -0.010276969451688787 + - -0.9999043078017763 + - -0.009260622999607067 + - -0.03349474522382747 + - - -0.017569429734117143 + - 0.009440244714633977 + - -0.9998010786744266 + - 0.9686822355125331 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9656476867957503 + - 0.026831990137771475 + - -0.25846583776441884 + - 0.10002993513623698 + - - 0.005132822948840396 + - -0.9964301335416302 + - -0.08426531373457091 + - -0.08944835744821955 + - - -0.2598041553066313 + - 0.08004394590133812 + - -0.9623381773627981 + - 0.9738743197389892 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979698506455755 + - 0.019950911092045172 + - 0.06048254582145905 + - 0.012768929849221738 + - - 0.02941230071678242 + - -0.9867063538349089 + - -0.15982955880676555 + - -0.0931175544816185 + - - 0.05648976694051007 + - 0.16128401175695337 + - -0.9852899947642775 + - 0.9745458787715156 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999957676523733 + - -0.0024757286190295316 + - 0.0015282163281371537 + - 0.05453072289358111 + - - -0.002551391896405573 + - -0.9986607821942097 + - 0.05167332490405478 + - -0.09343687703345535 + - - 0.0013982405843140334 + - -0.051677005283336325 + - -0.9986628720685545 + - 0.9762065930411523 + - - 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: null + base_right_marker_pose: + - - 0.999939077931033 + - -0.01099330153834614 + - -0.0009938549806071861 + - 0.09192754737758028 + - - -0.011004318407461676 + - -0.9998691386945397 + - -0.011857928260331671 + - -0.033477494360787924 + - - -0.000863367142461083 + - 0.011868142547465833 + - -0.9999291983883914 + - 0.9691278692516393 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9677343945150889 + - 0.031125709542325762 + - -0.250042660116231 + - 0.1000714010528029 + - - 0.00141989891108287 + - -0.9929989443588804 + - -0.11811469167394323 + - -0.08946809681265896 + - - -0.25196850112582836 + - 0.11394861432959655 + - -0.9610034275343494 + - 0.9743551681675611 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993685776621267 + - 0.029186612905851603 + - -0.020262961497806136 + - 0.012652243082821781 + - - 0.02592824070535832 + - -0.9889826596318616 + - -0.14574301108943377 + - -0.09285702892851078 + - - -0.024293462402518857 + - 0.14512560275352449 + - -0.9891149514135978 + - 0.9720611031110932 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9771514865836421 + - -0.010372916277068343 + - 0.2122907790632626 + - 0.054545939208867564 + - - -0.011151813177164183 + - -0.9999347611457702 + - 0.002471945633197967 + - -0.09340053386333655 + - - 0.21225128817097833 + - -0.004782892457581478 + - -0.9772034151646728 + - 0.9759254190746973 + - - 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: + - - 0.9985506799389475 + - -0.008689674125163685 + - -0.05311336137982596 + - 0.0238621263496406 + - - -0.014240352382737827 + - -0.9943660967848169 + - -0.10503941131282098 + - -0.03426819143089155 + - - -0.051901367587771516 + - 0.10564352856908459 + - -0.9930486860743498 + - 0.969414116763369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999340401250734 + - -0.011479587541143936 + - -0.00036670019528289236 + - 0.09190300603287194 + - - -0.011471524705030723 + - -0.9997844689391896 + - 0.017303750718404894 + - -0.03347936260827881 + - - -0.0005652610811628649 + - -0.01729840275482222 + - -0.9998502116527467 + - 0.9688185609402524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.83607006072998 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9759651300142103 + - 0.026001914021898328 + - -0.21636997357198937 + - 0.09999200512301332 + - - 0.0045695454079656035 + - -0.9950798668284694 + - -0.09897059102278849 + - -0.08941169666456986 + - - -0.21787882928616562 + - 0.09560313331598147 + - -0.9712820685305873 + - 0.9732136653697312 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999287428461733 + - 0.01670926426188851 + - -0.03384428764449313 + - 0.012842406037111235 + - - 0.010574405132699713 + - -0.9847001565936971 + - -0.17393614794066678 + - -0.09294723013205149 + - - -0.03623282040397006 + - 0.17345432278318798 + - -0.9841751778181559 + - 0.9724101183761197 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9661895940293141 + - -0.012867739811938455 + - 0.25751133889908884 + - 0.05442101070597682 + - - -0.012857943396670428 + - -0.9999158503872562 + - -0.001722044116702973 + - -0.09321727687216864 + - - 0.2575118282352815 + - -0.0016472451135474838 + - -0.9662737422192845 + - 0.9738541770928968 + - - 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: null + base_right_marker_pose: + - - 0.9996136209382718 + - -0.009983035640580142 + - -0.02594123809836099 + - 0.0919318061377822 + - - -0.01021589050545714 + - -0.9999085702878823 + - -0.008859268932811002 + - -0.033503424101196784 + - - -0.025850423900923944 + - 0.009120858744781996 + - -0.9996242121516967 + - 0.9688158327646745 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9594077761910685 + - 0.03292559849750013 + - -0.28009395557150074 + - 0.10011108120516903 + - - 0.0010095390207654556 + - -0.9935561466297822 + - -0.11333650923309993 + - -0.08947919448765379 + - - -0.28202074359003093 + - 0.10845316250695694 + - -0.9532587328355119 + - 0.9743384415855243 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9979545764107901 + - 0.01838138585358004 + - 0.06122734744264531 + - 0.012715485910517963 + - - 0.027362256558758985 + - -0.9884219630011668 + - -0.14924252065993834 + - -0.09276448052048708 + - - 0.05777517059060275 + - 0.15061257487680527 + - -0.9869031775975822 + - 0.9721694626196431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9872326755920695 + - -0.009216925692612711 + - 0.15901790001160473 + - 0.05449536058914695 + - - -0.00973531686893879 + - -0.99994953224061 + - 0.0024812451001158652 + - -0.09331090854816415 + - - 0.1589870052827753 + - -0.0039976558834332945 + - -0.9872725818631107 + - 0.9751814623814656 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.970328841528061 + - 0.03053645997725627 + - -0.23985300479849847 + - 0.10006622885244695 + - - -0.0003023671326736095 + - -0.9918388540994679 + - -0.1274974355537067 + - -0.08952325264855711 + - - -0.2417888497696455 + - 0.12378696260395092 + - -0.9624006130590108 + - 0.9742203029901462 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9928110883903899 + - 0.012745233842908849 + - 0.1190113514895911 + - 0.01274159064661989 + - - 0.024653385783450464 + - -0.9947690492884428 + - -0.09912996089568936 + - -0.09274205216952122 + - - 0.11712537444337923 + - 0.10135135712982886 + - -0.9879319556879618 + - 0.9718125189827069 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9934079684992502 + - -0.009056937661766084 + - 0.11427414406760454 + - 0.054492171249589924 + - - -0.0011671698206636204 + - -0.9976214192647845 + - -0.06892127058265503 + - -0.09330750015040556 + - - 0.11462654944122887 + - 0.0683335620636646 + - -0.9910556384274748 + - 0.9749830509641841 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9832881511714948 + - 0.018429751729335413 + - -0.18112083264201984 + - 0.10000355512034304 + - - 0.004860413717481688 + - -0.9971657605298372 + - -0.075078774666658 + - -0.08937466546734485 + - - -0.18199117600652626 + - 0.07294374735470444 + - -0.9805908533010163 + - 0.9731908963717374 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9990444969035563 + - 0.025218192535621634 + - 0.03569504127965771 + - 0.012687702224076006 + - - 0.03278146568342139 + - -0.9725419969318093 + - -0.23040711731961513 + - -0.0929394660913838 + - - 0.02890447568053807 + - 0.23135709837635096 + - -0.9724394193555238 + - 0.9728286465476483 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9747412399167497 + - -0.012107130885885626 + - 0.22300881728593033 + - 0.054337209387576524 + - - -0.01168128740570604 + - -0.9999265590946689 + - -0.0032286129594930784 + - -0.09306774905566284 + - - 0.22303152855617234 + - 0.0005420321106240334 + - -0.9748110809131632 + - 0.9725629606554193 + - - 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: + - - 0.9994454902234714 + - -0.012496470485599152 + - -0.030863413572831237 + - 0.02394389346254775 + - - -0.015810005107408535 + - -0.993853805444718 + - -0.1095657662847104 + - -0.0342581781377578 + - - -0.029304535663763554 + - 0.1099929617223512 + - -0.9935002730553606 + - 0.9694356488077577 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.13729310035705566 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9840241828833368 + - 0.025217979673203467 + - -0.1762397826881984 + - 0.09999086080470589 + - - 0.0013553748403071757 + - -0.9909497665009174 + - -0.13422638798246792 + - -0.089447712787699 + - - -0.17802968982679196 + - 0.13184314078851292 + - -0.975152714074671 + - 0.9733919737873229 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9974820957550392 + - 0.007639848470060488 + - 0.07050603778038746 + - 0.012822156972149737 + - - 0.023957364507290524 + - -0.9720354531401493 + - -0.23360890934313547 + - -0.09292786612405599 + - - 0.06674963171433777 + - 0.23470984332570924 + - -0.969770991581013 + - 0.972890882498114 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9988482156074471 + - -0.0029062642099111306 + - 0.04789358836171223 + - 0.05446381965170023 + - - -0.002634326919888844 + - -0.9999800556458894 + - -0.0057400899054523774 + - -0.09332920464522158 + - - 0.04790931537288022 + - 0.005607311190376093 + - -0.9988359502749768 + - 0.9754992037250354 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.22555294632911682 + shoulder_marker_pose: + - - 0.9707402951514117 + - 0.03039656923700412 + - -0.23820018460943765 + - 0.10007527400976982 + - - 0.002577262944841268 + - -0.9932177279870898 + - -0.11624070942606841 + - -0.08945782922157772 + - - -0.2401179649361191 + - 0.11222563606762288 + - -0.9642348103673469 + - 0.9738771172239326 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999003975906875 + - 0.019726565064193027 + - 0.040023977226460554 + - 0.012719000307373976 + - - 0.026904683279099242 + - -0.9818752405262586 + - -0.1876090351213196 + - -0.09286214663896811 + - - 0.035597670428097285 + - 0.18849900443309864 + - -0.9814280061154882 + - 0.9725619543559753 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9856053711733646 + - -0.010355014264059503 + - 0.16874485471801934 + - 0.05450747583977224 + - - 3.0250374123901892e-05 + - -0.9981116566554475 + - -0.06142572696707468 + - -0.0933283501574662 + - - 0.16906227077360933 + - 0.060546631021964094 + - -0.9837438965872987 + - 0.9753537106920898 + - - 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: null + base_right_marker_pose: + - - 0.9997907030053242 + - -0.011246735132319555 + - -0.01708979616563533 + - 0.09189653484591104 + - - -0.011423683071038793 + - -0.99988178108173 + - -0.010291905844929767 + - -0.03351276546557891 + - - -0.016972025489374466 + - 0.010484980195111808 + - -0.999800987967654 + - 0.9690735753494091 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.826263427734375 + - 0.24516624212265015 + shoulder_marker_pose: + - - 0.9839364084526023 + - 0.02233314319134093 + - -0.17711683950598484 + - 0.09996557132940126 + - - 0.0025028016332414964 + - -0.9937720914934661 + - -0.11140361822080873 + - -0.08937807865492926 + - - -0.17850176499233383 + - 0.10917078768561729 + - -0.9778644379517666 + - 0.9726088549721431 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9995066551221474 + - 0.03112682132247211 + - -0.004191343566872904 + - 0.012603069729124358 + - - 0.03005221777170925 + - -0.9865968267401707 + - -0.16038567789309754 + - -0.09280472636073843 + - - -0.009127462601316645 + - 0.16018059327080036 + - -0.9870455242621169 + - 0.971495260275749 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9885652306589633 + - -0.006570138827227276 + - 0.15065064888005522 + - 0.05438867865469925 + - - -0.011181671925882767 + - -0.9994938096955377 + - 0.029784133246459784 + - -0.09313449560524732 + - - 0.15037870509195325 + - -0.031128084683961946 + - -0.9881382936607487 + - 0.9732969557337544 + - - 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: + - - 0.9987062848868087 + - -0.010795474189787858 + - -0.04969118900374849 + - 0.023841534044636088 + - - -0.014287059107037484 + - -0.9974125806294073 + - -0.07045582973933427 + - -0.03428116253436886 + - - -0.048802012967301335 + - 0.07107462092198359 + - -0.9962764484775978 + - 0.9691044565265448 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9999267067626052 + - -0.012007981252122156 + - -0.0015457972504616699 + - 0.09190056502085732 + - - -0.011972019322822222 + - -0.9996975421300003 + - 0.021482434977692973 + - -0.0334698937309628 + - - -0.0018032903883799137 + - -0.021462354145934646 + - -0.9997680308443004 + - 0.9688792902924723 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.127486452460289 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9684250813242834 + - 0.020793830563428872 + - -0.24843606516074623 + - 0.10003068999771089 + - - 0.00769590174731905 + - -0.9985340678657874 + - -0.053576939140817306 + - -0.08946448307628674 + - - -0.249185944544131 + - 0.049973312096584524 + - -0.9671654631549592 + - 0.9737430098025849 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996885085559855 + - 0.024914697337722072 + - -0.001464144009054545 + - 0.012678638151117347 + - - 0.023885791164160904 + - -0.9721138003376398 + - -0.23329000873070538 + - -0.09281042895363957 + - - -0.007235664556323668 + - 0.23318236865097713 + - -0.9724061024637533 + - 0.9713660356250169 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9870920573814048 + - -0.003838734114858422 + - 0.16010788355025157 + - 0.05446777294130344 + - - -0.013119890067068932 + - -0.9982907430408852 + - 0.05695139018061293 + - -0.09328058482829268 + - - 0.15961559679170928 + - -0.05831686273516273 + - -0.9854552271826222 + - 0.9749577877208389 + - - 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: null + base_right_marker_pose: + - - 0.9995140419976295 + - -0.011524789726420214 + - -0.028963063914624384 + - 0.09190030667486153 + - - -0.011212369364041455 + - -0.9998774427918068 + - 0.010926214777403832 + - -0.03348642669581374 + - - -0.029085436610185565 + - -0.010596160525372027 + - -0.999520764546348 + - 0.9688872773977802 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.23535959422588348 + shoulder_marker_pose: + - - 0.9729815955761381 + - 0.02503451526323907 + - -0.22952143193097943 + - 0.1000020516044077 + - - 0.0010785144576248764 + - -0.9945861036955572 + - -0.10391014937076577 + - -0.08943787398212846 + - - -0.23088016691928578 + - 0.1008551207486502 + - -0.9677409741982086 + - 0.9735757980742417 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9958206163367544 + - 0.006682308792526003 + - 0.09108593100961183 + - 0.012821056799845265 + - - 0.021890660985621334 + - -0.9857120128950239 + - -0.1670108577190497 + - -0.09279896017757126 + - - 0.08866847827891845 + - 0.16830678650500516 + - -0.9817386243680439 + - 0.9719921483870471 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9932798409119703 + - -0.006385613549700029 + - 0.11556115946755148 + - 0.05436356945529303 + - - -0.011823469731747556 + - -0.9988514783835666 + - 0.04643198999037695 + - -0.09311051930423263 + - - 0.11513193823346075 + - -0.04748629350199806 + - -0.9922145376520389 + - 0.973317124056199 + - - 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: null + base_right_marker_pose: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.21574629843235016 + shoulder_marker_pose: + - - 0.9752521876548719 + - 0.03178577979962747 + - -0.21879861671618506 + - 0.10007424603661005 + - - 0.0040700698103010285 + - -0.9920251867847097 + - -0.1259740581092077 + - -0.08948434560836223 + - - -0.2210579222876342 + - 0.12196595011433459 + - -0.9676041039632804 + - 0.9741572119561072 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9919917798277877 + - 0.0038926882764593416 + - 0.12624244821802275 + - 0.01281869852092103 + - - 0.024286723012000556 + - -0.9867509066039972 + - -0.1604144737906374 + - -0.09295409721563436 + - - 0.12394540668954297 + - 0.16219585473794035 + - -0.9789433287307248 + - 0.973492828795959 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999638990611972 + - -0.0018675513536674827 + - -0.026802997970734557 + - 0.0543834212215732 + - - -1.1071564325779116e-06 + - -0.9975842262449218 + - 0.06946734157930065 + - -0.0932020180240899 + - - -0.026867981819481544 + - -0.06944223354171755 + - -0.9972240910415703 + - 0.9744423913540254 + - - 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/nodes/testrig_analyze_data.py b/stretch_camera_testrig/nodes/testrig_analyze_data.py index 7191082..686c791 100644 --- a/stretch_camera_testrig/nodes/testrig_analyze_data.py +++ b/stretch_camera_testrig/nodes/testrig_analyze_data.py @@ -23,8 +23,8 @@ data_file = None class TestRig_Analyze: def __init__(self, data_filename=None): self.ros_package_dir = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig') - self.data_directory = self.ros_package_dir+'/data' - self.nominal_poses_filename = self.ros_package_dir+'/config/testrig_marker_info.yaml' + self.data_directory = self.ros_package_dir + '/data' + self.nominal_poses_filename = self.ros_package_dir + '/config/testrig_marker_info.yaml' self.data_keys = ['base_left_marker_pose', 'base_right_marker_pose', 'wrist_inside_marker_pose', @@ -48,6 +48,8 @@ class TestRig_Analyze: files.sort() if files[-1].startswith("testrig_collected_data_"): self.data_filename = self.data_directory + '/' + files[-1] + else: + print('[Error] No Test Data Found') capture_date = self.data_filename.split('_')[-1] capture_date = capture_date.split('.')[0] @@ -107,7 +109,7 @@ class TestRig_Analyze: nulls = 0 for x in self.data_dict[key]: if x is None: - nulls = nulls+1 + nulls = nulls + 1 null_counts[key] = nulls return null_counts @@ -228,14 +230,16 @@ class TestRig_Analyze: error['error_data'][key] = vals testrig_results.append(error) - filename = self.data_directory + '/results/testrig_errors_data_' + capture_date + '.yaml' + filename = self.data_directory + '/results/testrig_errors_data_' + self.realsense_details[ + 'serial'] + '_' + capture_date + '.yaml' with open(filename, 'w') as file: documents = yaml.dump(testrig_results, file) print('Test Rig Computed Error Data Saved to : {}'.format(filename)) def save_testrig_results(self): - filename = self.data_directory + '/results/testrig_results_' + self.data_capture_date + '.yaml' + filename = self.data_directory + '/results/testrig_results_' + self.realsense_details[ + 'serial'] + '_' + self.data_capture_date + '.yaml' with open(filename, 'w') as file: documents = yaml.dump(self.test_results_dict, file) print('Test Rig Results Data Saved to : {}'.format(filename)) diff --git a/stretch_camera_testrig/nodes/testrig_collect_data b/stretch_camera_testrig/nodes/testrig_collect_data index 84574a3..4d874fb 100755 --- a/stretch_camera_testrig/nodes/testrig_collect_data +++ b/stretch_camera_testrig/nodes/testrig_collect_data @@ -5,9 +5,9 @@ import rospy if __name__ == '__main__': - rospy.sleep(15) # Wait until Aruco Detector stabilizes + rospy.sleep(15) # Wait until Aruco Detector stabilizes try: node = CollectHeadCalibrationDataNode(test_rig=True) node.main() except rospy.ROSInterruptException: - pass \ No newline at end of file + pass diff --git a/stretch_camera_testrig/nodes/testrig_dashboard.py b/stretch_camera_testrig/nodes/testrig_dashboard.py index 73d3079..ba58cfc 100755 --- a/stretch_camera_testrig/nodes/testrig_dashboard.py +++ b/stretch_camera_testrig/nodes/testrig_dashboard.py @@ -79,13 +79,13 @@ class TestRig_dashboard(): vi = vi + 1 self.nominal_poses_radiobuttons.append(r) for i in range(len(self.nominal_poses_radiobuttons)): - self.nominal_poses_radiobuttons[i].place(x=x_off + 155, y=y_off + 150 + i * 20) + self.nominal_poses_radiobuttons[i].place(x=x_off + 250, y=y_off + 150 + i * 20) ################## Test Results Display Pane ######################## self.x_off_mid = 0 self.y_off_mid = 0 self.test_results_title = Label(self.window, text="Testrig Computed Results", font=("Arial", 18)) - self.test_results_title.place(x=self.x_off_mid + 20, y=self.y_off_mid + 330) + self.test_results_title.place(x=self.x_off_mid + 50, y=self.y_off_mid + 330) self.metric_title = None self.test_info_title = None @@ -116,7 +116,7 @@ class TestRig_dashboard(): del info_dict['performance_metrics'] except KeyError: print('Performance Metrics not found.') - info_txt = str(yaml.safe_dump(info_dict, allow_unicode=True, default_flow_style=False)) + info_txt = str(yaml.safe_dump(info_dict, allow_unicode=True, default_flow_style=False, indent=4)) self.info_print = Label(self.window, text=info_txt, anchor="w", font=("Arial", 11), justify=LEFT) self.info_print.place(x=x_pos, y=y_pos) @@ -167,9 +167,9 @@ class TestRig_dashboard(): for j in range(cols): # append your StringVar and Entry self.matrix_text_var[i].append(StringVar()) - self.matrix_entries[i].append(Entry(self.window, textvariable=self.matrix_text_var[i][j], width=3)) + self.matrix_entries[i].append(Entry(self.window, textvariable=self.matrix_text_var[i][j], width=6)) self.matrix_entries[i][j].place(x=pos_x + x2, y=pos_y + y2) - x2 += 30 + x2 += 55 y2 += 30 x2 = 0 @@ -280,7 +280,7 @@ class TestRig_dashboard(): self.test_rig = test_rig self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 420, 'euclidean_error') self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 620, 'angle_rotation_error') - self.test_data_info(380, 140) + self.test_data_info(480, 140) return test_rig def mainloop(self):