diff --git a/stretch_camera_testrig/config/testrig_marker_info.yaml b/stretch_camera_testrig/config/testrig_marker_info.yaml index d0ead94..63c6d67 100644 --- a/stretch_camera_testrig/config/testrig_marker_info.yaml +++ b/stretch_camera_testrig/config/testrig_marker_info.yaml @@ -2,37 +2,36 @@ # that is to be used in the test rig in Millimeters. Each aruco marker's # pose(mm)/orientation(rad) are to be measured and inserted as a 4x4 Homogeneous matrix -# 'testrig_data_directory': "/catkin_ws/src/stretch_ros/stretch_camera_testrig/data/" 'testrig_aruco_marker_info': 'base_left_marker_pose': - - - 0.0 + - - 1.0 - 0.0 - 0.0 - 0.0 - - 0.0 - - 0.0 + - 1.0 - 0.0 - 0.0 - - 0.0 - 0.0 - - 0.0 + - 1.0 - 0.0 - - 0.0 - 0.0 - 0.0 - 1.0 'base_right_marker_pose': - - - 0.0 + - - 1.0 - 0.0 - 0.0 - 0.0 - - 0.0 - - 0.0 + - 1.0 - 0.0 - 0.0 - - 0.0 - 0.0 - - 0.0 + - 1.0 - 0.0 - - 0.0 - 0.0 @@ -40,17 +39,17 @@ - 1.0 'shoulder_marker_pose': - - - 0.0 + - - 1.0 - 0.0 - 0.0 - 0.0 - - 0.0 - - 0.0 + - 1.0 - 0.0 - 0.0 - - 0.0 - 0.0 - - 0.0 + - 1.0 - 0.0 - - 0.0 - 0.0 @@ -58,17 +57,17 @@ - 1.0 'wrist_inside_marker_pose': - - - 0.0 + - - 1.0 - 0.0 - 0.0 - 0.0 - - 0.0 - - 0.0 + - 1.0 - 0.0 - 0.0 - - 0.0 - 0.0 - - 0.0 + - 1.0 - 0.0 - - 0.0 - 0.0 @@ -76,19 +75,19 @@ - 1.0 'wrist_top_marker_pose': - - - 0.0 + - - 1.0 - 0.0 - 0.0 - 0.0 - - 0.0 - - 0.0 + - 1.0 - 0.0 - 0.0 - - 0.0 - 0.0 - - 0.0 + - 1.0 - 0.0 - - 0.0 - 0.0 - 0.0 - - 1.0 + - 1.0 \ No newline at end of file diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml new file mode 100644 index 0000000..5c72614 --- /dev/null +++ b/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml @@ -0,0 +1,9600 @@ +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107458773897538 + euclidean_error: 0.5823121305744073 + base_right_marker_pose: + angle_rotation_error: 3.1085456298294254 + euclidean_error: 0.579302505447608 + shoulder_marker_pose: + angle_rotation_error: 3.100736911685416 + euclidean_error: 0.5811426015349217 + wrist_inside_marker_pose: + angle_rotation_error: 3.0968511632333406 + euclidean_error: 0.5785579928867438 + wrist_top_marker_pose: + angle_rotation_error: 3.076124371358933 + euclidean_error: 0.5798521686397572 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114333383862993 + euclidean_error: 0.5822325552400971 + base_right_marker_pose: + angle_rotation_error: 3.0977710046540343 + euclidean_error: 0.5792790355441504 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.108672563238617 + euclidean_error: 0.5786251709305594 + wrist_top_marker_pose: + angle_rotation_error: 3.07917666642979 + euclidean_error: 0.579809472258023 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1208189243491065 + euclidean_error: 0.5821306884473619 + base_right_marker_pose: + angle_rotation_error: 3.107048522662882 + euclidean_error: 0.5791319104206611 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.115329862590273 + euclidean_error: 0.5786379088599546 + wrist_top_marker_pose: + angle_rotation_error: 3.0865346101770395 + euclidean_error: 0.5800113789086554 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119732440083788 + euclidean_error: 0.5821462090405151 + base_right_marker_pose: + angle_rotation_error: 3.091785347840597 + euclidean_error: 0.5792045146656715 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1252579305003834 + euclidean_error: 0.5788007928346457 + wrist_top_marker_pose: + angle_rotation_error: 3.0795500047316438 + euclidean_error: 0.5800658745612594 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1281815894050418 + euclidean_error: 0.582159997726013 + base_right_marker_pose: + angle_rotation_error: 3.104988295276238 + euclidean_error: 0.5791331551325396 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.111836367049397 + euclidean_error: 0.5786692703745487 + wrist_top_marker_pose: + angle_rotation_error: 3.091216673420844 + euclidean_error: 0.5800505437300051 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1180799426793913 + euclidean_error: 0.5822115133486853 + base_right_marker_pose: + angle_rotation_error: 3.1167051231150795 + euclidean_error: 0.5793625654976134 + shoulder_marker_pose: + angle_rotation_error: 3.1209673636440187 + euclidean_error: 0.581245274121333 + wrist_inside_marker_pose: + angle_rotation_error: 3.1118545683262173 + euclidean_error: 0.5786222215952118 + wrist_top_marker_pose: + angle_rotation_error: 3.088277488170385 + euclidean_error: 0.5801082462678204 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.122014584537214 + euclidean_error: 0.5822619792443736 + base_right_marker_pose: + angle_rotation_error: 3.107420862875035 + euclidean_error: 0.5792546991281742 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1254450419758757 + euclidean_error: 0.5787216285073925 + wrist_top_marker_pose: + angle_rotation_error: 3.091353835050319 + euclidean_error: 0.5800619091946692 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1133182191000097 + euclidean_error: 0.5822906256672907 + base_right_marker_pose: + angle_rotation_error: 3.1160670161241644 + euclidean_error: 0.5792573583817995 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1097091496168177 + euclidean_error: 0.5786248573228284 + wrist_top_marker_pose: + angle_rotation_error: 3.0742045763664065 + euclidean_error: 0.5799924381611391 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1184201522638415 + euclidean_error: 0.582297673122932 + base_right_marker_pose: + angle_rotation_error: 3.1106848747762603 + euclidean_error: 0.5792955687018214 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1088388441688073 + euclidean_error: 0.5785706268268974 + wrist_top_marker_pose: + angle_rotation_error: 3.084355068220728 + euclidean_error: 0.579988423084442 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108347267914377 + euclidean_error: 0.5822887219105594 + base_right_marker_pose: + angle_rotation_error: 3.091756557533486 + euclidean_error: 0.5793491704951684 + shoulder_marker_pose: + angle_rotation_error: 3.1088879166482184 + euclidean_error: 0.5811739912319399 + wrist_inside_marker_pose: + angle_rotation_error: 3.1145237435734363 + euclidean_error: 0.5787355756560368 + wrist_top_marker_pose: + angle_rotation_error: 3.0833469344035103 + euclidean_error: 0.5799345032049509 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1192535040490506 + euclidean_error: 0.582271184507231 + base_right_marker_pose: + angle_rotation_error: 3.100872724080683 + euclidean_error: 0.5792239780647632 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1053813267940753 + euclidean_error: 0.5786230910154108 + wrist_top_marker_pose: + angle_rotation_error: 3.0837493300213814 + euclidean_error: 0.5799351160182996 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1140635332254725 + euclidean_error: 0.5822488182551784 + base_right_marker_pose: + angle_rotation_error: 3.110942053073096 + euclidean_error: 0.5792644507137618 + shoulder_marker_pose: + angle_rotation_error: 3.0949710308515828 + euclidean_error: 0.5811146876175667 + wrist_inside_marker_pose: + angle_rotation_error: 3.109508218630197 + euclidean_error: 0.578633001880487 + wrist_top_marker_pose: + angle_rotation_error: 3.07774662581502 + euclidean_error: 0.5800212474235195 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.125966325206173 + euclidean_error: 0.5822844593388685 + base_right_marker_pose: + angle_rotation_error: 3.1057193820077087 + euclidean_error: 0.5791881381350309 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1250438629802875 + euclidean_error: 0.5786752725438356 + wrist_top_marker_pose: + angle_rotation_error: 3.0875699048045915 + euclidean_error: 0.5799621363995987 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110828646417114 + euclidean_error: 0.5823326343028655 + base_right_marker_pose: + angle_rotation_error: 3.1104089073105503 + euclidean_error: 0.5792085065500707 + shoulder_marker_pose: + angle_rotation_error: 3.0889157131784297 + euclidean_error: 0.5810222857679828 + wrist_inside_marker_pose: + angle_rotation_error: 3.107101477968412 + euclidean_error: 0.5785546742270157 + wrist_top_marker_pose: + angle_rotation_error: 3.0738273074371234 + euclidean_error: 0.5800530817013163 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.122382170195123 + euclidean_error: 0.5822381156926915 + base_right_marker_pose: + angle_rotation_error: 3.1015038550032963 + euclidean_error: 0.579327789391289 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1230137169526615 + euclidean_error: 0.5787281968174988 + wrist_top_marker_pose: + angle_rotation_error: 3.0758046215260646 + euclidean_error: 0.5799797672110807 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1235125068997607 + euclidean_error: 0.5822787338747957 + base_right_marker_pose: + angle_rotation_error: 3.104850143708209 + euclidean_error: 0.5792503568889898 + shoulder_marker_pose: + angle_rotation_error: 3.1138575081309727 + euclidean_error: 0.5811274765404962 + wrist_inside_marker_pose: + angle_rotation_error: 3.1162642882704787 + euclidean_error: 0.5786894062066303 + wrist_top_marker_pose: + angle_rotation_error: 3.0878785247640885 + euclidean_error: 0.5799459192647859 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1079834617118425 + euclidean_error: 0.5822908231389843 + base_right_marker_pose: + angle_rotation_error: 3.0962828675575724 + euclidean_error: 0.5792709736697784 + shoulder_marker_pose: + angle_rotation_error: 3.0964610603553586 + euclidean_error: 0.5810293007894091 + wrist_inside_marker_pose: + angle_rotation_error: 3.097433662956641 + euclidean_error: 0.5785590329944453 + wrist_top_marker_pose: + angle_rotation_error: 3.0630467318743917 + euclidean_error: 0.5800293866189847 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1280400126357906 + euclidean_error: 0.5822160468422359 + base_right_marker_pose: + angle_rotation_error: 3.119014118209548 + euclidean_error: 0.5793258336127025 + shoulder_marker_pose: + angle_rotation_error: 3.0975494211704344 + euclidean_error: 0.581149838469329 + wrist_inside_marker_pose: + angle_rotation_error: 3.103280757069727 + euclidean_error: 0.5785869589059598 + wrist_top_marker_pose: + angle_rotation_error: 3.0869368013935663 + euclidean_error: 0.5799542754817262 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11867697845908 + euclidean_error: 0.5821799164310096 + base_right_marker_pose: + angle_rotation_error: 3.105888675419255 + euclidean_error: 0.5792902984888275 + shoulder_marker_pose: + angle_rotation_error: 3.116204890411107 + euclidean_error: 0.5812076768788248 + wrist_inside_marker_pose: + angle_rotation_error: 3.1096500062505004 + euclidean_error: 0.5786855299082876 + wrist_top_marker_pose: + angle_rotation_error: 3.067621628071756 + euclidean_error: 0.579943492888749 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117856078817256 + euclidean_error: 0.5822126075680286 + base_right_marker_pose: + angle_rotation_error: 3.1049765407132135 + euclidean_error: 0.5793331769982398 + shoulder_marker_pose: + angle_rotation_error: 3.0912096615611695 + euclidean_error: 0.581064195212856 + wrist_inside_marker_pose: + angle_rotation_error: 3.1107852289618774 + euclidean_error: 0.5786557641105138 + wrist_top_marker_pose: + angle_rotation_error: 3.0804162134934523 + euclidean_error: 0.5800431941044033 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.127431159999655 + euclidean_error: 0.582246002696161 + base_right_marker_pose: + angle_rotation_error: 3.1104876950521305 + euclidean_error: 0.579253736395388 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1021499442664227 + euclidean_error: 0.5786237786272946 + wrist_top_marker_pose: + angle_rotation_error: 3.0858878120891435 + euclidean_error: 0.579939580452893 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1074035533692834 + euclidean_error: 0.5822126416328732 + base_right_marker_pose: + angle_rotation_error: 3.111628323416685 + euclidean_error: 0.5793795286072739 + shoulder_marker_pose: + angle_rotation_error: 3.095843951262847 + euclidean_error: 0.5811363532784248 + wrist_inside_marker_pose: + angle_rotation_error: 3.1073686543866663 + euclidean_error: 0.5786522033511982 + wrist_top_marker_pose: + angle_rotation_error: 3.085845157749943 + euclidean_error: 0.5800470661652489 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1242222125393604 + euclidean_error: 0.5822210296835536 + base_right_marker_pose: + angle_rotation_error: 3.1008506782196714 + euclidean_error: 0.5793601296818455 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1171739732871324 + euclidean_error: 0.5786915287626918 + wrist_top_marker_pose: + angle_rotation_error: 3.076404760021248 + euclidean_error: 0.5799330049378697 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1116748500035745 + euclidean_error: 0.5822887066207606 + base_right_marker_pose: + angle_rotation_error: 3.1120267636715195 + euclidean_error: 0.5793639245954804 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.091405997639818 + euclidean_error: 0.5785372901252877 + wrist_top_marker_pose: + angle_rotation_error: 3.0633960186423934 + euclidean_error: 0.5801285651852042 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115033241004654 + euclidean_error: 0.5821163887211455 + base_right_marker_pose: + angle_rotation_error: 3.092694903582716 + euclidean_error: 0.5792977971365527 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1167086741550882 + euclidean_error: 0.5787013788915467 + wrist_top_marker_pose: + angle_rotation_error: 3.0904884423043377 + euclidean_error: 0.5801322895635552 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11713735842399 + euclidean_error: 0.582240517353085 + base_right_marker_pose: + angle_rotation_error: 3.1065632533069176 + euclidean_error: 0.5792817678683984 + shoulder_marker_pose: + angle_rotation_error: 3.095859491379925 + euclidean_error: 0.5810742673387855 + wrist_inside_marker_pose: + angle_rotation_error: 3.118657130329934 + euclidean_error: 0.5786924980212205 + wrist_top_marker_pose: + angle_rotation_error: 3.0819893648962142 + euclidean_error: 0.5801213034261554 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1040603168693752 + euclidean_error: 0.5821455543997165 + base_right_marker_pose: + angle_rotation_error: 3.1088926830705366 + euclidean_error: 0.5792978269503708 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1116969405110364 + euclidean_error: 0.5787041692809659 + wrist_top_marker_pose: + angle_rotation_error: 3.09537581868652 + euclidean_error: 0.5799707435116126 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1284312643245165 + euclidean_error: 0.5821724533708895 + base_right_marker_pose: + angle_rotation_error: 3.0979922747549757 + euclidean_error: 0.5793312264682914 + shoulder_marker_pose: + angle_rotation_error: 3.0949407284990404 + euclidean_error: 0.5811516908788806 + wrist_inside_marker_pose: + angle_rotation_error: 3.114502975877946 + euclidean_error: 0.5785983516918267 + wrist_top_marker_pose: + angle_rotation_error: 3.0959700034747404 + euclidean_error: 0.579918417106372 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1118400368472496 + euclidean_error: 0.5822790649561352 + base_right_marker_pose: + angle_rotation_error: 3.1169232498056125 + euclidean_error: 0.57924061760545 + shoulder_marker_pose: + angle_rotation_error: 3.114514357979512 + euclidean_error: 0.5812076932907289 + wrist_inside_marker_pose: + angle_rotation_error: 3.104505551493283 + euclidean_error: 0.5785923300568893 + wrist_top_marker_pose: + angle_rotation_error: 3.10723533340012 + euclidean_error: 0.5798603468862573 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.105371134622798 + euclidean_error: 0.5821905295920683 + base_right_marker_pose: + angle_rotation_error: 3.1102331465637727 + euclidean_error: 0.5793024466306194 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090053876203712 + euclidean_error: 0.5786004072284514 + wrist_top_marker_pose: + angle_rotation_error: 3.0831548791054613 + euclidean_error: 0.5800819283908809 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1184407975945687 + euclidean_error: 0.5821764776435258 + base_right_marker_pose: + angle_rotation_error: 3.1063224388233523 + euclidean_error: 0.5792768083037948 + shoulder_marker_pose: + angle_rotation_error: 3.1028889680205056 + euclidean_error: 0.5811105540291447 + wrist_inside_marker_pose: + angle_rotation_error: 3.1009096081710745 + euclidean_error: 0.578614679627965 + wrist_top_marker_pose: + angle_rotation_error: 3.098313999353717 + euclidean_error: 0.5800340303824065 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1215091893260736 + euclidean_error: 0.58205485647954 + base_right_marker_pose: + angle_rotation_error: 3.111909796388958 + euclidean_error: 0.5793127316737048 + shoulder_marker_pose: + angle_rotation_error: 3.0898434482429398 + euclidean_error: 0.5810655192229219 + wrist_inside_marker_pose: + angle_rotation_error: 3.1224942645563245 + euclidean_error: 0.5788094647317441 + wrist_top_marker_pose: + angle_rotation_error: 3.080052832602549 + euclidean_error: 0.580109236148281 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.102710442159981 + euclidean_error: 0.582047613892697 + base_right_marker_pose: + angle_rotation_error: 3.116814100563823 + euclidean_error: 0.5792236658358034 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.10133910117695 + euclidean_error: 0.578671839720744 + wrist_top_marker_pose: + angle_rotation_error: 3.09209353915445 + euclidean_error: 0.5800585127382503 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.120825510625792 + euclidean_error: 0.5821859038344271 + base_right_marker_pose: + angle_rotation_error: 3.1109252350206766 + euclidean_error: 0.5791425743566311 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1089669498222277 + euclidean_error: 0.5786644188566387 + wrist_top_marker_pose: + angle_rotation_error: 3.1064468038347126 + euclidean_error: 0.5800134097089421 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1116535250890442 + euclidean_error: 0.5819999735614202 + base_right_marker_pose: + angle_rotation_error: 3.1088727468787223 + euclidean_error: 0.5793169017713424 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.108385750019764 + euclidean_error: 0.5787271592110174 + wrist_top_marker_pose: + angle_rotation_error: 3.100852129333702 + euclidean_error: 0.57988985297052 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0879982491402345 + euclidean_error: 0.5822651257892362 + base_right_marker_pose: + angle_rotation_error: 3.1164650775773546 + euclidean_error: 0.5792283987715506 + shoulder_marker_pose: + angle_rotation_error: 3.0895068924304048 + euclidean_error: 0.5811399641326236 + wrist_inside_marker_pose: + angle_rotation_error: 3.123427265410351 + euclidean_error: 0.5787414377004 + wrist_top_marker_pose: + angle_rotation_error: 3.1091019693310993 + euclidean_error: 0.5798924251025793 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1100126657925644 + euclidean_error: 0.582177145606601 + base_right_marker_pose: + angle_rotation_error: 3.118417142124108 + euclidean_error: 0.5791450108379707 + shoulder_marker_pose: + angle_rotation_error: 3.111081901189478 + euclidean_error: 0.5812064032710327 + wrist_inside_marker_pose: + angle_rotation_error: 3.1195560826567705 + euclidean_error: 0.5787463239639263 + wrist_top_marker_pose: + angle_rotation_error: 3.100645353046606 + euclidean_error: 0.5800155934952472 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1065431977945765 + euclidean_error: 0.5820672898058628 + base_right_marker_pose: + angle_rotation_error: 3.1153980108043724 + euclidean_error: 0.5790724275786845 + shoulder_marker_pose: + angle_rotation_error: 3.104737539893706 + euclidean_error: 0.5812604633408575 + wrist_inside_marker_pose: + angle_rotation_error: 3.1172940952720465 + euclidean_error: 0.5785388972919486 + wrist_top_marker_pose: + angle_rotation_error: 3.113555150299711 + euclidean_error: 0.5798910222348247 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104999309600397 + euclidean_error: 0.5821671066471871 + base_right_marker_pose: + angle_rotation_error: 3.1047100006830193 + euclidean_error: 0.5790042272165768 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.119190194538842 + euclidean_error: 0.5787145412611416 + wrist_top_marker_pose: + angle_rotation_error: 3.0876506710818163 + euclidean_error: 0.580148903458636 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1166191801502823 + euclidean_error: 0.581975287688394 + base_right_marker_pose: + angle_rotation_error: 3.1158290993025544 + euclidean_error: 0.5791247947817175 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1045711449695217 + euclidean_error: 0.578616561518223 + wrist_top_marker_pose: + angle_rotation_error: 3.1326503167138693 + euclidean_error: 0.5799567040247157 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1107015003792062 + euclidean_error: 0.5820036263741557 + base_right_marker_pose: + angle_rotation_error: 3.1051352021600986 + euclidean_error: 0.5790653577028495 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1003379065686834 + euclidean_error: 0.5784756691025887 + wrist_top_marker_pose: + angle_rotation_error: 3.126421176517609 + euclidean_error: 0.5801171208257513 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082092493337683 + euclidean_error: 0.5820351998695508 + base_right_marker_pose: + angle_rotation_error: 3.1403728114405394 + euclidean_error: 0.5791689420425453 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.100706607493954 + euclidean_error: 0.5785732238933894 + wrist_top_marker_pose: + angle_rotation_error: 3.1306933891284046 + euclidean_error: 0.5800773971360242 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1168372960785646 + euclidean_error: 0.5819342421494684 + base_right_marker_pose: + angle_rotation_error: 3.12272088514527 + euclidean_error: 0.5788872029398141 + shoulder_marker_pose: + angle_rotation_error: 3.0958263773790713 + euclidean_error: 0.5811588564605477 + wrist_inside_marker_pose: + angle_rotation_error: 3.1053722853255312 + euclidean_error: 0.5785019472016276 + wrist_top_marker_pose: + angle_rotation_error: 3.139675171272092 + euclidean_error: 0.580047423914783 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0997192583874984 + euclidean_error: 0.5819967585288314 + base_right_marker_pose: + angle_rotation_error: 3.12173463267532 + euclidean_error: 0.5788691767994323 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.106066545130633 + euclidean_error: 0.5785740824189556 + wrist_top_marker_pose: + angle_rotation_error: 3.123769653562107 + euclidean_error: 0.5802170335306664 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1275132324258714 + euclidean_error: 0.5820597398848136 + base_right_marker_pose: + angle_rotation_error: 3.117282198599951 + euclidean_error: 0.5789281866879578 + shoulder_marker_pose: + angle_rotation_error: 3.109012458889531 + euclidean_error: 0.5812286276412558 + wrist_inside_marker_pose: + angle_rotation_error: 3.097831295212488 + euclidean_error: 0.5784716318109225 + wrist_top_marker_pose: + angle_rotation_error: 3.131321200054325 + euclidean_error: 0.5801569160858199 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.105718324370585 + euclidean_error: 0.5819800117256048 + base_right_marker_pose: + angle_rotation_error: 3.1184067262993933 + euclidean_error: 0.5790312633425134 + shoulder_marker_pose: + angle_rotation_error: 3.102227133045471 + euclidean_error: 0.5812096153191381 + wrist_inside_marker_pose: + angle_rotation_error: 3.1178620398630494 + euclidean_error: 0.5785446804492405 + wrist_top_marker_pose: + angle_rotation_error: 3.1180352613358653 + euclidean_error: 0.5799908457442036 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112779175685539 + euclidean_error: 0.5820567147983647 + base_right_marker_pose: + angle_rotation_error: 3.1071199513594814 + euclidean_error: 0.5788956787139898 + shoulder_marker_pose: + angle_rotation_error: 3.116785247413679 + euclidean_error: 0.5812600906632034 + wrist_inside_marker_pose: + angle_rotation_error: 3.1037253506427414 + euclidean_error: 0.57862946228246 + wrist_top_marker_pose: + angle_rotation_error: 3.1075647592005566 + euclidean_error: 0.5799778909124474 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1081304825171654 + euclidean_error: 0.5820670694832 + base_right_marker_pose: + angle_rotation_error: 3.121079086929901 + euclidean_error: 0.5790257508693879 + shoulder_marker_pose: + angle_rotation_error: 3.1123286387843634 + euclidean_error: 0.5812580540205577 + wrist_inside_marker_pose: + angle_rotation_error: 3.107966638764791 + euclidean_error: 0.5787825093947457 + wrist_top_marker_pose: + angle_rotation_error: 3.1105828922802807 + euclidean_error: 0.5801012356538036 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1095776039603344 + euclidean_error: 0.5823182995052731 + base_right_marker_pose: + angle_rotation_error: 3.12732427235531 + euclidean_error: 0.5790934907164966 + shoulder_marker_pose: + angle_rotation_error: 3.0862935841214414 + euclidean_error: 0.5810999586503071 + wrist_inside_marker_pose: + angle_rotation_error: 3.129264591691573 + euclidean_error: 0.5787200146570034 + wrist_top_marker_pose: + angle_rotation_error: 3.089707230225231 + euclidean_error: 0.5800096703901066 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106683311359789 + euclidean_error: 0.5819324706594432 + base_right_marker_pose: + angle_rotation_error: 3.1227039987919087 + euclidean_error: 0.5789645429439567 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1071362305668155 + euclidean_error: 0.578707457122208 + wrist_top_marker_pose: + angle_rotation_error: 3.0957334083007004 + euclidean_error: 0.580102451841971 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1013560641158686 + euclidean_error: 0.5821078257212212 + base_right_marker_pose: + angle_rotation_error: 3.1190024698705208 + euclidean_error: 0.5792364678842676 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.100109300531858 + euclidean_error: 0.5786754595580754 + wrist_top_marker_pose: + angle_rotation_error: 3.0897286033277807 + euclidean_error: 0.5801955951122002 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0932657367087892 + euclidean_error: 0.5820122212358629 + base_right_marker_pose: + angle_rotation_error: 3.1185864856983625 + euclidean_error: 0.5790546736540976 + shoulder_marker_pose: + angle_rotation_error: 3.0940209228645386 + euclidean_error: 0.5811669559935517 + wrist_inside_marker_pose: + angle_rotation_error: 3.1351074913380303 + euclidean_error: 0.5786947368905673 + wrist_top_marker_pose: + angle_rotation_error: 3.1306322441748105 + euclidean_error: 0.5800969388406506 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0981752467997965 + euclidean_error: 0.5819834845307281 + base_right_marker_pose: + angle_rotation_error: 3.1078293580497847 + euclidean_error: 0.5790441742519985 + shoulder_marker_pose: + angle_rotation_error: 3.117483254956367 + euclidean_error: 0.581151806675088 + wrist_inside_marker_pose: + angle_rotation_error: 3.0963701871859795 + euclidean_error: 0.5785493660757167 + wrist_top_marker_pose: + angle_rotation_error: 3.1068333280262936 + euclidean_error: 0.5802195272514284 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118810206145791 + euclidean_error: 0.5819678380423495 + base_right_marker_pose: + angle_rotation_error: 3.127077088318805 + euclidean_error: 0.5786554982095599 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.093833418487277 + euclidean_error: 0.5784964325461567 + wrist_top_marker_pose: + angle_rotation_error: 3.1240327702220054 + euclidean_error: 0.5800308014760847 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1111647595577954 + euclidean_error: 0.582132985613868 + base_right_marker_pose: + angle_rotation_error: 3.126844425876702 + euclidean_error: 0.5789099655903531 + shoulder_marker_pose: + angle_rotation_error: 3.113298212111282 + euclidean_error: 0.5812535767704066 + wrist_inside_marker_pose: + angle_rotation_error: 3.122172024424351 + euclidean_error: 0.5785143218619161 + wrist_top_marker_pose: + angle_rotation_error: 3.13746237788484 + euclidean_error: 0.5800603266407973 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0932267358544863 + euclidean_error: 0.5820798706688007 + base_right_marker_pose: + angle_rotation_error: 3.128719243773418 + euclidean_error: 0.5788248440146397 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.084289682284867 + euclidean_error: 0.5783548651262691 + wrist_top_marker_pose: + angle_rotation_error: 3.1086545542444624 + euclidean_error: 0.5801459545171214 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1102567530234833 + euclidean_error: 0.5820085437372697 + base_right_marker_pose: + angle_rotation_error: 3.1315379764013813 + euclidean_error: 0.5787306728057953 + shoulder_marker_pose: + angle_rotation_error: 3.125173354543618 + euclidean_error: 0.5811562099828872 + wrist_inside_marker_pose: + angle_rotation_error: 3.087607127942102 + euclidean_error: 0.578449775629841 + wrist_top_marker_pose: + angle_rotation_error: 3.114925589214655 + euclidean_error: 0.5802910607561418 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119251401549905 + euclidean_error: 0.581858882769852 + base_right_marker_pose: + angle_rotation_error: 3.1218433775325893 + euclidean_error: 0.5788140236459526 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.092779179693433 + euclidean_error: 0.5784648693670865 + wrist_top_marker_pose: + angle_rotation_error: 3.1010208463778643 + euclidean_error: 0.5802528251984989 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1129287653375943 + euclidean_error: 0.5819004573817383 + base_right_marker_pose: + angle_rotation_error: 3.1381843369342466 + euclidean_error: 0.5788104232444845 + shoulder_marker_pose: + angle_rotation_error: 3.1049141945536687 + euclidean_error: 0.5811679447577067 + wrist_inside_marker_pose: + angle_rotation_error: 3.0859725079153737 + euclidean_error: 0.5784201682056019 + wrist_top_marker_pose: + angle_rotation_error: 3.1287666834956855 + euclidean_error: 0.5802216241902304 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107814777684049 + euclidean_error: 0.5820385260797731 + base_right_marker_pose: + angle_rotation_error: 3.1222667875040133 + euclidean_error: 0.5788612888973985 + shoulder_marker_pose: + angle_rotation_error: 3.116748178937843 + euclidean_error: 0.5811447195399124 + wrist_inside_marker_pose: + angle_rotation_error: 3.0774075211398184 + euclidean_error: 0.5783319887659176 + wrist_top_marker_pose: + angle_rotation_error: 3.1121503080480895 + euclidean_error: 0.5802346751695385 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1085518774643326 + euclidean_error: 0.5819809551251829 + base_right_marker_pose: + angle_rotation_error: 3.132903387037374 + euclidean_error: 0.5788208553809899 + shoulder_marker_pose: + angle_rotation_error: 3.1258486343168865 + euclidean_error: 0.5811637920418447 + wrist_inside_marker_pose: + angle_rotation_error: 3.0787662890014134 + euclidean_error: 0.5783278449055582 + wrist_top_marker_pose: + angle_rotation_error: 3.108740623197072 + euclidean_error: 0.5799864742054399 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1263761151289726 + euclidean_error: 0.5818701061557919 + base_right_marker_pose: + angle_rotation_error: 3.1286103400372314 + euclidean_error: 0.5785964276868157 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0959977870098774 + euclidean_error: 0.5784205755704125 + wrist_top_marker_pose: + angle_rotation_error: 3.0967464348880793 + euclidean_error: 0.5801150209499019 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115542180376689 + euclidean_error: 0.5819648942569597 + base_right_marker_pose: + angle_rotation_error: 3.1186889538021827 + euclidean_error: 0.5786420367496135 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0917545251745002 + euclidean_error: 0.5783745126232611 + wrist_top_marker_pose: + angle_rotation_error: 3.0736088963276216 + euclidean_error: 0.5802527136309762 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1192207567352574 + euclidean_error: 0.5819725652935426 + base_right_marker_pose: + angle_rotation_error: 3.1268047589034205 + euclidean_error: 0.5786634885003461 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089595621459824 + euclidean_error: 0.5784505155933427 + wrist_top_marker_pose: + angle_rotation_error: 3.0881153142724584 + euclidean_error: 0.5801280578004224 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1095401918913392 + euclidean_error: 0.581935795950572 + base_right_marker_pose: + angle_rotation_error: 3.119055902877526 + euclidean_error: 0.5786563512770557 + shoulder_marker_pose: + angle_rotation_error: 3.1253727053148674 + euclidean_error: 0.5811949374535675 + wrist_inside_marker_pose: + angle_rotation_error: 3.0924339235078175 + euclidean_error: 0.5784992852789616 + wrist_top_marker_pose: + angle_rotation_error: 3.112509014910335 + euclidean_error: 0.5799839306997228 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112702312111836 + euclidean_error: 0.5820256042914422 + base_right_marker_pose: + angle_rotation_error: 3.119903118610186 + euclidean_error: 0.5788280723161433 + shoulder_marker_pose: + angle_rotation_error: 3.12297085167678 + euclidean_error: 0.581205875403526 + wrist_inside_marker_pose: + angle_rotation_error: 3.0921254725646086 + euclidean_error: 0.578496229411775 + wrist_top_marker_pose: + angle_rotation_error: 3.08583661305474 + euclidean_error: 0.5803792429166351 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1290833687796455 + euclidean_error: 0.581985744988737 + base_right_marker_pose: + angle_rotation_error: 3.1272830760921044 + euclidean_error: 0.5786999851097477 + shoulder_marker_pose: + angle_rotation_error: 3.123137776333799 + euclidean_error: 0.5812013600378061 + wrist_inside_marker_pose: + angle_rotation_error: 3.0973236779729407 + euclidean_error: 0.5784917294221368 + wrist_top_marker_pose: + angle_rotation_error: 3.1293796737540043 + euclidean_error: 0.5799738282633927 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1173097986508798 + euclidean_error: 0.5819356381978967 + base_right_marker_pose: + angle_rotation_error: 3.125099546861396 + euclidean_error: 0.5788096714611691 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0804019149447903 + euclidean_error: 0.5783631726756008 + wrist_top_marker_pose: + angle_rotation_error: 3.0783039540411172 + euclidean_error: 0.5801035827090206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108624263766298 + euclidean_error: 0.5820178767194645 + base_right_marker_pose: + angle_rotation_error: 3.112790119879367 + euclidean_error: 0.5787698023701027 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.086746067125867 + euclidean_error: 0.5783927553723759 + wrist_top_marker_pose: + angle_rotation_error: 3.0866232908144164 + euclidean_error: 0.5800015606500809 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1192885844142753 + euclidean_error: 0.5820170721629765 + base_right_marker_pose: + angle_rotation_error: 3.11024688919749 + euclidean_error: 0.5788279009299226 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.077219902181754 + euclidean_error: 0.5783967125921518 + wrist_top_marker_pose: + angle_rotation_error: 3.1005565083212225 + euclidean_error: 0.5801372562588712 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1101190194721284 + euclidean_error: 0.5820592036367167 + base_right_marker_pose: + angle_rotation_error: 3.13054266359751 + euclidean_error: 0.5787024405179857 + shoulder_marker_pose: + angle_rotation_error: 3.127726596636788 + euclidean_error: 0.5811248025777461 + wrist_inside_marker_pose: + angle_rotation_error: 3.0782028926614 + euclidean_error: 0.5784250894864116 + wrist_top_marker_pose: + angle_rotation_error: 3.1083737018238753 + euclidean_error: 0.5802062603836168 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124897895712444 + euclidean_error: 0.5819717084261963 + base_right_marker_pose: + angle_rotation_error: 3.123281579133989 + euclidean_error: 0.5787803579152531 + shoulder_marker_pose: + angle_rotation_error: 3.1038737180157727 + euclidean_error: 0.5810320521879565 + wrist_inside_marker_pose: + angle_rotation_error: 3.0767647908749587 + euclidean_error: 0.5784207461084253 + wrist_top_marker_pose: + angle_rotation_error: 3.1249601779679836 + euclidean_error: 0.580076628638633 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1160902704001967 + euclidean_error: 0.5819087391174473 + base_right_marker_pose: + angle_rotation_error: 3.119684224331892 + euclidean_error: 0.5788923791818034 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.093527511560197 + euclidean_error: 0.5784194189832904 + wrist_top_marker_pose: + angle_rotation_error: 3.1156495832966615 + euclidean_error: 0.5802667033410651 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1078503957090455 + euclidean_error: 0.5820191883273722 + base_right_marker_pose: + angle_rotation_error: 3.1219903721328794 + euclidean_error: 0.5787273873554688 + shoulder_marker_pose: + angle_rotation_error: 3.1128662318224944 + euclidean_error: 0.5811239174557622 + wrist_inside_marker_pose: + angle_rotation_error: 3.079422380069881 + euclidean_error: 0.5783118669333237 + wrist_top_marker_pose: + angle_rotation_error: 3.1091951157472995 + euclidean_error: 0.5800989978368601 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1137331029412243 + euclidean_error: 0.5820009077493462 + base_right_marker_pose: + angle_rotation_error: 3.1248184056718773 + euclidean_error: 0.5787104908590959 + shoulder_marker_pose: + angle_rotation_error: 3.107012887240778 + euclidean_error: 0.5809811165768856 + wrist_inside_marker_pose: + angle_rotation_error: 3.0945205671068794 + euclidean_error: 0.578478501379977 + wrist_top_marker_pose: + angle_rotation_error: 3.1023710393649293 + euclidean_error: 0.5802635941749555 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1104139945591505 + euclidean_error: 0.581937041444173 + base_right_marker_pose: + angle_rotation_error: 3.1209069576854347 + euclidean_error: 0.5788395975583747 + shoulder_marker_pose: + angle_rotation_error: 3.114019100348502 + euclidean_error: 0.5811234870246117 + wrist_inside_marker_pose: + angle_rotation_error: 3.0812117975936886 + euclidean_error: 0.5783905642581159 + wrist_top_marker_pose: + angle_rotation_error: 3.105165969564401 + euclidean_error: 0.5801518531952682 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1202906110029494 + euclidean_error: 0.5819247756622856 + base_right_marker_pose: + angle_rotation_error: 3.1281020834963194 + euclidean_error: 0.5787288618537019 + shoulder_marker_pose: + angle_rotation_error: 3.1116895474409865 + euclidean_error: 0.5810880442652057 + wrist_inside_marker_pose: + angle_rotation_error: 3.082042921262592 + euclidean_error: 0.5784194701344788 + wrist_top_marker_pose: + angle_rotation_error: 3.1107537180122127 + euclidean_error: 0.5800126907291758 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1172500395629936 + euclidean_error: 0.5819888801286934 + base_right_marker_pose: + angle_rotation_error: 3.121477223350184 + euclidean_error: 0.5788111510068678 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0953250527772647 + euclidean_error: 0.5784850955292474 + wrist_top_marker_pose: + angle_rotation_error: 3.116359856987334 + euclidean_error: 0.5801118566795159 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.128268361896225 + euclidean_error: 0.5820001731459454 + base_right_marker_pose: + angle_rotation_error: 3.1355504323179124 + euclidean_error: 0.5788216836506654 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090974531253437 + euclidean_error: 0.5784137220147968 + wrist_top_marker_pose: + angle_rotation_error: 3.120352217189155 + euclidean_error: 0.5802141888310146 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1120832935083955 + euclidean_error: 0.5819844099201035 + base_right_marker_pose: + angle_rotation_error: 3.1277025228970876 + euclidean_error: 0.5788535525600962 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.096512572772416 + euclidean_error: 0.5785153216811213 + wrist_top_marker_pose: + angle_rotation_error: 3.0864425696530007 + euclidean_error: 0.5802567386384956 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1130806815306227 + euclidean_error: 0.5819938110779894 + base_right_marker_pose: + angle_rotation_error: 3.1240427324435407 + euclidean_error: 0.578961764737018 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.08654791487065 + euclidean_error: 0.5784672318876631 + wrist_top_marker_pose: + angle_rotation_error: 3.1112411619233096 + euclidean_error: 0.5802905049528704 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.105787931152916 + euclidean_error: 0.5819873293555499 + base_right_marker_pose: + angle_rotation_error: 3.1204309050030203 + euclidean_error: 0.5788052117458345 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.078150025611566 + euclidean_error: 0.5783836033258833 + wrist_top_marker_pose: + angle_rotation_error: 3.105604539921793 + euclidean_error: 0.5802332164846922 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114039916719536 + euclidean_error: 0.5819720323791874 + base_right_marker_pose: + angle_rotation_error: 3.122319244994119 + euclidean_error: 0.578758764866678 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0847494619588534 + euclidean_error: 0.5783990819751131 + wrist_top_marker_pose: + angle_rotation_error: 3.116934449560906 + euclidean_error: 0.5800155769638999 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1248506255945276 + euclidean_error: 0.5818805445653277 + base_right_marker_pose: + angle_rotation_error: 3.124606098425033 + euclidean_error: 0.5787669213936498 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.084658621096055 + euclidean_error: 0.5783407825769115 + wrist_top_marker_pose: + angle_rotation_error: 3.122302750417863 + euclidean_error: 0.5802577908771136 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1068622205020473 + euclidean_error: 0.5820401774319529 + base_right_marker_pose: + angle_rotation_error: 3.125898181251446 + euclidean_error: 0.5787468690562237 + shoulder_marker_pose: + angle_rotation_error: 3.118060764888318 + euclidean_error: 0.5810725709502131 + wrist_inside_marker_pose: + angle_rotation_error: 3.0888521773442426 + euclidean_error: 0.5784493851744638 + wrist_top_marker_pose: + angle_rotation_error: 3.095229456742446 + euclidean_error: 0.5801997927842952 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11845772481836 + euclidean_error: 0.5819574607840261 + base_right_marker_pose: + angle_rotation_error: 3.128658175052493 + euclidean_error: 0.5788544875555703 + shoulder_marker_pose: + angle_rotation_error: 3.1101231783985877 + euclidean_error: 0.5810614962225621 + wrist_inside_marker_pose: + angle_rotation_error: 3.07209288544293 + euclidean_error: 0.5783595605380372 + wrist_top_marker_pose: + angle_rotation_error: 3.116662889956258 + euclidean_error: 0.5801745857035854 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1207545938463226 + euclidean_error: 0.5819058164342987 + base_right_marker_pose: + angle_rotation_error: 3.1169076174992387 + euclidean_error: 0.578873292545613 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0824671052026176 + euclidean_error: 0.5784071782700987 + wrist_top_marker_pose: + angle_rotation_error: 3.1127747059746964 + euclidean_error: 0.580052288927479 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1118210296110185 + euclidean_error: 0.5820788919565157 + base_right_marker_pose: + angle_rotation_error: 3.125809638496992 + euclidean_error: 0.5786570235498173 + shoulder_marker_pose: + angle_rotation_error: 3.116618192287221 + euclidean_error: 0.5810546997987099 + wrist_inside_marker_pose: + angle_rotation_error: 3.088243738743803 + euclidean_error: 0.5784587661578744 + wrist_top_marker_pose: + angle_rotation_error: 3.1078655824423858 + euclidean_error: 0.580122810232903 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110006163554801 + euclidean_error: 0.5821324869121044 + base_right_marker_pose: + angle_rotation_error: 3.130049819069435 + euclidean_error: 0.5787797760590304 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089335178989966 + euclidean_error: 0.5784870804255038 + wrist_top_marker_pose: + angle_rotation_error: 3.085423732492372 + euclidean_error: 0.5802591240256588 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.101144715658646 + euclidean_error: 0.5820221661066503 + base_right_marker_pose: + angle_rotation_error: 3.1130514538170404 + euclidean_error: 0.5788544701902406 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089569083325896 + euclidean_error: 0.5784642929742224 + wrist_top_marker_pose: + angle_rotation_error: 3.0934331520943825 + euclidean_error: 0.5802850130337399 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111988653672192 + euclidean_error: 0.5819855040554801 + base_right_marker_pose: + angle_rotation_error: 3.1232619969622677 + euclidean_error: 0.5789377893485558 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.078337458775837 + euclidean_error: 0.57835629495856 + wrist_top_marker_pose: + angle_rotation_error: 3.087886708141299 + euclidean_error: 0.5803041204005124 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1158658103078576 + euclidean_error: 0.5821272449542537 + base_right_marker_pose: + angle_rotation_error: 3.119683343155069 + euclidean_error: 0.5788175731398703 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.087146751731728 + euclidean_error: 0.5784769275534729 + wrist_top_marker_pose: + angle_rotation_error: 3.069620906146235 + euclidean_error: 0.5802557119285762 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109687583306743 + euclidean_error: 0.5819231061769717 + base_right_marker_pose: + angle_rotation_error: 3.1201304837599353 + euclidean_error: 0.5787690364398496 + shoulder_marker_pose: + angle_rotation_error: 3.1274863948230633 + euclidean_error: 0.5812689129122195 + wrist_inside_marker_pose: + angle_rotation_error: 3.0892992878535632 + euclidean_error: 0.5784188563087796 + wrist_top_marker_pose: + angle_rotation_error: 3.1096732235550384 + euclidean_error: 0.5801379550527177 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1269134237340235 + euclidean_error: 0.5819454516884388 + base_right_marker_pose: + angle_rotation_error: 3.115865829655918 + euclidean_error: 0.5788381143446301 + shoulder_marker_pose: + angle_rotation_error: 3.116109335644357 + euclidean_error: 0.5811478256447427 + wrist_inside_marker_pose: + angle_rotation_error: 3.080839401971456 + euclidean_error: 0.5784399820507063 + wrist_top_marker_pose: + angle_rotation_error: 3.0823590080630403 + euclidean_error: 0.5801285785873218 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115864164825376 + euclidean_error: 0.5821033004075453 + base_right_marker_pose: + angle_rotation_error: 3.118473107932764 + euclidean_error: 0.5788636323983296 + shoulder_marker_pose: + angle_rotation_error: 3.103570559858789 + euclidean_error: 0.5809646431664316 + wrist_inside_marker_pose: + angle_rotation_error: 3.09196669203732 + euclidean_error: 0.5783931930074342 + wrist_top_marker_pose: + angle_rotation_error: 3.0968185522318574 + euclidean_error: 0.5801516495251752 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1187085095782017 + euclidean_error: 0.5820922554491822 + base_right_marker_pose: + angle_rotation_error: 3.1250776388238015 + euclidean_error: 0.5788311660636616 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0989793559781513 + euclidean_error: 0.5784869802139117 + wrist_top_marker_pose: + angle_rotation_error: 3.1072700942883382 + euclidean_error: 0.5802084900379149 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1109678139011954 + euclidean_error: 0.5819800760176552 + base_right_marker_pose: + angle_rotation_error: 3.11026134753574 + euclidean_error: 0.5788305950987025 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0897809829653977 + euclidean_error: 0.5784193077181738 + wrist_top_marker_pose: + angle_rotation_error: 3.105944206696734 + euclidean_error: 0.5803058967968963 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1119067580472555 + euclidean_error: 0.5821499140808546 + base_right_marker_pose: + angle_rotation_error: 3.129915023562612 + euclidean_error: 0.578917975187623 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.084379864890898 + euclidean_error: 0.5784421763910452 + wrist_top_marker_pose: + angle_rotation_error: 3.108894320713828 + euclidean_error: 0.5801342815234938 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119730715229088 + euclidean_error: 0.5820576519462642 + base_right_marker_pose: + angle_rotation_error: 3.118298360848519 + euclidean_error: 0.5787382116494031 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089300158768419 + euclidean_error: 0.5784696161800168 + wrist_top_marker_pose: + angle_rotation_error: 3.1034041933827066 + euclidean_error: 0.5801606583352402 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1001147359828525 + euclidean_error: 0.5820181413742909 + base_right_marker_pose: + angle_rotation_error: 3.112919818753218 + euclidean_error: 0.5788027153052262 + shoulder_marker_pose: + angle_rotation_error: 3.1263065045055063 + euclidean_error: 0.5810826075275285 + wrist_inside_marker_pose: + angle_rotation_error: 3.078101746006734 + euclidean_error: 0.5783819505112281 + wrist_top_marker_pose: + angle_rotation_error: 3.1143250873273365 + euclidean_error: 0.5802248510117183 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117055990841356 + euclidean_error: 0.5819856689584568 + base_right_marker_pose: + angle_rotation_error: 3.115986947059519 + euclidean_error: 0.5788138541304132 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0825591065816886 + euclidean_error: 0.5784616954547882 + wrist_top_marker_pose: + angle_rotation_error: 3.0918746308583547 + euclidean_error: 0.5801920252675206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111896084449504 + euclidean_error: 0.5820206634508216 + base_right_marker_pose: + angle_rotation_error: 3.123000408836209 + euclidean_error: 0.578674667512036 + shoulder_marker_pose: + angle_rotation_error: 3.1231794361011347 + euclidean_error: 0.5810762393490272 + wrist_inside_marker_pose: + angle_rotation_error: 3.0847514247704764 + euclidean_error: 0.5784347774046121 + wrist_top_marker_pose: + angle_rotation_error: 3.0991350309920884 + euclidean_error: 0.5800678037227733 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1139577565525585 + euclidean_error: 0.582032340831704 + base_right_marker_pose: + angle_rotation_error: 3.1220187787484317 + euclidean_error: 0.5788429393554065 + shoulder_marker_pose: + angle_rotation_error: 3.118257524101135 + euclidean_error: 0.5810913628617345 + wrist_inside_marker_pose: + angle_rotation_error: 3.084452423922685 + euclidean_error: 0.5784579897473742 + wrist_top_marker_pose: + angle_rotation_error: 3.105060520292283 + euclidean_error: 0.5803573394955349 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1159813994357957 + euclidean_error: 0.5818990883345289 + base_right_marker_pose: + angle_rotation_error: 3.1232817456858277 + euclidean_error: 0.5788636865534054 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0939918299980023 + euclidean_error: 0.5784755319650481 + wrist_top_marker_pose: + angle_rotation_error: 3.107083771041523 + euclidean_error: 0.5802426943833031 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10958799187952 + euclidean_error: 0.5820729262552758 + base_right_marker_pose: + angle_rotation_error: 3.1293957002594253 + euclidean_error: 0.5788221064093582 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0923147764372456 + euclidean_error: 0.5784788328360913 + wrist_top_marker_pose: + angle_rotation_error: 3.093621640628011 + euclidean_error: 0.5803453666477679 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1057944094855454 + euclidean_error: 0.5819973250084813 + base_right_marker_pose: + angle_rotation_error: 3.1275101658996864 + euclidean_error: 0.5788898401054472 + shoulder_marker_pose: + angle_rotation_error: 3.10983295891311 + euclidean_error: 0.5810782242902808 + wrist_inside_marker_pose: + angle_rotation_error: 3.0747969275940688 + euclidean_error: 0.5784121723987602 + wrist_top_marker_pose: + angle_rotation_error: 3.0998323247776116 + euclidean_error: 0.580048178390702 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1159707831123034 + euclidean_error: 0.5820555973598465 + base_right_marker_pose: + angle_rotation_error: 3.115919950339513 + euclidean_error: 0.5788095287679133 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.07332436423903 + euclidean_error: 0.5783087485917031 + wrist_top_marker_pose: + angle_rotation_error: 3.091002171146166 + euclidean_error: 0.5800273194400724 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1137040087754957 + euclidean_error: 0.5820987510347203 + base_right_marker_pose: + angle_rotation_error: 3.119995906244925 + euclidean_error: 0.5788682668029624 + shoulder_marker_pose: + angle_rotation_error: 3.11473381460791 + euclidean_error: 0.5810587068663715 + wrist_inside_marker_pose: + angle_rotation_error: 3.0778780629617852 + euclidean_error: 0.5783782091206212 + wrist_top_marker_pose: + angle_rotation_error: 3.1165076384748636 + euclidean_error: 0.5800615221730525 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11533037194404 + euclidean_error: 0.5820509283807115 + base_right_marker_pose: + angle_rotation_error: 3.1301160713364156 + euclidean_error: 0.5788791046465329 + shoulder_marker_pose: + angle_rotation_error: 3.1207656991389006 + euclidean_error: 0.5811715406113998 + wrist_inside_marker_pose: + angle_rotation_error: 3.067704775594975 + euclidean_error: 0.5783277418345243 + wrist_top_marker_pose: + angle_rotation_error: 3.1116624136288324 + euclidean_error: 0.5802210365303487 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1173157081312373 + euclidean_error: 0.5820530934308393 + base_right_marker_pose: + angle_rotation_error: 3.130421394429328 + euclidean_error: 0.5787936355873751 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0663553171647426 + euclidean_error: 0.578307760932625 + wrist_top_marker_pose: + angle_rotation_error: 3.1113758610427107 + euclidean_error: 0.5801706506560251 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119374506581982 + euclidean_error: 0.5821108477915871 + base_right_marker_pose: + angle_rotation_error: 3.1340813892462536 + euclidean_error: 0.578724151774138 + shoulder_marker_pose: + angle_rotation_error: 3.1167125906975284 + euclidean_error: 0.581154555016453 + wrist_inside_marker_pose: + angle_rotation_error: 3.0832260684501267 + euclidean_error: 0.5784149426591226 + wrist_top_marker_pose: + angle_rotation_error: 3.1019049117376345 + euclidean_error: 0.5801462272302134 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1170677850529787 + euclidean_error: 0.5819844585698994 + base_right_marker_pose: + angle_rotation_error: 3.1255281147245415 + euclidean_error: 0.5788507198483039 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0941744634189976 + euclidean_error: 0.5784937026821491 + wrist_top_marker_pose: + angle_rotation_error: 3.0861225142452207 + euclidean_error: 0.5802384671677148 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1190857730849597 + euclidean_error: 0.5820529444294072 + base_right_marker_pose: + angle_rotation_error: 3.1391081432528125 + euclidean_error: 0.5786773363187746 + shoulder_marker_pose: + angle_rotation_error: 3.115190141858227 + euclidean_error: 0.5810540655058771 + wrist_inside_marker_pose: + angle_rotation_error: 3.083826566072055 + euclidean_error: 0.5783531256387567 + wrist_top_marker_pose: + angle_rotation_error: 3.1096210526348775 + euclidean_error: 0.5800895724882452 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1004470868044565 + euclidean_error: 0.5820676850917732 + base_right_marker_pose: + angle_rotation_error: 3.1378560985377946 + euclidean_error: 0.578747638802347 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090035366037628 + euclidean_error: 0.5784704075604079 + wrist_top_marker_pose: + angle_rotation_error: 3.1152311364163205 + euclidean_error: 0.5803066525824438 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108533297039793 + euclidean_error: 0.5820823226822219 + base_right_marker_pose: + angle_rotation_error: 3.134624034293712 + euclidean_error: 0.5787395211170114 + shoulder_marker_pose: + angle_rotation_error: 3.1157110130604986 + euclidean_error: 0.5810824067717202 + wrist_inside_marker_pose: + angle_rotation_error: 3.0915149653142633 + euclidean_error: 0.5784635182890635 + wrist_top_marker_pose: + angle_rotation_error: 3.131853091740037 + euclidean_error: 0.5800797307312994 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110319911884712 + euclidean_error: 0.5820696054532515 + base_right_marker_pose: + angle_rotation_error: 3.1308877714223984 + euclidean_error: 0.5786873768891776 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0751287366188595 + euclidean_error: 0.5783093226027922 + wrist_top_marker_pose: + angle_rotation_error: 3.1000877998202103 + euclidean_error: 0.5803615740409976 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111540821028727 + euclidean_error: 0.5820219965449808 + base_right_marker_pose: + angle_rotation_error: 3.1215777858227045 + euclidean_error: 0.5787741359315374 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0723702571006815 + euclidean_error: 0.5783902318884784 + wrist_top_marker_pose: + angle_rotation_error: 3.095296770106596 + euclidean_error: 0.5801477740603631 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1037329962521443 + euclidean_error: 0.5820510392060442 + base_right_marker_pose: + angle_rotation_error: 3.122208424844505 + euclidean_error: 0.5788979943290323 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088657827675294 + euclidean_error: 0.5784542407560765 + wrist_top_marker_pose: + angle_rotation_error: 3.1141700694170713 + euclidean_error: 0.5801355782711006 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1277786977545037 + euclidean_error: 0.5819350814483762 + base_right_marker_pose: + angle_rotation_error: 3.1148881595466538 + euclidean_error: 0.5788407112712002 + shoulder_marker_pose: + angle_rotation_error: 3.1162319557843823 + euclidean_error: 0.5811440458993655 + wrist_inside_marker_pose: + angle_rotation_error: 3.0753193141302377 + euclidean_error: 0.5783521334778252 + wrist_top_marker_pose: + angle_rotation_error: 3.1128374667364582 + euclidean_error: 0.5802563514674832 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1014099225189464 + euclidean_error: 0.5821788128286474 + base_right_marker_pose: + angle_rotation_error: 3.128948917196995 + euclidean_error: 0.5787881659843991 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0872750566642537 + euclidean_error: 0.5784514871513895 + wrist_top_marker_pose: + angle_rotation_error: 3.090106508562817 + euclidean_error: 0.5802129056980723 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107824603826598 + euclidean_error: 0.582066130072964 + base_right_marker_pose: + angle_rotation_error: 3.123427585898782 + euclidean_error: 0.5788799953020749 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.093686045973765 + euclidean_error: 0.5785153843162384 + wrist_top_marker_pose: + angle_rotation_error: 3.0982752127908366 + euclidean_error: 0.5801026408944786 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10618415864063 + euclidean_error: 0.5820332276496513 + base_right_marker_pose: + angle_rotation_error: 3.127271023116609 + euclidean_error: 0.5787949517044695 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0819426357239843 + euclidean_error: 0.5784253714302294 + wrist_top_marker_pose: + angle_rotation_error: 3.111076578200152 + euclidean_error: 0.5800696058689103 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1041453552106146 + euclidean_error: 0.5820562734172586 + base_right_marker_pose: + angle_rotation_error: 3.120456280644352 + euclidean_error: 0.5787860908927934 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.07748141075845 + euclidean_error: 0.5783652848801263 + wrist_top_marker_pose: + angle_rotation_error: 3.102776223006211 + euclidean_error: 0.5803864418679182 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107733101655942 + euclidean_error: 0.5820797996652227 + base_right_marker_pose: + angle_rotation_error: 3.1261411959566643 + euclidean_error: 0.5787941727426107 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0810417637370806 + euclidean_error: 0.578392699475914 + wrist_top_marker_pose: + angle_rotation_error: 3.1103831036138176 + euclidean_error: 0.5800170268012645 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1019462827903963 + euclidean_error: 0.5821767013974738 + base_right_marker_pose: + angle_rotation_error: 3.117804700672171 + euclidean_error: 0.5787734430898414 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.079599603330432 + euclidean_error: 0.5783525338969895 + wrist_top_marker_pose: + angle_rotation_error: 3.117019676877132 + euclidean_error: 0.5801174320338887 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1055792592290943 + euclidean_error: 0.5819075734333511 + base_right_marker_pose: + angle_rotation_error: 3.1268748993708466 + euclidean_error: 0.578645445922687 + shoulder_marker_pose: + angle_rotation_error: 3.1132823943622094 + euclidean_error: 0.5810756026106411 + wrist_inside_marker_pose: + angle_rotation_error: 3.074765971574672 + euclidean_error: 0.5783269374695903 + wrist_top_marker_pose: + angle_rotation_error: 3.1059804267426703 + euclidean_error: 0.5802681425909259 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114538811598302 + euclidean_error: 0.582047748310621 + base_right_marker_pose: + angle_rotation_error: 3.133869191952287 + euclidean_error: 0.5787619777470394 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0791940871212624 + euclidean_error: 0.5784404433835428 + wrist_top_marker_pose: + angle_rotation_error: 3.111792229328689 + euclidean_error: 0.5802251773394506 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1136699780297223 + euclidean_error: 0.5819341853097868 + base_right_marker_pose: + angle_rotation_error: 3.1283331821918328 + euclidean_error: 0.5787322957508026 + shoulder_marker_pose: + angle_rotation_error: 3.121142824508788 + euclidean_error: 0.5811277958601931 + wrist_inside_marker_pose: + angle_rotation_error: 3.0764494340411823 + euclidean_error: 0.5783958796695716 + wrist_top_marker_pose: + angle_rotation_error: 3.1051092079470726 + euclidean_error: 0.5803493852189141 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1087375196183356 + euclidean_error: 0.5819814235929375 + base_right_marker_pose: + angle_rotation_error: 3.118197193763199 + euclidean_error: 0.5787703979689882 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0704829933757405 + euclidean_error: 0.5784033053260043 + wrist_top_marker_pose: + angle_rotation_error: 3.097544617383671 + euclidean_error: 0.5800280801863915 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114289652919385 + euclidean_error: 0.5820536541206368 + base_right_marker_pose: + angle_rotation_error: 3.125943976039017 + euclidean_error: 0.5788059832397858 + shoulder_marker_pose: + angle_rotation_error: 3.1289280030842965 + euclidean_error: 0.5811236016800502 + wrist_inside_marker_pose: + angle_rotation_error: 3.0905712450515064 + euclidean_error: 0.5784458954237883 + wrist_top_marker_pose: + angle_rotation_error: 3.1059140028796794 + euclidean_error: 0.5803650337474102 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110357800143505 + euclidean_error: 0.581992537481845 + base_right_marker_pose: + angle_rotation_error: 3.122930859473483 + euclidean_error: 0.5787992460832665 + shoulder_marker_pose: + angle_rotation_error: 3.115752108551882 + euclidean_error: 0.5810560597410035 + wrist_inside_marker_pose: + angle_rotation_error: 3.0976750528141457 + euclidean_error: 0.5784396589826473 + wrist_top_marker_pose: + angle_rotation_error: 3.0907315538968647 + euclidean_error: 0.5801654959887057 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113065497184449 + euclidean_error: 0.582068356280917 + base_right_marker_pose: + angle_rotation_error: 3.128436262431195 + euclidean_error: 0.5787623011021413 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.081080111393849 + euclidean_error: 0.5784031131598288 + wrist_top_marker_pose: + angle_rotation_error: 3.1042818383006456 + euclidean_error: 0.5802432635653206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10533602999113 + euclidean_error: 0.5820950064490331 + base_right_marker_pose: + angle_rotation_error: 3.120820873000499 + euclidean_error: 0.5787206279378831 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0783061441279793 + euclidean_error: 0.5783568730833895 + wrist_top_marker_pose: + angle_rotation_error: 3.089436668927625 + euclidean_error: 0.5800952726032863 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1166729305019825 + euclidean_error: 0.5819346973573241 + base_right_marker_pose: + angle_rotation_error: 3.1201235291031417 + euclidean_error: 0.5787370977155623 + shoulder_marker_pose: + angle_rotation_error: 3.112415827270962 + euclidean_error: 0.5812024943098645 + wrist_inside_marker_pose: + angle_rotation_error: 3.08138777305321 + euclidean_error: 0.5784230852673212 + wrist_top_marker_pose: + angle_rotation_error: 3.10051970386696 + euclidean_error: 0.5803102145655552 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108022638291759 + euclidean_error: 0.582120961708033 + base_right_marker_pose: + angle_rotation_error: 3.11730941683658 + euclidean_error: 0.5786789699196482 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0786493314299794 + euclidean_error: 0.5783932780351484 + wrist_top_marker_pose: + angle_rotation_error: 3.12419318730971 + euclidean_error: 0.5800925024428554 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112746728725555 + euclidean_error: 0.5820887080382234 + base_right_marker_pose: + angle_rotation_error: 3.126101971309857 + euclidean_error: 0.57874704035872 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0837197939358316 + euclidean_error: 0.5784020112103284 + wrist_top_marker_pose: + angle_rotation_error: 3.1060254565976813 + euclidean_error: 0.580236464363664 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1065644160345838 + euclidean_error: 0.5821166655101607 + base_right_marker_pose: + angle_rotation_error: 3.12428439080734 + euclidean_error: 0.5786820351693841 + shoulder_marker_pose: + angle_rotation_error: 3.11227240416487 + euclidean_error: 0.5810668518734663 + wrist_inside_marker_pose: + angle_rotation_error: 3.0829237190987264 + euclidean_error: 0.5784934063458043 + wrist_top_marker_pose: + angle_rotation_error: 3.0902586785315287 + euclidean_error: 0.5804181367763397 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115898754052286 + euclidean_error: 0.5820608504252618 + base_right_marker_pose: + angle_rotation_error: 3.118746355638874 + euclidean_error: 0.5786971617140647 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0826099432005996 + euclidean_error: 0.5784589606608952 + wrist_top_marker_pose: + angle_rotation_error: 3.0924713923729663 + euclidean_error: 0.5803466802150697 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100820085350577 + euclidean_error: 0.5820847069656581 + base_right_marker_pose: + angle_rotation_error: 3.130150192806239 + euclidean_error: 0.578715033255173 + shoulder_marker_pose: + angle_rotation_error: 3.118767463489334 + euclidean_error: 0.5810807380450013 + wrist_inside_marker_pose: + angle_rotation_error: 3.0853436842557453 + euclidean_error: 0.5784319109381564 + wrist_top_marker_pose: + angle_rotation_error: 3.1223695338867477 + euclidean_error: 0.5801988813465446 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1201145247634967 + euclidean_error: 0.5820215019691986 + base_right_marker_pose: + angle_rotation_error: 3.127300528532135 + euclidean_error: 0.5788428174839918 + shoulder_marker_pose: + angle_rotation_error: 3.1175775646441464 + euclidean_error: 0.5812517745020908 + wrist_inside_marker_pose: + angle_rotation_error: 3.087107862036188 + euclidean_error: 0.5784331521917216 + wrist_top_marker_pose: + angle_rotation_error: 3.1130327779268887 + euclidean_error: 0.5803236152388896 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1144338783238323 + euclidean_error: 0.5821070831214848 + base_right_marker_pose: + angle_rotation_error: 3.1277330691680176 + euclidean_error: 0.5787918172173455 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.079689435926876 + euclidean_error: 0.5783348544436876 + wrist_top_marker_pose: + angle_rotation_error: 3.108325491762875 + euclidean_error: 0.5801519972490938 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103645358511547 + euclidean_error: 0.5822134223575816 + base_right_marker_pose: + angle_rotation_error: 3.1226702604517507 + euclidean_error: 0.5786849656449876 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.077426608605477 + euclidean_error: 0.5784293070208782 + wrist_top_marker_pose: + angle_rotation_error: 3.115466664483927 + euclidean_error: 0.5803543749931643 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1122166123051547 + euclidean_error: 0.5820726971807425 + base_right_marker_pose: + angle_rotation_error: 3.1190356000267125 + euclidean_error: 0.5788477869631277 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0888889911133606 + euclidean_error: 0.5784239014636025 + wrist_top_marker_pose: + angle_rotation_error: 3.109570892148197 + euclidean_error: 0.5801892578399731 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1099519435130576 + euclidean_error: 0.5820997063164721 + base_right_marker_pose: + angle_rotation_error: 3.1223702694968765 + euclidean_error: 0.5788867541136596 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.076322186119026 + euclidean_error: 0.5783799842237025 + wrist_top_marker_pose: + angle_rotation_error: 3.1201880965566926 + euclidean_error: 0.5801793366499638 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1108853365891838 + euclidean_error: 0.5819914336044857 + base_right_marker_pose: + angle_rotation_error: 3.118107374091565 + euclidean_error: 0.5790011940801243 + shoulder_marker_pose: + angle_rotation_error: 3.10886631393349 + euclidean_error: 0.5811719320761664 + wrist_inside_marker_pose: + angle_rotation_error: 3.070078518780681 + euclidean_error: 0.5782919111814135 + wrist_top_marker_pose: + angle_rotation_error: 3.113885802958286 + euclidean_error: 0.5802194266272733 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1106176143591306 + euclidean_error: 0.5820957639231564 + base_right_marker_pose: + angle_rotation_error: 3.1200248773898602 + euclidean_error: 0.578757393146963 + shoulder_marker_pose: + angle_rotation_error: 3.1257187809474845 + euclidean_error: 0.581130896175272 + wrist_inside_marker_pose: + angle_rotation_error: 3.0803404344110095 + euclidean_error: 0.5784073759313281 + wrist_top_marker_pose: + angle_rotation_error: 3.1077239348430066 + euclidean_error: 0.5802729385913723 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1098890742271963 + euclidean_error: 0.5819374367845181 + base_right_marker_pose: + angle_rotation_error: 3.1136485715301423 + euclidean_error: 0.578837189392542 + shoulder_marker_pose: + angle_rotation_error: 3.128500443746039 + euclidean_error: 0.5811830490899815 + wrist_inside_marker_pose: + angle_rotation_error: 3.081158863709436 + euclidean_error: 0.5784248844959761 + wrist_top_marker_pose: + angle_rotation_error: 3.1072903878696887 + euclidean_error: 0.5802688646945332 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1068707022809607 + euclidean_error: 0.5820840449218132 + base_right_marker_pose: + angle_rotation_error: 3.1174218206407684 + euclidean_error: 0.5788345492157645 + shoulder_marker_pose: + angle_rotation_error: 3.1199538548025956 + euclidean_error: 0.581130864712256 + wrist_inside_marker_pose: + angle_rotation_error: 3.0782400686240057 + euclidean_error: 0.578375989402722 + wrist_top_marker_pose: + angle_rotation_error: 3.139765310469027 + euclidean_error: 0.5800573664423806 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1084126714492606 + euclidean_error: 0.5820168885144422 + base_right_marker_pose: + angle_rotation_error: 3.1273814414965555 + euclidean_error: 0.5788048902587364 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0824854327371956 + euclidean_error: 0.5783901306192405 + wrist_top_marker_pose: + angle_rotation_error: 3.1314566823974173 + euclidean_error: 0.580313995150214 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114255629997707 + euclidean_error: 0.5820762098974654 + base_right_marker_pose: + angle_rotation_error: 3.127050811652018 + euclidean_error: 0.5787877686730529 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0835633302754157 + euclidean_error: 0.5783851715590629 + wrist_top_marker_pose: + angle_rotation_error: 3.101947410017703 + euclidean_error: 0.580231518052141 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1076657066992484 + euclidean_error: 0.5820688454965137 + base_right_marker_pose: + angle_rotation_error: 3.1267130336363946 + euclidean_error: 0.57865890243867 + shoulder_marker_pose: + angle_rotation_error: 3.110274977386447 + euclidean_error: 0.5811364121179923 + wrist_inside_marker_pose: + angle_rotation_error: 3.0697393025777155 + euclidean_error: 0.5784086266931778 + wrist_top_marker_pose: + angle_rotation_error: 3.110526398948014 + euclidean_error: 0.5800223124517381 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1046920296750145 + euclidean_error: 0.5820803646162969 + base_right_marker_pose: + angle_rotation_error: 3.123205294615682 + euclidean_error: 0.5787970347430702 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.08696620133137 + euclidean_error: 0.5784503494243398 + wrist_top_marker_pose: + angle_rotation_error: 3.1032667449114415 + euclidean_error: 0.5802025263663588 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114994670736578 + euclidean_error: 0.5819827298323453 + base_right_marker_pose: + angle_rotation_error: 3.127740921391874 + euclidean_error: 0.5785525564045734 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.080044508535632 + euclidean_error: 0.5784125450223376 + wrist_top_marker_pose: + angle_rotation_error: 3.114015185507775 + euclidean_error: 0.580287428574708 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1180949528471507 + euclidean_error: 0.5821348002032346 + base_right_marker_pose: + angle_rotation_error: 3.122248656529483 + euclidean_error: 0.5789951163455554 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0720446903386924 + euclidean_error: 0.5783302110042815 + wrist_top_marker_pose: + angle_rotation_error: 3.113926022124789 + euclidean_error: 0.5799819272116516 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106732421623384 + euclidean_error: 0.5822454709786758 + base_right_marker_pose: + angle_rotation_error: 3.1180854905995634 + euclidean_error: 0.5787245452719441 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.082537827859047 + euclidean_error: 0.5784454975161355 + wrist_top_marker_pose: + angle_rotation_error: 3.1252657077316766 + euclidean_error: 0.5801722125370661 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1193592579592577 + euclidean_error: 0.5820298287516176 + base_right_marker_pose: + angle_rotation_error: 3.1269041080143705 + euclidean_error: 0.5790028353939151 + shoulder_marker_pose: + angle_rotation_error: 3.124312875833629 + euclidean_error: 0.5811525336807142 + wrist_inside_marker_pose: + angle_rotation_error: 3.0822667700968984 + euclidean_error: 0.578429310054703 + wrist_top_marker_pose: + angle_rotation_error: 3.1165602363246596 + euclidean_error: 0.580144052465413 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1084676443118067 + euclidean_error: 0.5821346604615226 + base_right_marker_pose: + angle_rotation_error: 3.115074939717674 + euclidean_error: 0.5789866646714275 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0831136486561905 + euclidean_error: 0.5784173318903925 + wrist_top_marker_pose: + angle_rotation_error: 3.0922339574899165 + euclidean_error: 0.5800879289497399 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1032879311881074 + euclidean_error: 0.5820506629100806 + base_right_marker_pose: + angle_rotation_error: 3.1262286986314707 + euclidean_error: 0.5788652869142535 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0888899957987266 + euclidean_error: 0.5784166652009507 + wrist_top_marker_pose: + angle_rotation_error: 3.0791277592785025 + euclidean_error: 0.5804317691110708 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1192559486574645 + euclidean_error: 0.5820515469406158 + base_right_marker_pose: + angle_rotation_error: 3.1327611988618567 + euclidean_error: 0.5787732242948992 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.079195650041601 + euclidean_error: 0.5784185193059478 + wrist_top_marker_pose: + angle_rotation_error: 3.1251944824320717 + euclidean_error: 0.5802144394328759 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1157968422308633 + euclidean_error: 0.5819872374418569 + base_right_marker_pose: + angle_rotation_error: 3.1221112671171314 + euclidean_error: 0.5788364517765784 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.080008745586763 + euclidean_error: 0.5783203882123957 + wrist_top_marker_pose: + angle_rotation_error: 3.1031085883039 + euclidean_error: 0.5800783678536738 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1131187167515786 + euclidean_error: 0.5821121796637583 + base_right_marker_pose: + angle_rotation_error: 3.1278344488859453 + euclidean_error: 0.5787262027409014 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.086788083890965 + euclidean_error: 0.5784810893377296 + wrist_top_marker_pose: + angle_rotation_error: 3.1051550567351556 + euclidean_error: 0.5802738914278722 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1035848894713034 + euclidean_error: 0.5820210885657312 + base_right_marker_pose: + angle_rotation_error: 3.13034357757803 + euclidean_error: 0.5788657643355178 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0777809129408635 + euclidean_error: 0.5784632997870934 + wrist_top_marker_pose: + angle_rotation_error: 3.0952914003687844 + euclidean_error: 0.580316365411497 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115172248874513 + euclidean_error: 0.5819482565691895 + base_right_marker_pose: + angle_rotation_error: 3.1140992520884425 + euclidean_error: 0.5787735547308653 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090738887470077 + euclidean_error: 0.5784557050473174 + wrist_top_marker_pose: + angle_rotation_error: 3.0958271719602917 + euclidean_error: 0.5803381694683972 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1162489121763626 + euclidean_error: 0.5820447745367142 + base_right_marker_pose: + angle_rotation_error: 3.1073608801700825 + euclidean_error: 0.5788331321306222 + shoulder_marker_pose: + angle_rotation_error: 3.1178512277906716 + euclidean_error: 0.5812226252788752 + wrist_inside_marker_pose: + angle_rotation_error: 3.083675013140743 + euclidean_error: 0.5784186616098962 + wrist_top_marker_pose: + angle_rotation_error: 3.084979383452046 + euclidean_error: 0.5803637827346256 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1167627028053246 + euclidean_error: 0.581989928708298 + base_right_marker_pose: + angle_rotation_error: 3.1202235963119502 + euclidean_error: 0.5788697179882255 + shoulder_marker_pose: + angle_rotation_error: 3.1128564315776353 + euclidean_error: 0.5812822364569412 + wrist_inside_marker_pose: + angle_rotation_error: 3.0986709944236304 + euclidean_error: 0.5785246608025736 + wrist_top_marker_pose: + angle_rotation_error: 3.11745040791685 + euclidean_error: 0.5804494029376761 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1216611806371266 + euclidean_error: 0.5820333945030375 + base_right_marker_pose: + angle_rotation_error: 3.140723418476484 + euclidean_error: 0.5787663448212318 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0776301689225396 + euclidean_error: 0.5784142451056731 + wrist_top_marker_pose: + angle_rotation_error: 3.116645152654328 + euclidean_error: 0.5801288554346703 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111191748809655 + euclidean_error: 0.5820383277687727 + base_right_marker_pose: + angle_rotation_error: 3.124813176985265 + euclidean_error: 0.5787712176821836 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.086369905999411 + euclidean_error: 0.5784532651629498 + wrist_top_marker_pose: + angle_rotation_error: 3.081743846331197 + euclidean_error: 0.5803010030126214 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1119350642292294 + euclidean_error: 0.5822356717675778 + base_right_marker_pose: + angle_rotation_error: 3.1375073335016306 + euclidean_error: 0.5788756625677436 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0782112591017423 + euclidean_error: 0.5783930275991502 + wrist_top_marker_pose: + angle_rotation_error: 3.0997600767960574 + euclidean_error: 0.5802153474212272 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1127680230026966 + euclidean_error: 0.5821645625079837 + base_right_marker_pose: + angle_rotation_error: 3.1239191768313486 + euclidean_error: 0.5789102497819458 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0702066330162867 + euclidean_error: 0.5783075806131661 + wrist_top_marker_pose: + angle_rotation_error: 3.1127983524410974 + euclidean_error: 0.5800849505980358 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1151249961114407 + euclidean_error: 0.5821118944666158 + base_right_marker_pose: + angle_rotation_error: 3.131432623279735 + euclidean_error: 0.5788212860712275 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0920029169529224 + euclidean_error: 0.5784880785366467 + wrist_top_marker_pose: + angle_rotation_error: 3.100270249002373 + euclidean_error: 0.580293695543608 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1161548091019866 + euclidean_error: 0.5820124297811282 + base_right_marker_pose: + angle_rotation_error: 3.139606809896747 + euclidean_error: 0.5787469296850768 + shoulder_marker_pose: + angle_rotation_error: 3.1258005050098756 + euclidean_error: 0.5810886994014325 + wrist_inside_marker_pose: + angle_rotation_error: 3.076318688475591 + euclidean_error: 0.5784149393696177 + wrist_top_marker_pose: + angle_rotation_error: 3.1066268343146937 + euclidean_error: 0.5802865087719581 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111794309917301 + euclidean_error: 0.5821795391139868 + base_right_marker_pose: + angle_rotation_error: 3.123150769614024 + euclidean_error: 0.5788096576445189 + shoulder_marker_pose: + angle_rotation_error: 3.1092650062170613 + euclidean_error: 0.581177895194862 + wrist_inside_marker_pose: + angle_rotation_error: 3.070788643413509 + euclidean_error: 0.5783073654576606 + wrist_top_marker_pose: + angle_rotation_error: 3.0939870620164167 + euclidean_error: 0.5801326784246643 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109145585831957 + euclidean_error: 0.5820415662994503 + base_right_marker_pose: + angle_rotation_error: 3.1364413410467837 + euclidean_error: 0.5787982789759811 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0857117357527653 + euclidean_error: 0.5783878484942022 + wrist_top_marker_pose: + angle_rotation_error: 3.136167291894452 + euclidean_error: 0.5802793208395804 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124652950694496 + euclidean_error: 0.5820481596365209 + base_right_marker_pose: + angle_rotation_error: 3.1228810603511805 + euclidean_error: 0.5789324522722031 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.069760704920058 + euclidean_error: 0.5783487685900652 + wrist_top_marker_pose: + angle_rotation_error: 3.1116061014321947 + euclidean_error: 0.5800532688538753 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10508238218487 + euclidean_error: 0.5820145756329472 + base_right_marker_pose: + angle_rotation_error: 3.1356845468540397 + euclidean_error: 0.5788903651729848 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0835272512618794 + euclidean_error: 0.5784540883003175 + wrist_top_marker_pose: + angle_rotation_error: 3.1103740768128088 + euclidean_error: 0.5801889796879635 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.126312539618789 + euclidean_error: 0.5820326361756034 + base_right_marker_pose: + angle_rotation_error: 3.119384344907967 + euclidean_error: 0.5788374581662542 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0869001808258183 + euclidean_error: 0.57846582590047 + wrist_top_marker_pose: + angle_rotation_error: 3.1106398510485933 + euclidean_error: 0.5802486555931863 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1104396969868255 + euclidean_error: 0.5819354833566441 + base_right_marker_pose: + angle_rotation_error: 3.1314720544866126 + euclidean_error: 0.5788684496936272 + shoulder_marker_pose: + angle_rotation_error: 3.1151571148619364 + euclidean_error: 0.5811694091846267 + wrist_inside_marker_pose: + angle_rotation_error: 3.07312455955353 + euclidean_error: 0.578386782428224 + wrist_top_marker_pose: + angle_rotation_error: 3.0986539874419763 + euclidean_error: 0.5801813328825849 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110078525412765 + euclidean_error: 0.5820356774850141 + base_right_marker_pose: + angle_rotation_error: 3.117356088920034 + euclidean_error: 0.5787960862412543 + shoulder_marker_pose: + angle_rotation_error: 3.1207489040614176 + euclidean_error: 0.5811773914555157 + wrist_inside_marker_pose: + angle_rotation_error: 3.0756059648826146 + euclidean_error: 0.5783898270788662 + wrist_top_marker_pose: + angle_rotation_error: 3.1098365691931713 + euclidean_error: 0.5803099706487985 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1087173173451195 + euclidean_error: 0.5820822542794055 + base_right_marker_pose: + angle_rotation_error: 3.1238419092889553 + euclidean_error: 0.5789255733519981 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0909384996070974 + euclidean_error: 0.5784526147270229 + wrist_top_marker_pose: + angle_rotation_error: 3.0953123055972602 + euclidean_error: 0.5800616877950842 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1123253941321765 + euclidean_error: 0.5819916418363463 + base_right_marker_pose: + angle_rotation_error: 3.1290436597948057 + euclidean_error: 0.5790078303032876 + shoulder_marker_pose: + angle_rotation_error: 3.1206949309176193 + euclidean_error: 0.5812073429518547 + wrist_inside_marker_pose: + angle_rotation_error: 3.070912037200603 + euclidean_error: 0.5783354210760497 + wrist_top_marker_pose: + angle_rotation_error: 3.098285588542067 + euclidean_error: 0.5803305313715544 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.120621225296843 + euclidean_error: 0.581972632266276 + base_right_marker_pose: + angle_rotation_error: 3.1227006916243116 + euclidean_error: 0.5789197712165217 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.077696463298193 + euclidean_error: 0.5783655093657352 + wrist_top_marker_pose: + angle_rotation_error: 3.089640758746449 + euclidean_error: 0.580337695352692 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1172689605849193 + euclidean_error: 0.5821337241962534 + base_right_marker_pose: + angle_rotation_error: 3.1205608354021983 + euclidean_error: 0.5787818381654192 + shoulder_marker_pose: + angle_rotation_error: 3.1153762161968426 + euclidean_error: 0.5812031876327073 + wrist_inside_marker_pose: + angle_rotation_error: 3.0738831194817675 + euclidean_error: 0.5783366495379892 + wrist_top_marker_pose: + angle_rotation_error: 3.1051236702117206 + euclidean_error: 0.5803130956873438 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108406381212387 + euclidean_error: 0.5820171844831472 + base_right_marker_pose: + angle_rotation_error: 3.1217556673248055 + euclidean_error: 0.5788052047890994 + shoulder_marker_pose: + angle_rotation_error: 3.1136988272738657 + euclidean_error: 0.5811041776237127 + wrist_inside_marker_pose: + angle_rotation_error: 3.081591563481877 + euclidean_error: 0.5784000644041958 + wrist_top_marker_pose: + angle_rotation_error: 3.105297415544865 + euclidean_error: 0.5802374550097388 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108710588818732 + euclidean_error: 0.5820565917281544 + base_right_marker_pose: + angle_rotation_error: 3.1318184812754044 + euclidean_error: 0.5790091270433692 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0653035761121266 + euclidean_error: 0.5782794489083176 + wrist_top_marker_pose: + angle_rotation_error: 3.095633425193402 + euclidean_error: 0.580175596596586 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1129040600955524 + euclidean_error: 0.5821448054676601 + base_right_marker_pose: + angle_rotation_error: 3.1290227517233116 + euclidean_error: 0.5787115429043267 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.083589378471797 + euclidean_error: 0.5784170100678164 + wrist_top_marker_pose: + angle_rotation_error: 3.1116385652628558 + euclidean_error: 0.5803185845339923 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1128977537842375 + euclidean_error: 0.5821717385211431 + base_right_marker_pose: + angle_rotation_error: 3.1225293767913604 + euclidean_error: 0.5787741678071723 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.077722086027831 + euclidean_error: 0.578386016922544 + wrist_top_marker_pose: + angle_rotation_error: 3.1119691293941556 + euclidean_error: 0.5802657876493487 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110045255407325 + euclidean_error: 0.5821851874286332 + base_right_marker_pose: + angle_rotation_error: 3.123914051436783 + euclidean_error: 0.5788995044069681 + shoulder_marker_pose: + angle_rotation_error: 3.1178698861598044 + euclidean_error: 0.5812185321841311 + wrist_inside_marker_pose: + angle_rotation_error: 3.0823941525631917 + euclidean_error: 0.5784469037028965 + wrist_top_marker_pose: + angle_rotation_error: 3.1147069734178214 + euclidean_error: 0.5802405625501826 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10698959979881 + euclidean_error: 0.5820677550208055 + base_right_marker_pose: + angle_rotation_error: 3.1182183775007797 + euclidean_error: 0.5788544843195881 + shoulder_marker_pose: + angle_rotation_error: 3.1236435710316166 + euclidean_error: 0.5810701267218645 + wrist_inside_marker_pose: + angle_rotation_error: 3.0727993843854957 + euclidean_error: 0.5783657719312302 + wrist_top_marker_pose: + angle_rotation_error: 3.1138223039557893 + euclidean_error: 0.5801472822528523 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1055261794242073 + euclidean_error: 0.582077302097941 + base_right_marker_pose: + angle_rotation_error: 3.1333774848810134 + euclidean_error: 0.5788735467850168 + shoulder_marker_pose: + angle_rotation_error: 3.1216617453477125 + euclidean_error: 0.5811453349428133 + wrist_inside_marker_pose: + angle_rotation_error: 3.0816465108720053 + euclidean_error: 0.5784603707244881 + wrist_top_marker_pose: + angle_rotation_error: 3.1108835478879238 + euclidean_error: 0.5802557859281721 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1215786080262604 + euclidean_error: 0.5819762270176838 + base_right_marker_pose: + angle_rotation_error: 3.1297593489530007 + euclidean_error: 0.5788816972150117 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0892533112352383 + euclidean_error: 0.5784798790057553 + wrist_top_marker_pose: + angle_rotation_error: 3.1186210288345 + euclidean_error: 0.5802873135823354 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103283387440699 + euclidean_error: 0.5820302274243409 + base_right_marker_pose: + angle_rotation_error: 3.133484523560691 + euclidean_error: 0.5789008257135199 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0937856144705105 + euclidean_error: 0.5784909851512336 + wrist_top_marker_pose: + angle_rotation_error: 3.1114091961043546 + euclidean_error: 0.5801202359230144 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1220465516812066 + euclidean_error: 0.5820850156295292 + base_right_marker_pose: + angle_rotation_error: 3.135642821147276 + euclidean_error: 0.579011517731679 + shoulder_marker_pose: + angle_rotation_error: 3.118875359316167 + euclidean_error: 0.5811770016740646 + wrist_inside_marker_pose: + angle_rotation_error: 3.0700617807876727 + euclidean_error: 0.5783739655581954 + wrist_top_marker_pose: + angle_rotation_error: 3.1046465036658755 + euclidean_error: 0.5802355664557532 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111100932644443 + euclidean_error: 0.5822315170915694 + base_right_marker_pose: + angle_rotation_error: 3.1313508404346866 + euclidean_error: 0.5788970951429829 + shoulder_marker_pose: + angle_rotation_error: 3.1351679171566076 + euclidean_error: 0.5811490284980041 + wrist_inside_marker_pose: + angle_rotation_error: 3.082004840758561 + euclidean_error: 0.5784446454545488 + wrist_top_marker_pose: + angle_rotation_error: 3.113304459391859 + euclidean_error: 0.5802109653513574 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1142949906894737 + euclidean_error: 0.5821557566035893 + base_right_marker_pose: + angle_rotation_error: 3.120731427519504 + euclidean_error: 0.5790489983330024 + shoulder_marker_pose: + angle_rotation_error: 3.0999723333350686 + euclidean_error: 0.5811567241169366 + wrist_inside_marker_pose: + angle_rotation_error: 3.0999351392244536 + euclidean_error: 0.5785764235787056 + wrist_top_marker_pose: + angle_rotation_error: 3.109777976377892 + euclidean_error: 0.5801477890940697 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1175303256638673 + euclidean_error: 0.5821411147664973 + base_right_marker_pose: + angle_rotation_error: 3.1204188251760576 + euclidean_error: 0.5789701608956719 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0777506770049903 + euclidean_error: 0.5784120199250903 + wrist_top_marker_pose: + angle_rotation_error: 3.1204946946749303 + euclidean_error: 0.5802699324179686 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1105736578114622 + euclidean_error: 0.5821043110340325 + base_right_marker_pose: + angle_rotation_error: 3.127532139092297 + euclidean_error: 0.5790090684446956 + shoulder_marker_pose: + angle_rotation_error: 3.1150044132578008 + euclidean_error: 0.5811647621552604 + wrist_inside_marker_pose: + angle_rotation_error: 3.1051623108890127 + euclidean_error: 0.5785810872456072 + wrist_top_marker_pose: + angle_rotation_error: 3.0966569177893897 + euclidean_error: 0.5802197813905892 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1248901995915443 + euclidean_error: 0.5820460754450769 + base_right_marker_pose: + angle_rotation_error: 3.1289117837754663 + euclidean_error: 0.5788514211386484 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0844501233099915 + euclidean_error: 0.5784341255237837 + wrist_top_marker_pose: + angle_rotation_error: 3.116256554540142 + euclidean_error: 0.5802567100026784 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1065307493199597 + euclidean_error: 0.5821340159725737 + base_right_marker_pose: + angle_rotation_error: 3.1327510592248884 + euclidean_error: 0.5788201998373206 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.085352219638643 + euclidean_error: 0.5784345695142357 + wrist_top_marker_pose: + angle_rotation_error: 3.0966498546371786 + euclidean_error: 0.5803710671105483 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1009270545999876 + euclidean_error: 0.5820685867545473 + base_right_marker_pose: + angle_rotation_error: 3.136495189620971 + euclidean_error: 0.5788199175144878 + shoulder_marker_pose: + angle_rotation_error: 3.1104786986760766 + euclidean_error: 0.5811879632656509 + wrist_inside_marker_pose: + angle_rotation_error: 3.0774324953761703 + euclidean_error: 0.5783985476300795 + wrist_top_marker_pose: + angle_rotation_error: 3.1166005166767095 + euclidean_error: 0.5802641530946856 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119546475137444 + euclidean_error: 0.5820880434675595 + base_right_marker_pose: + angle_rotation_error: 3.1343566264698723 + euclidean_error: 0.5788699476083138 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.083778050631876 + euclidean_error: 0.5784204790996849 + wrist_top_marker_pose: + angle_rotation_error: 3.1041004532642744 + euclidean_error: 0.5802330877863252 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113444214934378 + euclidean_error: 0.5820451719238886 + base_right_marker_pose: + angle_rotation_error: 3.1243762610395662 + euclidean_error: 0.5789561485160717 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0945970611257323 + euclidean_error: 0.5784856314828795 + wrist_top_marker_pose: + angle_rotation_error: 3.1243554974558134 + euclidean_error: 0.5801597912034387 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1157328388715353 + euclidean_error: 0.5820914516567508 + base_right_marker_pose: + angle_rotation_error: 3.124682730007061 + euclidean_error: 0.5790397031855792 + shoulder_marker_pose: + angle_rotation_error: 3.1080815993177597 + euclidean_error: 0.5811364403123886 + wrist_inside_marker_pose: + angle_rotation_error: 3.0844985963033467 + euclidean_error: 0.5784643616364027 + wrist_top_marker_pose: + angle_rotation_error: 3.0993845749307765 + euclidean_error: 0.5802602778391956 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.120192706270028 + euclidean_error: 0.5820827406499973 + base_right_marker_pose: + angle_rotation_error: 3.1292424755683514 + euclidean_error: 0.578896694635062 + shoulder_marker_pose: + angle_rotation_error: 3.0994804816305486 + euclidean_error: 0.5811453382871699 + wrist_inside_marker_pose: + angle_rotation_error: 3.08815646299136 + euclidean_error: 0.5784716946319491 + wrist_top_marker_pose: + angle_rotation_error: 3.1330991008681646 + euclidean_error: 0.5802957743565359 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104356110062708 + euclidean_error: 0.5819894807774781 + base_right_marker_pose: + angle_rotation_error: 3.121342890993629 + euclidean_error: 0.578687811071887 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.100347425269496 + euclidean_error: 0.5785121108344592 + wrist_top_marker_pose: + angle_rotation_error: 3.1002327204761597 + euclidean_error: 0.5802574834451839 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104207721867743 + euclidean_error: 0.5820687460625512 + base_right_marker_pose: + angle_rotation_error: 3.1295655874316144 + euclidean_error: 0.5788555172111242 + shoulder_marker_pose: + angle_rotation_error: 3.1177999430604 + euclidean_error: 0.5812237120408881 + wrist_inside_marker_pose: + angle_rotation_error: 3.0653196845094515 + euclidean_error: 0.5783223206131374 + wrist_top_marker_pose: + angle_rotation_error: 3.1097313432607527 + euclidean_error: 0.5801896754513077 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118940757470211 + euclidean_error: 0.582165352989689 + base_right_marker_pose: + angle_rotation_error: 3.12055376965566 + euclidean_error: 0.578772598855074 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.08080814258257 + euclidean_error: 0.5784500462194351 + wrist_top_marker_pose: + angle_rotation_error: 3.1190371564669315 + euclidean_error: 0.580241511333298 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1091679782436237 + euclidean_error: 0.581963070553164 + base_right_marker_pose: + angle_rotation_error: 3.115009680089278 + euclidean_error: 0.5788267776659277 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.082151639095006 + euclidean_error: 0.5784198415218781 + wrist_top_marker_pose: + angle_rotation_error: 3.1269656173538793 + euclidean_error: 0.5803651243157407 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1137218477616604 + euclidean_error: 0.5821279513279685 + base_right_marker_pose: + angle_rotation_error: 3.131440584014578 + euclidean_error: 0.5789147786866223 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0880055119658714 + euclidean_error: 0.5784598550686085 + wrist_top_marker_pose: + angle_rotation_error: 3.102084137424159 + euclidean_error: 0.5801758951550018 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1175246378750145 + euclidean_error: 0.5820623865576101 + base_right_marker_pose: + angle_rotation_error: 3.11788896180521 + euclidean_error: 0.5790109513483072 + shoulder_marker_pose: + angle_rotation_error: 3.1189543751074993 + euclidean_error: 0.5811213794392889 + wrist_inside_marker_pose: + angle_rotation_error: 3.0842713958558488 + euclidean_error: 0.5783802912073587 + wrist_top_marker_pose: + angle_rotation_error: 3.1054422149763665 + euclidean_error: 0.580267132360164 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1239805763936475 + euclidean_error: 0.5820805641303506 + base_right_marker_pose: + angle_rotation_error: 3.125297932781756 + euclidean_error: 0.5789588969714894 + shoulder_marker_pose: + angle_rotation_error: 3.1139815864819806 + euclidean_error: 0.5811307151440949 + wrist_inside_marker_pose: + angle_rotation_error: 3.0811000354277924 + euclidean_error: 0.5784338039474161 + wrist_top_marker_pose: + angle_rotation_error: 3.1214901832397186 + euclidean_error: 0.5803080096667032 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.125624095130709 + euclidean_error: 0.5818894930565238 + base_right_marker_pose: + angle_rotation_error: 3.1181253319256146 + euclidean_error: 0.5788480345634088 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.084596884554023 + euclidean_error: 0.5784261303655382 + wrist_top_marker_pose: + angle_rotation_error: 3.121381483191986 + euclidean_error: 0.5803676544372203 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1227873135277515 + euclidean_error: 0.5819305970954116 + base_right_marker_pose: + angle_rotation_error: 3.132431239111299 + euclidean_error: 0.5788004119327668 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0952854341731553 + euclidean_error: 0.578492205602745 + wrist_top_marker_pose: + angle_rotation_error: 3.123505997242376 + euclidean_error: 0.5801637109943552 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1088030743020285 + euclidean_error: 0.5820647960724009 + base_right_marker_pose: + angle_rotation_error: 3.1330176909998015 + euclidean_error: 0.5788261670401842 + shoulder_marker_pose: + angle_rotation_error: 3.1186620583055142 + euclidean_error: 0.5812040960870808 + wrist_inside_marker_pose: + angle_rotation_error: 3.0834277703429644 + euclidean_error: 0.5784311133910112 + wrist_top_marker_pose: + angle_rotation_error: 3.1022593783776107 + euclidean_error: 0.5802787537322892 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1156680292367693 + euclidean_error: 0.582000673769051 + base_right_marker_pose: + angle_rotation_error: 3.1253910867439094 + euclidean_error: 0.5789099418556212 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089808974773063 + euclidean_error: 0.5784872510739272 + wrist_top_marker_pose: + angle_rotation_error: 3.1095269428395436 + euclidean_error: 0.5804005462954319 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108287741660198 + euclidean_error: 0.5821545364983186 + base_right_marker_pose: + angle_rotation_error: 3.125390302890776 + euclidean_error: 0.5786955302612815 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0699326787189603 + euclidean_error: 0.5783212972456659 + wrist_top_marker_pose: + angle_rotation_error: 3.0906853322113235 + euclidean_error: 0.580282957735155 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111154971074243 + euclidean_error: 0.5821825949696112 + base_right_marker_pose: + angle_rotation_error: 3.117405944282743 + euclidean_error: 0.5789398711632111 + shoulder_marker_pose: + angle_rotation_error: 3.1151448299376945 + euclidean_error: 0.581182761849584 + wrist_inside_marker_pose: + angle_rotation_error: 3.085048195967659 + euclidean_error: 0.5784357017152629 + wrist_top_marker_pose: + angle_rotation_error: 3.0845762381901913 + euclidean_error: 0.5802757784402998 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108793956432401 + euclidean_error: 0.5821017144928874 + base_right_marker_pose: + angle_rotation_error: 3.118264181344249 + euclidean_error: 0.5789085255586616 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0805904357871516 + euclidean_error: 0.5784804864501907 + wrist_top_marker_pose: + angle_rotation_error: 3.112766906451088 + euclidean_error: 0.5804159434253349 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1118288516273935 + euclidean_error: 0.5821926647098541 + base_right_marker_pose: + angle_rotation_error: 3.122535584911605 + euclidean_error: 0.5789765432621254 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0682636322687213 + euclidean_error: 0.5783184415155547 + wrist_top_marker_pose: + angle_rotation_error: 3.079772872862787 + euclidean_error: 0.5802833307125735 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111846497124226 + euclidean_error: 0.5820176982590413 + base_right_marker_pose: + angle_rotation_error: 3.1231080731554055 + euclidean_error: 0.5789071982173234 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.071502036449859 + euclidean_error: 0.5783910800499223 + wrist_top_marker_pose: + angle_rotation_error: 3.129728822152232 + euclidean_error: 0.5800006514396471 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082863217292576 + euclidean_error: 0.5820589703082207 + base_right_marker_pose: + angle_rotation_error: 3.1247145602253115 + euclidean_error: 0.5790682208036863 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.085202537571019 + euclidean_error: 0.5784424691435858 + wrist_top_marker_pose: + angle_rotation_error: 3.1174332349587823 + euclidean_error: 0.5803203596623944 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1196462377490555 + euclidean_error: 0.5819748895720477 + base_right_marker_pose: + angle_rotation_error: 3.1233999339921934 + euclidean_error: 0.5789823127169246 + shoulder_marker_pose: + angle_rotation_error: 3.1230853837368735 + euclidean_error: 0.5811858253269722 + wrist_inside_marker_pose: + angle_rotation_error: 3.097464944502311 + euclidean_error: 0.5785298095945351 + wrist_top_marker_pose: + angle_rotation_error: 3.1234623984270207 + euclidean_error: 0.5804120936236309 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1050315691750257 + euclidean_error: 0.5821164282052956 + base_right_marker_pose: + angle_rotation_error: 3.130883649014612 + euclidean_error: 0.579041324415903 + shoulder_marker_pose: + angle_rotation_error: 3.1100883892036943 + euclidean_error: 0.5812201411593464 + wrist_inside_marker_pose: + angle_rotation_error: 3.0783118953838318 + euclidean_error: 0.5784806831936344 + wrist_top_marker_pose: + angle_rotation_error: 3.1018988264802743 + euclidean_error: 0.5802641626015336 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1185522226292557 + euclidean_error: 0.5821586285263415 + base_right_marker_pose: + angle_rotation_error: 3.1275222009519257 + euclidean_error: 0.5789693869502124 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0949816606017144 + euclidean_error: 0.5785006677003317 + wrist_top_marker_pose: + angle_rotation_error: 3.118730965585332 + euclidean_error: 0.5802346298259972 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114134437892255 + euclidean_error: 0.5820599617292774 + base_right_marker_pose: + angle_rotation_error: 3.1210403019703863 + euclidean_error: 0.5789688043933511 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0818381265979555 + euclidean_error: 0.5784610000223284 + wrist_top_marker_pose: + angle_rotation_error: 3.119234932717031 + euclidean_error: 0.5803616206962795 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1160326717385214 + euclidean_error: 0.5819009382621779 + base_right_marker_pose: + angle_rotation_error: 3.126494615476233 + euclidean_error: 0.5788343384387694 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0772501163737904 + euclidean_error: 0.5783977154409032 + wrist_top_marker_pose: + angle_rotation_error: 3.126430978164689 + euclidean_error: 0.5801934181233991 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11277957173782 + euclidean_error: 0.5820967851828753 + base_right_marker_pose: + angle_rotation_error: 3.1288595161827994 + euclidean_error: 0.5790006677871578 + shoulder_marker_pose: + angle_rotation_error: 3.1062272574991336 + euclidean_error: 0.5811529328301485 + wrist_inside_marker_pose: + angle_rotation_error: 3.082423956884938 + euclidean_error: 0.5784297967972933 + wrist_top_marker_pose: + angle_rotation_error: 3.119617581784606 + euclidean_error: 0.5802375851887104 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117110241949734 + euclidean_error: 0.5819993836305251 + base_right_marker_pose: + angle_rotation_error: 3.135920811290366 + euclidean_error: 0.5788122309225809 + shoulder_marker_pose: + angle_rotation_error: 3.1295598070855344 + euclidean_error: 0.581212090499928 + wrist_inside_marker_pose: + angle_rotation_error: 3.09837906199141 + euclidean_error: 0.5785107859966971 + wrist_top_marker_pose: + angle_rotation_error: 3.1311425467762417 + euclidean_error: 0.5804398092610772 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.12171120038906 + euclidean_error: 0.5821187822808156 + base_right_marker_pose: + angle_rotation_error: 3.12248305342298 + euclidean_error: 0.5788799188854564 + shoulder_marker_pose: + angle_rotation_error: 3.1080220108019665 + euclidean_error: 0.5811215346580374 + wrist_inside_marker_pose: + angle_rotation_error: 3.0726601598037733 + euclidean_error: 0.5783750023835778 + wrist_top_marker_pose: + angle_rotation_error: 3.1098924961967667 + euclidean_error: 0.5804463571112971 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1120302395043664 + euclidean_error: 0.5821428180158792 + base_right_marker_pose: + angle_rotation_error: 3.13505597978175 + euclidean_error: 0.5788910371569591 + shoulder_marker_pose: + angle_rotation_error: 3.1091979730755512 + euclidean_error: 0.5811813639023681 + wrist_inside_marker_pose: + angle_rotation_error: 3.086969298623301 + euclidean_error: 0.5785153123477238 + wrist_top_marker_pose: + angle_rotation_error: 3.117035666885874 + euclidean_error: 0.5803398187420057 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1094341474788183 + euclidean_error: 0.5821111104386532 + base_right_marker_pose: + angle_rotation_error: 3.1219722991478296 + euclidean_error: 0.5788606787000303 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.092612117611143 + euclidean_error: 0.5784998034317388 + wrist_top_marker_pose: + angle_rotation_error: 3.11091403336695 + euclidean_error: 0.5803838296689373 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1181959747182546 + euclidean_error: 0.5820755550731076 + base_right_marker_pose: + angle_rotation_error: 3.1232890905265824 + euclidean_error: 0.5789554064167667 + shoulder_marker_pose: + angle_rotation_error: 3.1113532275009628 + euclidean_error: 0.5811812566787754 + wrist_inside_marker_pose: + angle_rotation_error: 3.0895556117912895 + euclidean_error: 0.578450329415163 + wrist_top_marker_pose: + angle_rotation_error: 3.10494842768632 + euclidean_error: 0.5802828482515383 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1285265087947143 + euclidean_error: 0.5820466485685128 + base_right_marker_pose: + angle_rotation_error: 3.125006727675558 + euclidean_error: 0.5787856995358702 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.069339519848069 + euclidean_error: 0.578339911845795 + wrist_top_marker_pose: + angle_rotation_error: 3.1230304166894034 + euclidean_error: 0.5801341056699203 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1181543305417367 + euclidean_error: 0.5820975537022802 + base_right_marker_pose: + angle_rotation_error: 3.140311284025276 + euclidean_error: 0.5787854989626955 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.087574202305475 + euclidean_error: 0.5784366334112495 + wrist_top_marker_pose: + angle_rotation_error: 3.1262471091825104 + euclidean_error: 0.580233041191522 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113150308922527 + euclidean_error: 0.5820967088586836 + base_right_marker_pose: + angle_rotation_error: 3.125644510886679 + euclidean_error: 0.5788919473276714 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0873279129815243 + euclidean_error: 0.5784293435220703 + wrist_top_marker_pose: + angle_rotation_error: 3.099813612514064 + euclidean_error: 0.5802996881462384 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114591555750336 + euclidean_error: 0.5820512898967114 + base_right_marker_pose: + angle_rotation_error: 3.1265470767306494 + euclidean_error: 0.5789334037356824 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089343155325575 + euclidean_error: 0.5784712575780684 + wrist_top_marker_pose: + angle_rotation_error: 3.0885629242663724 + euclidean_error: 0.5802577564706386 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1137665045836767 + euclidean_error: 0.5820606360426233 + base_right_marker_pose: + angle_rotation_error: 3.1214202260910753 + euclidean_error: 0.5791377968084385 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0733674013766263 + euclidean_error: 0.5783650090412743 + wrist_top_marker_pose: + angle_rotation_error: 3.1118191395194965 + euclidean_error: 0.5803561497727597 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1155183413551506 + euclidean_error: 0.5819908802931061 + base_right_marker_pose: + angle_rotation_error: 3.125753823423608 + euclidean_error: 0.579073402398642 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089406046945234 + euclidean_error: 0.5785324160438311 + wrist_top_marker_pose: + angle_rotation_error: 3.1087980046942474 + euclidean_error: 0.5802845406801085 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1129929765477655 + euclidean_error: 0.5821499610039058 + base_right_marker_pose: + angle_rotation_error: 3.107854182284864 + euclidean_error: 0.5789410608381393 + shoulder_marker_pose: + angle_rotation_error: 3.1180212031409833 + euclidean_error: 0.5812791033571568 + wrist_inside_marker_pose: + angle_rotation_error: 3.088070244654141 + euclidean_error: 0.5784645518330458 + wrist_top_marker_pose: + angle_rotation_error: 3.1035595238745457 + euclidean_error: 0.5801508502171947 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109493747498398 + euclidean_error: 0.5820819620752572 + base_right_marker_pose: + angle_rotation_error: 3.126990031090987 + euclidean_error: 0.5788057379951258 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0978256441571648 + euclidean_error: 0.5785405109722342 + wrist_top_marker_pose: + angle_rotation_error: 3.119398332269343 + euclidean_error: 0.5802074515176662 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1144434452577654 + euclidean_error: 0.5820442654407298 + base_right_marker_pose: + angle_rotation_error: 3.121361284747953 + euclidean_error: 0.5789483100223334 + shoulder_marker_pose: + angle_rotation_error: 3.1178589922269 + euclidean_error: 0.5811901790910667 + wrist_inside_marker_pose: + angle_rotation_error: 3.0926004597559653 + euclidean_error: 0.5785350524009216 + wrist_top_marker_pose: + angle_rotation_error: 3.119023860586451 + euclidean_error: 0.5801378974752981 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11291313478548 + euclidean_error: 0.5821151946079917 + base_right_marker_pose: + angle_rotation_error: 3.132927015512859 + euclidean_error: 0.5789039715445737 + shoulder_marker_pose: + angle_rotation_error: 3.1208894303553247 + euclidean_error: 0.5810844435786225 + wrist_inside_marker_pose: + angle_rotation_error: 3.084314838948763 + euclidean_error: 0.5784440845564847 + wrist_top_marker_pose: + angle_rotation_error: 3.0960030936929424 + euclidean_error: 0.5802177365886172 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1006832851151716 + euclidean_error: 0.5820748145222412 + base_right_marker_pose: + angle_rotation_error: 3.115255298272127 + euclidean_error: 0.5789874006352465 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.084353800091914 + euclidean_error: 0.5784672620527355 + wrist_top_marker_pose: + angle_rotation_error: 3.1050696078101208 + euclidean_error: 0.5801830701924948 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109822306590318 + euclidean_error: 0.5820097864228854 + base_right_marker_pose: + angle_rotation_error: 3.1251976643408996 + euclidean_error: 0.5787342179566013 + shoulder_marker_pose: + angle_rotation_error: 3.1123563408695993 + euclidean_error: 0.5812005593531792 + wrist_inside_marker_pose: + angle_rotation_error: 3.099070251126098 + euclidean_error: 0.5785599771071229 + wrist_top_marker_pose: + angle_rotation_error: 3.097604779492374 + euclidean_error: 0.5803217370546664 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1113140615767665 + euclidean_error: 0.5820180220484118 + base_right_marker_pose: + angle_rotation_error: 3.1340661963547247 + euclidean_error: 0.5789213476139222 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0683140320059223 + euclidean_error: 0.5783562495915399 + wrist_top_marker_pose: + angle_rotation_error: 3.1188409598176325 + euclidean_error: 0.5801300294185574 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1167460240443208 + euclidean_error: 0.5822060577360132 + base_right_marker_pose: + angle_rotation_error: 3.1303173636269346 + euclidean_error: 0.5788281886499285 + shoulder_marker_pose: + angle_rotation_error: 3.1138376058236785 + euclidean_error: 0.5812947971031885 + wrist_inside_marker_pose: + angle_rotation_error: 3.0824511822060074 + euclidean_error: 0.578456155796373 + wrist_top_marker_pose: + angle_rotation_error: 3.114002893231337 + euclidean_error: 0.5803713593067757 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114552586443087 + euclidean_error: 0.5822484315720049 + base_right_marker_pose: + angle_rotation_error: 3.1269708528874687 + euclidean_error: 0.5789890582136382 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1065942493187486 + euclidean_error: 0.5785575587446438 + wrist_top_marker_pose: + angle_rotation_error: 3.1013462743611258 + euclidean_error: 0.5803339872395532 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110494597620278 + euclidean_error: 0.5820640825374306 + base_right_marker_pose: + angle_rotation_error: 3.122689851359585 + euclidean_error: 0.5789563484873774 + shoulder_marker_pose: + angle_rotation_error: 3.1176006336623248 + euclidean_error: 0.5811451005078162 + wrist_inside_marker_pose: + angle_rotation_error: 3.08278373337478 + euclidean_error: 0.5784562351162177 + wrist_top_marker_pose: + angle_rotation_error: 3.128444091179091 + euclidean_error: 0.5802350418903106 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116788843864887 + euclidean_error: 0.5821902863769552 + base_right_marker_pose: + angle_rotation_error: 3.128324465909412 + euclidean_error: 0.5789403618596191 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0782914807494635 + euclidean_error: 0.5784450662283844 + wrist_top_marker_pose: + angle_rotation_error: 3.1002613508509085 + euclidean_error: 0.5801977969559743 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1036361607941454 + euclidean_error: 0.5821699350593731 + base_right_marker_pose: + angle_rotation_error: 3.1290454926253735 + euclidean_error: 0.5789446735281654 + shoulder_marker_pose: + angle_rotation_error: 3.104812185521023 + euclidean_error: 0.5810825909604458 + wrist_inside_marker_pose: + angle_rotation_error: 3.0772992268205157 + euclidean_error: 0.5784447655232453 + wrist_top_marker_pose: + angle_rotation_error: 3.1040127563061253 + euclidean_error: 0.58008023144541 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1150415619305285 + euclidean_error: 0.5821134553999066 + base_right_marker_pose: + angle_rotation_error: 3.1318763599109625 + euclidean_error: 0.5787449972475956 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.095940889667923 + euclidean_error: 0.5785112798949554 + wrist_top_marker_pose: + angle_rotation_error: 3.1104477286706897 + euclidean_error: 0.5801956796574473 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103553030380808 + euclidean_error: 0.5821934818952034 + base_right_marker_pose: + angle_rotation_error: 3.1193279667546117 + euclidean_error: 0.5790364996996691 + shoulder_marker_pose: + angle_rotation_error: 3.1206508787629623 + euclidean_error: 0.581172612166548 + wrist_inside_marker_pose: + angle_rotation_error: 3.0758886387048823 + euclidean_error: 0.5784325024376572 + wrist_top_marker_pose: + angle_rotation_error: 3.1081531816990102 + euclidean_error: 0.5801019016038931 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.125138830395246 + euclidean_error: 0.5819991712130222 + base_right_marker_pose: + angle_rotation_error: 3.1301986287720673 + euclidean_error: 0.5790113058688091 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0743934345524715 + euclidean_error: 0.5783721144900406 + wrist_top_marker_pose: + angle_rotation_error: 3.0950855163673316 + euclidean_error: 0.5802549189593441 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1183347922944105 + euclidean_error: 0.5819696145946904 + base_right_marker_pose: + angle_rotation_error: 3.1310713633525915 + euclidean_error: 0.5788838584071451 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0753428984151876 + euclidean_error: 0.5783982881073738 + wrist_top_marker_pose: + angle_rotation_error: 3.1023629672898845 + euclidean_error: 0.5801441670211063 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1143047696806954 + euclidean_error: 0.5820187481008858 + base_right_marker_pose: + angle_rotation_error: 3.119146217697569 + euclidean_error: 0.5790229661275146 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0936498090287863 + euclidean_error: 0.5785039841715117 + wrist_top_marker_pose: + angle_rotation_error: 3.105721313449768 + euclidean_error: 0.5803668418630776 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1104609597974577 + euclidean_error: 0.582159141740952 + base_right_marker_pose: + angle_rotation_error: 3.124923899879782 + euclidean_error: 0.5790602616955797 + shoulder_marker_pose: + angle_rotation_error: 3.107865398684579 + euclidean_error: 0.581289088082582 + wrist_inside_marker_pose: + angle_rotation_error: 3.080610816665778 + euclidean_error: 0.5784692461136257 + wrist_top_marker_pose: + angle_rotation_error: 3.1145352481363417 + euclidean_error: 0.5802942132776995 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1115239080886954 + euclidean_error: 0.5820897272722105 + base_right_marker_pose: + angle_rotation_error: 3.133124386412536 + euclidean_error: 0.5789210565526118 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0700658784262083 + euclidean_error: 0.5784616475791411 + wrist_top_marker_pose: + angle_rotation_error: 3.1156505760700663 + euclidean_error: 0.5801606758274381 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11542318427268 + euclidean_error: 0.5820937823016011 + base_right_marker_pose: + angle_rotation_error: 3.1255112046189546 + euclidean_error: 0.5790636487799736 + shoulder_marker_pose: + angle_rotation_error: 3.1048213887634457 + euclidean_error: 0.5812061745692215 + wrist_inside_marker_pose: + angle_rotation_error: 3.0833209111524718 + euclidean_error: 0.5784395769805895 + wrist_top_marker_pose: + angle_rotation_error: 3.116893862137583 + euclidean_error: 0.5801915603089006 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117086456901351 + euclidean_error: 0.5821387574469036 + base_right_marker_pose: + angle_rotation_error: 3.133117956893384 + euclidean_error: 0.5789288710840128 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.092762466802855 + euclidean_error: 0.5784774845893724 + wrist_top_marker_pose: + angle_rotation_error: 3.093700996901171 + euclidean_error: 0.580110742123741 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118125629184182 + euclidean_error: 0.5821826191712242 + base_right_marker_pose: + angle_rotation_error: 3.1288629079990473 + euclidean_error: 0.5789491936011901 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0755835634577164 + euclidean_error: 0.5783651567094117 + wrist_top_marker_pose: + angle_rotation_error: 3.1319669646782047 + euclidean_error: 0.5803132074108657 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1205637623752813 + euclidean_error: 0.5820953705522116 + base_right_marker_pose: + angle_rotation_error: 3.121097340196415 + euclidean_error: 0.578834597575106 + shoulder_marker_pose: + angle_rotation_error: 3.122392290873224 + euclidean_error: 0.5811286802846388 + wrist_inside_marker_pose: + angle_rotation_error: 3.0934813844518687 + euclidean_error: 0.5784739499667257 + wrist_top_marker_pose: + angle_rotation_error: 3.110089111950279 + euclidean_error: 0.580255683480453 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1119138666589947 + euclidean_error: 0.5820494155219507 + base_right_marker_pose: + angle_rotation_error: 3.1261437627877435 + euclidean_error: 0.5788650701171746 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0920843503518007 + euclidean_error: 0.5785303187891243 + wrist_top_marker_pose: + angle_rotation_error: 3.130739968371676 + euclidean_error: 0.580063759702779 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1120575882863655 + euclidean_error: 0.5822056136771481 + base_right_marker_pose: + angle_rotation_error: 3.1284558538114124 + euclidean_error: 0.5789097413685165 + shoulder_marker_pose: + angle_rotation_error: 3.1069966890329077 + euclidean_error: 0.5812905761375258 + wrist_inside_marker_pose: + angle_rotation_error: 3.0812088738395627 + euclidean_error: 0.5784076831196614 + wrist_top_marker_pose: + angle_rotation_error: 3.123102309760753 + euclidean_error: 0.5801178758990032 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106884873148828 + euclidean_error: 0.5820878325956453 + base_right_marker_pose: + angle_rotation_error: 3.130650537929008 + euclidean_error: 0.5786989288722044 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.080010226021496 + euclidean_error: 0.5783133685406531 + wrist_top_marker_pose: + angle_rotation_error: 3.122187354291382 + euclidean_error: 0.580332787994944 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1171362916381655 + euclidean_error: 0.582157130901116 + base_right_marker_pose: + angle_rotation_error: 3.1320748295418204 + euclidean_error: 0.5789528151609074 + shoulder_marker_pose: + angle_rotation_error: 3.11818894965203 + euclidean_error: 0.5812301586793294 + wrist_inside_marker_pose: + angle_rotation_error: 3.098636692518706 + euclidean_error: 0.5785771208667133 + wrist_top_marker_pose: + angle_rotation_error: 3.1093457212702975 + euclidean_error: 0.5802273544229578 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1089125466394405 + euclidean_error: 0.5819579661815504 + base_right_marker_pose: + angle_rotation_error: 3.1298979588291362 + euclidean_error: 0.5788570251907426 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.079792145704738 + euclidean_error: 0.5784067651842608 + wrist_top_marker_pose: + angle_rotation_error: 3.0746807786661865 + euclidean_error: 0.5803150167738453 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1066276426603037 + euclidean_error: 0.5820626855611337 + base_right_marker_pose: + angle_rotation_error: 3.126792020220769 + euclidean_error: 0.57903498628013 + shoulder_marker_pose: + angle_rotation_error: 3.1077788253518084 + euclidean_error: 0.5811391569768736 + wrist_inside_marker_pose: + angle_rotation_error: 3.091619574668431 + euclidean_error: 0.5785186505586256 + wrist_top_marker_pose: + angle_rotation_error: 3.125002657110083 + euclidean_error: 0.5802038040996357 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0972975718663673 + euclidean_error: 0.5820703592989662 + base_right_marker_pose: + angle_rotation_error: 3.1310491967920275 + euclidean_error: 0.5789256210542336 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089439405028261 + euclidean_error: 0.5784808937392324 + wrist_top_marker_pose: + angle_rotation_error: 3.101922624994594 + euclidean_error: 0.5806082586912994 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121089289501663 + euclidean_error: 0.5821008714790405 + base_right_marker_pose: + angle_rotation_error: 3.136441264531878 + euclidean_error: 0.5789190349116025 + shoulder_marker_pose: + angle_rotation_error: 3.119091743431721 + euclidean_error: 0.5812645836472842 + wrist_inside_marker_pose: + angle_rotation_error: 3.0772514016770085 + euclidean_error: 0.5783767477465723 + wrist_top_marker_pose: + angle_rotation_error: 3.1287569901071084 + euclidean_error: 0.5801952140708582 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1242635495682456 + euclidean_error: 0.5820693865794747 + base_right_marker_pose: + angle_rotation_error: 3.1299085150960733 + euclidean_error: 0.5789188107130474 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.097055748623977 + euclidean_error: 0.5784636591300223 + wrist_top_marker_pose: + angle_rotation_error: 3.1105318411858915 + euclidean_error: 0.5803037872212626 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1279839126525535 + euclidean_error: 0.5820415587142228 + base_right_marker_pose: + angle_rotation_error: 3.1227149723086995 + euclidean_error: 0.5788082884089454 + shoulder_marker_pose: + angle_rotation_error: 3.1219147821474396 + euclidean_error: 0.581243851933032 + wrist_inside_marker_pose: + angle_rotation_error: 3.093837200202779 + euclidean_error: 0.5785241307081029 + wrist_top_marker_pose: + angle_rotation_error: 3.1211232442609798 + euclidean_error: 0.5802620761961232 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1246654933496956 + euclidean_error: 0.5820926429090965 + base_right_marker_pose: + angle_rotation_error: 3.1370448485706657 + euclidean_error: 0.5789057557436103 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0770904655058167 + euclidean_error: 0.5783760333935749 + wrist_top_marker_pose: + angle_rotation_error: 3.103891240994046 + euclidean_error: 0.5802039191500646 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116393134569319 + euclidean_error: 0.5819798590391085 + base_right_marker_pose: + angle_rotation_error: 3.1389510305327857 + euclidean_error: 0.5788240879908054 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.074513734285631 + euclidean_error: 0.5784073020638956 + wrist_top_marker_pose: + angle_rotation_error: 3.1031345617423964 + euclidean_error: 0.5802099174766934 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110694532837472 + euclidean_error: 0.5820326337090747 + base_right_marker_pose: + angle_rotation_error: 3.1207217827148006 + euclidean_error: 0.5788202629825189 + shoulder_marker_pose: + angle_rotation_error: 3.1180351136486024 + euclidean_error: 0.5812656005621483 + wrist_inside_marker_pose: + angle_rotation_error: 3.0987351019734675 + euclidean_error: 0.5785167421005484 + wrist_top_marker_pose: + angle_rotation_error: 3.0999655377623156 + euclidean_error: 0.5802598171264265 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1175539080303913 + euclidean_error: 0.5820651259402592 + base_right_marker_pose: + angle_rotation_error: 3.1277057190466424 + euclidean_error: 0.5790134764669208 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.092867267106092 + euclidean_error: 0.5784825260539966 + wrist_top_marker_pose: + angle_rotation_error: 3.125079271886729 + euclidean_error: 0.5801916428743714 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.105905632988998 + euclidean_error: 0.5821062557465385 + base_right_marker_pose: + angle_rotation_error: 3.141490159715747 + euclidean_error: 0.5789299663171468 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0819665844529074 + euclidean_error: 0.5784284871021318 + wrist_top_marker_pose: + angle_rotation_error: 3.1062836741007627 + euclidean_error: 0.5802326575637532 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1115650693279155 + euclidean_error: 0.5821786162636333 + base_right_marker_pose: + angle_rotation_error: 3.118292707986768 + euclidean_error: 0.5789827312659896 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0969056415181946 + euclidean_error: 0.5785197318976114 + wrist_top_marker_pose: + angle_rotation_error: 3.1107974468064152 + euclidean_error: 0.5801800181157609 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1134029286093923 + euclidean_error: 0.5819871485635666 + base_right_marker_pose: + angle_rotation_error: 3.131643170501832 + euclidean_error: 0.5789489316203884 + shoulder_marker_pose: + angle_rotation_error: 3.1127711319685463 + euclidean_error: 0.5810967734366337 + wrist_inside_marker_pose: + angle_rotation_error: 3.0658760170140824 + euclidean_error: 0.5783368427296333 + wrist_top_marker_pose: + angle_rotation_error: 3.125094736829439 + euclidean_error: 0.5802900534570631 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109722371646001 + euclidean_error: 0.5821189711700039 + base_right_marker_pose: + angle_rotation_error: 3.1307175051859213 + euclidean_error: 0.5788251696890621 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0799295452674236 + euclidean_error: 0.5783659107928926 + wrist_top_marker_pose: + angle_rotation_error: 3.1032220286194026 + euclidean_error: 0.5801966900795179 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109873722308664 + euclidean_error: 0.5820867481996563 + base_right_marker_pose: + angle_rotation_error: 3.1283809448243636 + euclidean_error: 0.5789886109753756 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.079983038130752 + euclidean_error: 0.5783783042580124 + wrist_top_marker_pose: + angle_rotation_error: 3.1137554436924133 + euclidean_error: 0.5802016577822743 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111633722901215 + euclidean_error: 0.5820406368342045 + base_right_marker_pose: + angle_rotation_error: 3.137527565896944 + euclidean_error: 0.57885790782756 + shoulder_marker_pose: + angle_rotation_error: 3.1092111834070972 + euclidean_error: 0.5810738075477523 + wrist_inside_marker_pose: + angle_rotation_error: 3.0896880017411394 + euclidean_error: 0.5784820027356473 + wrist_top_marker_pose: + angle_rotation_error: 3.1120079290658653 + euclidean_error: 0.5801845936230515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1121370670396673 + euclidean_error: 0.5820426667939069 + base_right_marker_pose: + angle_rotation_error: 3.132968764636834 + euclidean_error: 0.57887330060552 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.098256990439219 + euclidean_error: 0.578537126431651 + wrist_top_marker_pose: + angle_rotation_error: 3.1007921488016987 + euclidean_error: 0.5802203910290006 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1078034866015103 + euclidean_error: 0.5818880803541254 + base_right_marker_pose: + angle_rotation_error: 3.13767285151716 + euclidean_error: 0.578920727069836 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0886822628457393 + euclidean_error: 0.5784686849822831 + wrist_top_marker_pose: + angle_rotation_error: 3.137962388491345 + euclidean_error: 0.5802499708582197 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106539303710818 + euclidean_error: 0.5820030262712947 + base_right_marker_pose: + angle_rotation_error: 3.1323671507198623 + euclidean_error: 0.5788252503908876 + shoulder_marker_pose: + angle_rotation_error: 3.122022314651024 + euclidean_error: 0.581203112387685 + wrist_inside_marker_pose: + angle_rotation_error: 3.0927815453082608 + euclidean_error: 0.5783946961025739 + wrist_top_marker_pose: + angle_rotation_error: 3.1040490241347602 + euclidean_error: 0.5802662795179948 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1097692762582723 + euclidean_error: 0.5821385980607366 + base_right_marker_pose: + angle_rotation_error: 3.1281246328703904 + euclidean_error: 0.5789143571124786 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.093434024915134 + euclidean_error: 0.5785512237781304 + wrist_top_marker_pose: + angle_rotation_error: 3.1150029706254774 + euclidean_error: 0.5802844156360474 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117869257904592 + euclidean_error: 0.5820071741915589 + base_right_marker_pose: + angle_rotation_error: 3.1387616638933475 + euclidean_error: 0.5788098148684793 + shoulder_marker_pose: + angle_rotation_error: 3.111645348094635 + euclidean_error: 0.5810934521175743 + wrist_inside_marker_pose: + angle_rotation_error: 3.077874336931363 + euclidean_error: 0.5784513884159872 + wrist_top_marker_pose: + angle_rotation_error: 3.1080658476395824 + euclidean_error: 0.5802440992740313 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110841996188755 + euclidean_error: 0.5820882555693138 + base_right_marker_pose: + angle_rotation_error: 3.11997576211744 + euclidean_error: 0.5788474029223837 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0803243732874193 + euclidean_error: 0.5784083407659091 + wrist_top_marker_pose: + angle_rotation_error: 3.116090881474475 + euclidean_error: 0.5803756943660628 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1297097076439946 + euclidean_error: 0.5820685448618111 + base_right_marker_pose: + angle_rotation_error: 3.1271141675905456 + euclidean_error: 0.5790060782450916 + shoulder_marker_pose: + angle_rotation_error: 3.116948676228464 + euclidean_error: 0.5811703415141298 + wrist_inside_marker_pose: + angle_rotation_error: 3.087587771847557 + euclidean_error: 0.5784492753368518 + wrist_top_marker_pose: + angle_rotation_error: 3.1324835141669527 + euclidean_error: 0.5802480127700176 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1050162595662263 + euclidean_error: 0.58200324357803 + base_right_marker_pose: + angle_rotation_error: 3.124837498548089 + euclidean_error: 0.5789117421933594 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0928999696212145 + euclidean_error: 0.5785719684152534 + wrist_top_marker_pose: + angle_rotation_error: 3.1180539133412886 + euclidean_error: 0.5800821707903211 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1079963547465597 + euclidean_error: 0.5822714895121944 + base_right_marker_pose: + angle_rotation_error: 3.131252790114395 + euclidean_error: 0.5789231085419887 + shoulder_marker_pose: + angle_rotation_error: 3.108185854121533 + euclidean_error: 0.5812502202073028 + wrist_inside_marker_pose: + angle_rotation_error: 3.079757325948146 + euclidean_error: 0.5784134874635986 + wrist_top_marker_pose: + angle_rotation_error: 3.124505937215686 + euclidean_error: 0.5804071541436295 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100270739170124 + euclidean_error: 0.5821051072982019 + base_right_marker_pose: + angle_rotation_error: 3.1187890009100436 + euclidean_error: 0.5786655781977808 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0904727770317346 + euclidean_error: 0.5785388954944719 + wrist_top_marker_pose: + angle_rotation_error: 3.113878290256269 + euclidean_error: 0.5802549495552017 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1101080636271243 + euclidean_error: 0.58206114846637 + base_right_marker_pose: + angle_rotation_error: 3.119204287539193 + euclidean_error: 0.5789384187823868 + shoulder_marker_pose: + angle_rotation_error: 3.1082648438103537 + euclidean_error: 0.5812626698977053 + wrist_inside_marker_pose: + angle_rotation_error: 3.0881173141746716 + euclidean_error: 0.5784374093362539 + wrist_top_marker_pose: + angle_rotation_error: 3.0810115788564008 + euclidean_error: 0.5802895467177704 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110205971004209 + euclidean_error: 0.5820781628723298 + base_right_marker_pose: + angle_rotation_error: 3.1314278361524543 + euclidean_error: 0.5790792632943773 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0896436138005283 + euclidean_error: 0.5784897338796852 + wrist_top_marker_pose: + angle_rotation_error: 3.1321881980728437 + euclidean_error: 0.5802657428788172 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1057082127172744 + euclidean_error: 0.5819912767813877 + base_right_marker_pose: + angle_rotation_error: 3.132324174703328 + euclidean_error: 0.57870030116052 + shoulder_marker_pose: + angle_rotation_error: 3.1077459505366605 + euclidean_error: 0.5811622220700224 + wrist_inside_marker_pose: + angle_rotation_error: 3.069223568690559 + euclidean_error: 0.5783331904026857 + wrist_top_marker_pose: + angle_rotation_error: 3.1196393524342345 + euclidean_error: 0.580151257925831 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11639771003855 + euclidean_error: 0.5820589302363219 + base_right_marker_pose: + angle_rotation_error: 3.1304380714378555 + euclidean_error: 0.5789206983017846 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.083023572757876 + euclidean_error: 0.5784071960556746 + wrist_top_marker_pose: + angle_rotation_error: 3.135789959545133 + euclidean_error: 0.5802374444665465 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104429893460862 + euclidean_error: 0.5821227900371272 + base_right_marker_pose: + angle_rotation_error: 3.1318715219134203 + euclidean_error: 0.5788640701158716 + shoulder_marker_pose: + angle_rotation_error: 3.1027311828978426 + euclidean_error: 0.581146409585852 + wrist_inside_marker_pose: + angle_rotation_error: 3.0753798407354767 + euclidean_error: 0.5783975586955397 + wrist_top_marker_pose: + angle_rotation_error: 3.111167863753117 + euclidean_error: 0.5801821957843185 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1079081451849224 + euclidean_error: 0.5820734351064208 + base_right_marker_pose: + angle_rotation_error: 3.123440665460745 + euclidean_error: 0.5791653148799232 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0910363553616476 + euclidean_error: 0.5784903293988899 + wrist_top_marker_pose: + angle_rotation_error: 3.138695472419779 + euclidean_error: 0.5803102736720602 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.120598126452721 + euclidean_error: 0.5820450873897699 + base_right_marker_pose: + angle_rotation_error: 3.128517184255869 + euclidean_error: 0.5788841512415095 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0800585930836184 + euclidean_error: 0.5783812757451201 + wrist_top_marker_pose: + angle_rotation_error: 3.117581827234915 + euclidean_error: 0.5803623615669113 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0974012217467237 + euclidean_error: 0.5822949204264548 + base_right_marker_pose: + angle_rotation_error: 3.125693034410715 + euclidean_error: 0.5790356495752012 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.094580374178439 + euclidean_error: 0.5784974699969859 + wrist_top_marker_pose: + angle_rotation_error: 3.110298895604055 + euclidean_error: 0.5803353644975839 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116520453843444 + euclidean_error: 0.5822342870562565 + base_right_marker_pose: + angle_rotation_error: 3.1315623519730127 + euclidean_error: 0.5790292476210848 + shoulder_marker_pose: + angle_rotation_error: 3.11824560131058 + euclidean_error: 0.5812305338605659 + wrist_inside_marker_pose: + angle_rotation_error: 3.0808033980058465 + euclidean_error: 0.578391722950058 + wrist_top_marker_pose: + angle_rotation_error: 3.1400416807041336 + euclidean_error: 0.5802389946188115 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1114337189989913 + euclidean_error: 0.5822062478584316 + base_right_marker_pose: + angle_rotation_error: 3.1330095413957437 + euclidean_error: 0.5786426457918082 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.07486863788988 + euclidean_error: 0.5784230704593598 + wrist_top_marker_pose: + angle_rotation_error: 3.1245015258307216 + euclidean_error: 0.5802362731103139 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118284081390985 + euclidean_error: 0.5819472243546026 + base_right_marker_pose: + angle_rotation_error: 3.1229295457301633 + euclidean_error: 0.5789240429454859 + shoulder_marker_pose: + angle_rotation_error: 3.1179830376762183 + euclidean_error: 0.5811855281676659 + wrist_inside_marker_pose: + angle_rotation_error: 3.0953182676483983 + euclidean_error: 0.5785305300231247 + wrist_top_marker_pose: + angle_rotation_error: 3.1190340208927303 + euclidean_error: 0.5801418822221475 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1181565360433776 + euclidean_error: 0.5819347389295159 + base_right_marker_pose: + angle_rotation_error: 3.13925570853216 + euclidean_error: 0.5790180822109079 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0927316841526635 + euclidean_error: 0.5784988403464147 + wrist_top_marker_pose: + angle_rotation_error: 3.109305272608416 + euclidean_error: 0.5804598707154829 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.122259647216144 + euclidean_error: 0.582010762693896 + base_right_marker_pose: + angle_rotation_error: 3.1175054663555053 + euclidean_error: 0.5789599187787283 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0875995392518982 + euclidean_error: 0.5784929011431039 + wrist_top_marker_pose: + angle_rotation_error: 3.0953076321091424 + euclidean_error: 0.5803316641234897 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1266588444797683 + euclidean_error: 0.5820661274773005 + base_right_marker_pose: + angle_rotation_error: 3.1263719812016006 + euclidean_error: 0.5790052126828622 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0732881688482303 + euclidean_error: 0.5783915695515645 + wrist_top_marker_pose: + angle_rotation_error: 3.0991470262965204 + euclidean_error: 0.5803225891423232 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1101859580724747 + euclidean_error: 0.5821495976811896 + base_right_marker_pose: + angle_rotation_error: 3.123641494654524 + euclidean_error: 0.5789159840711886 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0787108016453835 + euclidean_error: 0.5784184447278755 + wrist_top_marker_pose: + angle_rotation_error: 3.0994574366092973 + euclidean_error: 0.5803200413024665 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108250959064893 + euclidean_error: 0.5820252326074956 + base_right_marker_pose: + angle_rotation_error: 3.118511370243739 + euclidean_error: 0.57895229789644 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.098768393498422 + euclidean_error: 0.578537600822207 + wrist_top_marker_pose: + angle_rotation_error: 3.087359152522166 + euclidean_error: 0.5802878441352352 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1104642972979533 + euclidean_error: 0.5821436773887729 + base_right_marker_pose: + angle_rotation_error: 3.1261023806461337 + euclidean_error: 0.578899260227673 + shoulder_marker_pose: + angle_rotation_error: 3.1231718463888396 + euclidean_error: 0.5812307604600072 + wrist_inside_marker_pose: + angle_rotation_error: 3.074477902884669 + euclidean_error: 0.5784392518042927 + wrist_top_marker_pose: + angle_rotation_error: 3.128868246505506 + euclidean_error: 0.5802583218475913 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1040343243562134 + euclidean_error: 0.5820295573698838 + base_right_marker_pose: + angle_rotation_error: 3.136900027378111 + euclidean_error: 0.5792198919910795 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.085628434024061 + euclidean_error: 0.5785025917872422 + wrist_top_marker_pose: + angle_rotation_error: 3.1326121526762725 + euclidean_error: 0.5802904726643437 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1144039402625845 + euclidean_error: 0.5820544511715432 + base_right_marker_pose: + angle_rotation_error: 3.121496699940067 + euclidean_error: 0.57880205897211 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.072243786324922 + euclidean_error: 0.5784074008689146 + wrist_top_marker_pose: + angle_rotation_error: 3.1250108816301774 + euclidean_error: 0.5801213541945482 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1097537921974823 + euclidean_error: 0.5820603729221322 + base_right_marker_pose: + angle_rotation_error: 3.1104760461086864 + euclidean_error: 0.5789238413808142 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0882250298163214 + euclidean_error: 0.5784675792703904 + wrist_top_marker_pose: + angle_rotation_error: 3.103947456676558 + euclidean_error: 0.5803080346223827 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1078432491981296 + euclidean_error: 0.5820749859943521 + base_right_marker_pose: + angle_rotation_error: 3.123538074191482 + euclidean_error: 0.5789181837839844 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0813466761814103 + euclidean_error: 0.5784200529189106 + wrist_top_marker_pose: + angle_rotation_error: 3.1260701810156917 + euclidean_error: 0.580235310834439 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121584386607986 + euclidean_error: 0.5820157953639287 + base_right_marker_pose: + angle_rotation_error: 3.1205409582996153 + euclidean_error: 0.5789894167769915 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1002627709982336 + euclidean_error: 0.5785100085088914 + wrist_top_marker_pose: + angle_rotation_error: 3.108004624932902 + euclidean_error: 0.5802298325936041 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1142597720207768 + euclidean_error: 0.582181647325265 + base_right_marker_pose: + angle_rotation_error: 3.1163174489633243 + euclidean_error: 0.5789662522968962 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0782006220253955 + euclidean_error: 0.5783964014370738 + wrist_top_marker_pose: + angle_rotation_error: 3.1250464026108418 + euclidean_error: 0.5803526780126201 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113094968641541 + euclidean_error: 0.5820298294875603 + base_right_marker_pose: + angle_rotation_error: 3.140374499856595 + euclidean_error: 0.5788184431449704 + shoulder_marker_pose: + angle_rotation_error: 3.1106905663820226 + euclidean_error: 0.5811476530974392 + wrist_inside_marker_pose: + angle_rotation_error: 3.0971000218949607 + euclidean_error: 0.5785252075382863 + wrist_top_marker_pose: + angle_rotation_error: 3.1029766868763886 + euclidean_error: 0.5800651585386701 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1110882334523255 + euclidean_error: 0.5820984361739424 + base_right_marker_pose: + angle_rotation_error: 3.1344623003872756 + euclidean_error: 0.5789278177918891 + shoulder_marker_pose: + angle_rotation_error: 3.1165197890132235 + euclidean_error: 0.5812032562963789 + wrist_inside_marker_pose: + angle_rotation_error: 3.0981969315695363 + euclidean_error: 0.5785232374970437 + wrist_top_marker_pose: + angle_rotation_error: 3.1078651788389813 + euclidean_error: 0.5802410740878509 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1146047340128225 + euclidean_error: 0.5820044201046018 + base_right_marker_pose: + angle_rotation_error: 3.126651312305694 + euclidean_error: 0.5790165268662281 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.075363445870803 + euclidean_error: 0.5784017576327384 + wrist_top_marker_pose: + angle_rotation_error: 3.1068091712605175 + euclidean_error: 0.5802267418552959 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111551280050808 + euclidean_error: 0.5821014467770894 + base_right_marker_pose: + angle_rotation_error: 3.127639220120903 + euclidean_error: 0.5789866590047686 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0959504490033156 + euclidean_error: 0.5785153742391415 + wrist_top_marker_pose: + angle_rotation_error: 3.096625145831178 + euclidean_error: 0.5802885073920467 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1126613904162967 + euclidean_error: 0.5820472340835618 + base_right_marker_pose: + angle_rotation_error: 3.127292580013029 + euclidean_error: 0.5788563515693373 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0905318398762303 + euclidean_error: 0.5785079789107821 + wrist_top_marker_pose: + angle_rotation_error: 3.127983245287993 + euclidean_error: 0.5802666542648062 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1201700238329124 + euclidean_error: 0.5821209678737028 + base_right_marker_pose: + angle_rotation_error: 3.1255971699941054 + euclidean_error: 0.5790760473764833 + shoulder_marker_pose: + angle_rotation_error: 3.113210337638618 + euclidean_error: 0.5811378278482535 + wrist_inside_marker_pose: + angle_rotation_error: 3.067870166761403 + euclidean_error: 0.578377683520108 + wrist_top_marker_pose: + angle_rotation_error: 3.108570761292221 + euclidean_error: 0.5803184019718675 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1041028207071015 + euclidean_error: 0.5821657189278571 + base_right_marker_pose: + angle_rotation_error: 3.128396000156117 + euclidean_error: 0.5788036939348468 + shoulder_marker_pose: + angle_rotation_error: 3.121726068186777 + euclidean_error: 0.5812343678191104 + wrist_inside_marker_pose: + angle_rotation_error: 3.0851799899286503 + euclidean_error: 0.5784387207094017 + wrist_top_marker_pose: + angle_rotation_error: 3.11783340407667 + euclidean_error: 0.5802579067864212 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109013373936732 + euclidean_error: 0.5821877183112525 + base_right_marker_pose: + angle_rotation_error: 3.135479171506609 + euclidean_error: 0.578956857585837 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0976064314992975 + euclidean_error: 0.5786126753714581 + wrist_top_marker_pose: + angle_rotation_error: 3.1071823962296996 + euclidean_error: 0.5802019124770693 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10678918077803 + euclidean_error: 0.5820682297445917 + base_right_marker_pose: + angle_rotation_error: 3.1362436675412977 + euclidean_error: 0.578883422309487 + shoulder_marker_pose: + angle_rotation_error: 3.117695905027719 + euclidean_error: 0.5812178225122377 + wrist_inside_marker_pose: + angle_rotation_error: 3.0970211327432833 + euclidean_error: 0.5784887545242645 + wrist_top_marker_pose: + angle_rotation_error: 3.103069163826784 + euclidean_error: 0.5801861933908127 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1133933838855237 + euclidean_error: 0.5821051656711186 + base_right_marker_pose: + angle_rotation_error: 3.1408439080627284 + euclidean_error: 0.5790340778393893 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1072317449555045 + euclidean_error: 0.5785920199726065 + wrist_top_marker_pose: + angle_rotation_error: 3.1212289699628095 + euclidean_error: 0.5803923534743443 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115243978095414 + euclidean_error: 0.582094064146527 + base_right_marker_pose: + angle_rotation_error: 3.123190155924411 + euclidean_error: 0.5789731901494104 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0941797759471914 + euclidean_error: 0.5785257209391316 + wrist_top_marker_pose: + angle_rotation_error: 3.116421587837846 + euclidean_error: 0.5801789285517621 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1143929102142085 + euclidean_error: 0.5821253019556133 + base_right_marker_pose: + angle_rotation_error: 3.121604535319891 + euclidean_error: 0.5790414671836303 + shoulder_marker_pose: + angle_rotation_error: 3.1096841583098347 + euclidean_error: 0.5813130859035415 + wrist_inside_marker_pose: + angle_rotation_error: 3.070852119492402 + euclidean_error: 0.5783827494738244 + wrist_top_marker_pose: + angle_rotation_error: 3.1276594065934242 + euclidean_error: 0.5802397660893923 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114679018985483 + euclidean_error: 0.5820991582040378 + base_right_marker_pose: + angle_rotation_error: 3.124421215717115 + euclidean_error: 0.57896932432176 + shoulder_marker_pose: + angle_rotation_error: 3.1151128121925145 + euclidean_error: 0.5812582257649058 + wrist_inside_marker_pose: + angle_rotation_error: 3.087747801857622 + euclidean_error: 0.5784923070640656 + wrist_top_marker_pose: + angle_rotation_error: 3.10051704958915 + euclidean_error: 0.5803252648036586 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1097957159768232 + euclidean_error: 0.5821259927571194 + base_right_marker_pose: + angle_rotation_error: 3.1414543991979698 + euclidean_error: 0.5790495025081731 + shoulder_marker_pose: + angle_rotation_error: 3.0981909975908746 + euclidean_error: 0.5811368310777764 + wrist_inside_marker_pose: + angle_rotation_error: 3.083221488449797 + euclidean_error: 0.5785287039234833 + wrist_top_marker_pose: + angle_rotation_error: 3.109000333966344 + euclidean_error: 0.5801689970940057 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108497082360094 + euclidean_error: 0.5820750544289935 + base_right_marker_pose: + angle_rotation_error: 3.1254575425327 + euclidean_error: 0.5788005623996761 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.098174157421948 + euclidean_error: 0.5785376723709936 + wrist_top_marker_pose: + angle_rotation_error: 3.0951815757100216 + euclidean_error: 0.5802285726878896 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1045772530037725 + euclidean_error: 0.5821139077514976 + base_right_marker_pose: + angle_rotation_error: 3.1245871428918623 + euclidean_error: 0.578907780736898 + shoulder_marker_pose: + angle_rotation_error: 3.1162518045111325 + euclidean_error: 0.5812758363598456 + wrist_inside_marker_pose: + angle_rotation_error: 3.096685562450449 + euclidean_error: 0.5785891903662588 + wrist_top_marker_pose: + angle_rotation_error: 3.099143230423686 + euclidean_error: 0.5802975758983436 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100190524413222 + euclidean_error: 0.5821553219975292 + base_right_marker_pose: + angle_rotation_error: 3.123334425656092 + euclidean_error: 0.5790294337519942 + shoulder_marker_pose: + angle_rotation_error: 3.1193102238264547 + euclidean_error: 0.5811671919730161 + wrist_inside_marker_pose: + angle_rotation_error: 3.081693899109466 + euclidean_error: 0.5784149645446471 + wrist_top_marker_pose: + angle_rotation_error: 3.120125561084473 + euclidean_error: 0.5803102018713788 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118290743628867 + euclidean_error: 0.5821804364235721 + base_right_marker_pose: + angle_rotation_error: 3.1319948117619614 + euclidean_error: 0.5789041030592991 + shoulder_marker_pose: + angle_rotation_error: 3.115233344954422 + euclidean_error: 0.5811875894445114 + wrist_inside_marker_pose: + angle_rotation_error: 3.0807871531581132 + euclidean_error: 0.5784492668179118 + wrist_top_marker_pose: + angle_rotation_error: 3.112036856890963 + euclidean_error: 0.5802671765861138 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1139370970371334 + euclidean_error: 0.5820384102903117 + base_right_marker_pose: + angle_rotation_error: 3.1278046725441464 + euclidean_error: 0.5789162129540775 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.094046512217953 + euclidean_error: 0.5786252440351243 + wrist_top_marker_pose: + angle_rotation_error: 3.13183701033919 + euclidean_error: 0.580071086050926 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1101977513548147 + euclidean_error: 0.5820752292597677 + base_right_marker_pose: + angle_rotation_error: 3.1365863233741846 + euclidean_error: 0.5790919887750946 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0832880425693427 + euclidean_error: 0.5784344071427765 + wrist_top_marker_pose: + angle_rotation_error: 3.1216099489270297 + euclidean_error: 0.5802525088408654 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116837554552015 + euclidean_error: 0.5820723239846541 + base_right_marker_pose: + angle_rotation_error: 3.133977898664517 + euclidean_error: 0.5789589336650992 + shoulder_marker_pose: + angle_rotation_error: 3.1133257233685745 + euclidean_error: 0.5812131829685844 + wrist_inside_marker_pose: + angle_rotation_error: 3.093727527764273 + euclidean_error: 0.5785024662059584 + wrist_top_marker_pose: + angle_rotation_error: 3.092997495076283 + euclidean_error: 0.5802639511665937 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.126780956249734 + euclidean_error: 0.5820625671193139 + base_right_marker_pose: + angle_rotation_error: 3.1388369578433064 + euclidean_error: 0.5790000260867935 + shoulder_marker_pose: + angle_rotation_error: 3.100555095162359 + euclidean_error: 0.5811768430134994 + wrist_inside_marker_pose: + angle_rotation_error: 3.088363162425112 + euclidean_error: 0.5784114350248468 + wrist_top_marker_pose: + angle_rotation_error: 3.132212651039904 + euclidean_error: 0.5803377997769605 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108613585807853 + euclidean_error: 0.5820721661420981 + base_right_marker_pose: + angle_rotation_error: 3.116864814842834 + euclidean_error: 0.5790096828840534 + shoulder_marker_pose: + angle_rotation_error: 3.129361082302334 + euclidean_error: 0.5814463353933174 + wrist_inside_marker_pose: + angle_rotation_error: 3.091980862309585 + euclidean_error: 0.5785280160725067 + wrist_top_marker_pose: + angle_rotation_error: 3.1144540299216885 + euclidean_error: 0.5801348676225279 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1087398108483475 + euclidean_error: 0.5820982703309513 + base_right_marker_pose: + angle_rotation_error: 3.1268941464975186 + euclidean_error: 0.5790252026101897 + shoulder_marker_pose: + angle_rotation_error: 3.116498843079567 + euclidean_error: 0.5811701279545675 + wrist_inside_marker_pose: + angle_rotation_error: 3.101778163292076 + euclidean_error: 0.5785531052895592 + wrist_top_marker_pose: + angle_rotation_error: 3.10758477830411 + euclidean_error: 0.5800265511051937 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1120166527788786 + euclidean_error: 0.5819442828971716 + base_right_marker_pose: + angle_rotation_error: 3.1221003160619096 + euclidean_error: 0.5790913803627791 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0957282675430093 + euclidean_error: 0.5784883053335728 + wrist_top_marker_pose: + angle_rotation_error: 3.130539424019484 + euclidean_error: 0.5802603944148369 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1116373376790825 + euclidean_error: 0.5820536411195949 + base_right_marker_pose: + angle_rotation_error: 3.1252303585229813 + euclidean_error: 0.5792381331279093 + shoulder_marker_pose: + angle_rotation_error: 3.1185675122354692 + euclidean_error: 0.581225185631819 + wrist_inside_marker_pose: + angle_rotation_error: 3.1044752222318346 + euclidean_error: 0.5785723080570865 + wrist_top_marker_pose: + angle_rotation_error: 3.116477122810276 + euclidean_error: 0.5801246029733413 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1061117351209218 + euclidean_error: 0.5821802423253516 + base_right_marker_pose: + angle_rotation_error: 3.119411506418537 + euclidean_error: 0.578984655228999 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0963354106055494 + euclidean_error: 0.5785562032689276 + wrist_top_marker_pose: + angle_rotation_error: 3.131673910996544 + euclidean_error: 0.5802384419676627 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108466319708448 + euclidean_error: 0.5821144895623569 + base_right_marker_pose: + angle_rotation_error: 3.1279893088387842 + euclidean_error: 0.5790809969585274 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088629663558333 + euclidean_error: 0.5785677246544163 + wrist_top_marker_pose: + angle_rotation_error: 3.116792939897312 + euclidean_error: 0.5802651136975124 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112579187783682 + euclidean_error: 0.5822272054791531 + base_right_marker_pose: + angle_rotation_error: 3.1273602579646558 + euclidean_error: 0.5789682214711668 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.105823494156213 + euclidean_error: 0.578521112153545 + wrist_top_marker_pose: + angle_rotation_error: 3.1154104690678643 + euclidean_error: 0.5802714668424847 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1297302441612436 + euclidean_error: 0.5820540744064134 + base_right_marker_pose: + angle_rotation_error: 3.137437647540711 + euclidean_error: 0.5789468728865422 + shoulder_marker_pose: + angle_rotation_error: 3.1070348494020483 + euclidean_error: 0.5812675027366699 + wrist_inside_marker_pose: + angle_rotation_error: 3.0904697516243855 + euclidean_error: 0.5784847071425998 + wrist_top_marker_pose: + angle_rotation_error: 3.09003379439899 + euclidean_error: 0.5802725726516111 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1097187108077367 + euclidean_error: 0.5821973140460057 + base_right_marker_pose: + angle_rotation_error: 3.130398824982436 + euclidean_error: 0.5791243939637597 + shoulder_marker_pose: + angle_rotation_error: 3.11230898579312 + euclidean_error: 0.5811243803433858 + wrist_inside_marker_pose: + angle_rotation_error: 3.0934254111919834 + euclidean_error: 0.5785320500303065 + wrist_top_marker_pose: + angle_rotation_error: 3.124084792306887 + euclidean_error: 0.5802313336511281 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104604201451031 + euclidean_error: 0.5821940407381987 + base_right_marker_pose: + angle_rotation_error: 3.1296759482028125 + euclidean_error: 0.5790954713485985 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0746118501489295 + euclidean_error: 0.5783730253846906 + wrist_top_marker_pose: + angle_rotation_error: 3.124765121677015 + euclidean_error: 0.5801090123548205 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112795692707227 + euclidean_error: 0.5820333509485465 + base_right_marker_pose: + angle_rotation_error: 3.1283642634156674 + euclidean_error: 0.5788931895083009 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.091918806948671 + euclidean_error: 0.5784777131344502 + wrist_top_marker_pose: + angle_rotation_error: 3.0792643932622132 + euclidean_error: 0.5804929627463521 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.088183699366099 + euclidean_error: 0.5823957499652184 + base_right_marker_pose: + angle_rotation_error: 3.116535341991699 + euclidean_error: 0.5788962946045146 + shoulder_marker_pose: + angle_rotation_error: 3.1165402593660105 + euclidean_error: 0.5810490191051878 + wrist_inside_marker_pose: + angle_rotation_error: 3.0709291919894106 + euclidean_error: 0.578401609244882 + wrist_top_marker_pose: + angle_rotation_error: 3.0958000297439687 + euclidean_error: 0.5801576049003329 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10744950111032 + euclidean_error: 0.5823084165935557 + base_right_marker_pose: + angle_rotation_error: 3.1187674484336787 + euclidean_error: 0.5790496385681663 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090880775642713 + euclidean_error: 0.5785124366627767 + wrist_top_marker_pose: + angle_rotation_error: 3.106709627405515 + euclidean_error: 0.5802388353324964 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.094553967166025 + euclidean_error: 0.5823815238398561 + base_right_marker_pose: + angle_rotation_error: 3.1235068062672595 + euclidean_error: 0.5789555928638875 + shoulder_marker_pose: + angle_rotation_error: 3.1046285294320013 + euclidean_error: 0.5811728052683282 + wrist_inside_marker_pose: + angle_rotation_error: 3.106119594477514 + euclidean_error: 0.5786099278396828 + wrist_top_marker_pose: + angle_rotation_error: 3.102301000991767 + euclidean_error: 0.5801302457759546 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104078623526167 + euclidean_error: 0.5821180355321057 + base_right_marker_pose: + angle_rotation_error: 3.1223637062026577 + euclidean_error: 0.5789747956529474 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.072977680650893 + euclidean_error: 0.5783680388893959 + wrist_top_marker_pose: + angle_rotation_error: 3.1302283082667737 + euclidean_error: 0.5801507407493194 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109721113713564 + euclidean_error: 0.5823679326340043 + base_right_marker_pose: + angle_rotation_error: 3.134012001108157 + euclidean_error: 0.5788877380853996 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.105486910707831 + euclidean_error: 0.5785600926614236 + wrist_top_marker_pose: + angle_rotation_error: 3.131423084632803 + euclidean_error: 0.5802028306252597 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107282654564467 + euclidean_error: 0.5822287198254893 + base_right_marker_pose: + angle_rotation_error: 3.128063377744344 + euclidean_error: 0.5791239586978941 + shoulder_marker_pose: + angle_rotation_error: 3.1057686936812416 + euclidean_error: 0.5812608117559203 + wrist_inside_marker_pose: + angle_rotation_error: 3.069988712230883 + euclidean_error: 0.5783170140657973 + wrist_top_marker_pose: + angle_rotation_error: 3.1202532619785175 + euclidean_error: 0.5802335861956786 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.095401304316182 + euclidean_error: 0.5820821407715904 + base_right_marker_pose: + angle_rotation_error: 3.1396453068127674 + euclidean_error: 0.5790790784790816 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0979380291195397 + euclidean_error: 0.578496748708633 + wrist_top_marker_pose: + angle_rotation_error: 3.1228409515226323 + euclidean_error: 0.5802320703665959 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1136855307673037 + euclidean_error: 0.5820373940856978 + base_right_marker_pose: + angle_rotation_error: 3.1405522220259243 + euclidean_error: 0.5788953502892733 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0849117248087916 + euclidean_error: 0.578434995475828 + wrist_top_marker_pose: + angle_rotation_error: 3.1059899578322514 + euclidean_error: 0.5802910964009516 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1090756993040722 + euclidean_error: 0.5820778573686847 + base_right_marker_pose: + angle_rotation_error: 3.122333981760972 + euclidean_error: 0.579162573561444 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.082030382730797 + euclidean_error: 0.5783622745228133 + wrist_top_marker_pose: + angle_rotation_error: 3.094880399870685 + euclidean_error: 0.5803522480191902 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1141532689231775 + euclidean_error: 0.582137705067636 + base_right_marker_pose: + angle_rotation_error: 3.1299846743856583 + euclidean_error: 0.578738684130106 + shoulder_marker_pose: + angle_rotation_error: 3.106567623875247 + euclidean_error: 0.5811113690137094 + wrist_inside_marker_pose: + angle_rotation_error: 3.0701155368630233 + euclidean_error: 0.5783866092614172 + wrist_top_marker_pose: + angle_rotation_error: 3.115348765747768 + euclidean_error: 0.5801658756317497 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1004121584733446 + euclidean_error: 0.5822409342018746 + base_right_marker_pose: + angle_rotation_error: 3.137087041848069 + euclidean_error: 0.5789486952442666 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0923771444749617 + euclidean_error: 0.5785087884379242 + wrist_top_marker_pose: + angle_rotation_error: 3.129355931762084 + euclidean_error: 0.5802780830548944 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103509471175296 + euclidean_error: 0.5820446644316888 + base_right_marker_pose: + angle_rotation_error: 3.1279549102035467 + euclidean_error: 0.5789100624893567 + shoulder_marker_pose: + angle_rotation_error: 3.1130001524321336 + euclidean_error: 0.5811510842326378 + wrist_inside_marker_pose: + angle_rotation_error: 3.073570799273341 + euclidean_error: 0.5784542065001128 + wrist_top_marker_pose: + angle_rotation_error: 3.087462917893451 + euclidean_error: 0.5803228324020261 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1067416894710873 + euclidean_error: 0.5820779361828956 + base_right_marker_pose: + angle_rotation_error: 3.1398052239289482 + euclidean_error: 0.5789090489185978 + shoulder_marker_pose: + angle_rotation_error: 3.111894927658852 + euclidean_error: 0.5812411200080506 + wrist_inside_marker_pose: + angle_rotation_error: 3.09813399535607 + euclidean_error: 0.578498633000206 + wrist_top_marker_pose: + angle_rotation_error: 3.106478609273476 + euclidean_error: 0.5802179369081115 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1152692015081547 + euclidean_error: 0.5821398324378061 + base_right_marker_pose: + angle_rotation_error: 3.1273121608479997 + euclidean_error: 0.5789482691536111 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1030665282127035 + euclidean_error: 0.5785608197092705 + wrist_top_marker_pose: + angle_rotation_error: 3.0979581651322325 + euclidean_error: 0.5801865654558758 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112415113100391 + euclidean_error: 0.5819996254103172 + base_right_marker_pose: + angle_rotation_error: 3.130483967244372 + euclidean_error: 0.579020598536694 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0880291110572835 + euclidean_error: 0.5785368936694958 + wrist_top_marker_pose: + angle_rotation_error: 3.0995926803987417 + euclidean_error: 0.5802671207439559 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1210151591701996 + euclidean_error: 0.5821029176420521 + base_right_marker_pose: + angle_rotation_error: 3.1389179675692955 + euclidean_error: 0.5789973594986122 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1035064874792715 + euclidean_error: 0.5785598977938093 + wrist_top_marker_pose: + angle_rotation_error: 3.13756181425735 + euclidean_error: 0.580309906673386 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1090355641763696 + euclidean_error: 0.5821438049714232 + base_right_marker_pose: + angle_rotation_error: 3.140331342015377 + euclidean_error: 0.5789184278375521 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0937157329788505 + euclidean_error: 0.5785132299946553 + wrist_top_marker_pose: + angle_rotation_error: 3.0687364416245155 + euclidean_error: 0.5803293304390146 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112703223720374 + euclidean_error: 0.5819651788296668 + base_right_marker_pose: + angle_rotation_error: 3.1264592253005405 + euclidean_error: 0.578760393058914 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0931178310378926 + euclidean_error: 0.578581787049945 + wrist_top_marker_pose: + angle_rotation_error: 3.110541690518068 + euclidean_error: 0.5802747070228591 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118629882122143 + euclidean_error: 0.5820033483659897 + base_right_marker_pose: + angle_rotation_error: 3.131981434539833 + euclidean_error: 0.578797936551141 + shoulder_marker_pose: + angle_rotation_error: 3.1032691437838764 + euclidean_error: 0.581095302611588 + wrist_inside_marker_pose: + angle_rotation_error: 3.095292949508 + euclidean_error: 0.5785947500261958 + wrist_top_marker_pose: + angle_rotation_error: 3.1188306558597882 + euclidean_error: 0.5803509768869443 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1064187313902276 + euclidean_error: 0.5821698575298826 + base_right_marker_pose: + angle_rotation_error: 3.132447235158139 + euclidean_error: 0.5788485049335502 + shoulder_marker_pose: + angle_rotation_error: 3.1064886475140225 + euclidean_error: 0.5811629120367916 + wrist_inside_marker_pose: + angle_rotation_error: 3.080758760399477 + euclidean_error: 0.5784683309351251 + wrist_top_marker_pose: + angle_rotation_error: 3.1157695573489725 + euclidean_error: 0.5802331456692253 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1038076933531284 + euclidean_error: 0.5822195843087248 + base_right_marker_pose: + angle_rotation_error: 3.1350976179950973 + euclidean_error: 0.5788993170846916 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0721073904664062 + euclidean_error: 0.578404335496827 + wrist_top_marker_pose: + angle_rotation_error: 3.1309937814553996 + euclidean_error: 0.5801420815205137 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1128846922277273 + euclidean_error: 0.5820517995923922 + base_right_marker_pose: + angle_rotation_error: 3.124945443090774 + euclidean_error: 0.5787469726426326 + shoulder_marker_pose: + angle_rotation_error: 3.1072210287086635 + euclidean_error: 0.5813455003550071 + wrist_inside_marker_pose: + angle_rotation_error: 3.073969720630322 + euclidean_error: 0.5784979370998502 + wrist_top_marker_pose: + angle_rotation_error: 3.1307427478255945 + euclidean_error: 0.580153274025997 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.130310772767618 + euclidean_error: 0.5820559975619091 + base_right_marker_pose: + angle_rotation_error: 3.1330450043532494 + euclidean_error: 0.5787059537010032 + shoulder_marker_pose: + angle_rotation_error: 3.105052384912787 + euclidean_error: 0.5812362582707248 + wrist_inside_marker_pose: + angle_rotation_error: 3.095844218263617 + euclidean_error: 0.5785838174021896 + wrist_top_marker_pose: + angle_rotation_error: 3.1291841147872343 + euclidean_error: 0.5802901877144041 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1086809176826895 + euclidean_error: 0.5821008794321955 + base_right_marker_pose: + angle_rotation_error: 3.138322779520098 + euclidean_error: 0.5788028367805476 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0970497446333365 + euclidean_error: 0.5785423554435846 + wrist_top_marker_pose: + angle_rotation_error: 3.111861793804159 + euclidean_error: 0.580165313737479 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0976356348618728 + euclidean_error: 0.5820545871097511 + base_right_marker_pose: + angle_rotation_error: 3.129099043796473 + euclidean_error: 0.5789152231573321 + shoulder_marker_pose: + angle_rotation_error: 3.1068313062707333 + euclidean_error: 0.5813718738579726 + wrist_inside_marker_pose: + angle_rotation_error: 3.099263363854074 + euclidean_error: 0.5785824378226702 + wrist_top_marker_pose: + angle_rotation_error: 3.1212984826898604 + euclidean_error: 0.5802907008052139 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.123584062397935 + euclidean_error: 0.582033199927882 + base_right_marker_pose: + angle_rotation_error: 3.130369749127411 + euclidean_error: 0.5790131215539781 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.091477575761879 + euclidean_error: 0.5785347963222331 + wrist_top_marker_pose: + angle_rotation_error: 3.1254245260202937 + euclidean_error: 0.580251724563414 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116892851535286 + euclidean_error: 0.582155089091018 + base_right_marker_pose: + angle_rotation_error: 3.1387482476175115 + euclidean_error: 0.5789296030324554 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0814520655962285 + euclidean_error: 0.5785013174487654 + wrist_top_marker_pose: + angle_rotation_error: 3.13122417896592 + euclidean_error: 0.5803662257221921 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1133361574270313 + euclidean_error: 0.5821368606559736 + base_right_marker_pose: + angle_rotation_error: 3.1318776179600456 + euclidean_error: 0.579090689946273 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1031628325371976 + euclidean_error: 0.5786012707746154 + wrist_top_marker_pose: + angle_rotation_error: 3.109202324623309 + euclidean_error: 0.5802283162142515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0995795748645416 + euclidean_error: 0.5822168451829953 + base_right_marker_pose: + angle_rotation_error: 3.138140761745535 + euclidean_error: 0.579045268738938 + shoulder_marker_pose: + angle_rotation_error: 3.104819730543619 + euclidean_error: 0.5812715782653748 + wrist_inside_marker_pose: + angle_rotation_error: 3.1027390049878982 + euclidean_error: 0.5785802539329339 + wrist_top_marker_pose: + angle_rotation_error: 3.123037826130497 + euclidean_error: 0.5802607588522103 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121527002139884 + euclidean_error: 0.5820554737405056 + base_right_marker_pose: + angle_rotation_error: 3.1286974693487424 + euclidean_error: 0.5789450732935719 + shoulder_marker_pose: + angle_rotation_error: 3.103805021529515 + euclidean_error: 0.5813166800955419 + wrist_inside_marker_pose: + angle_rotation_error: 3.102947201100055 + euclidean_error: 0.5785458940842713 + wrist_top_marker_pose: + angle_rotation_error: 3.1148103232537743 + euclidean_error: 0.5802029474726976 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1129408816179978 + euclidean_error: 0.5820753695739472 + base_right_marker_pose: + angle_rotation_error: 3.1391672373314075 + euclidean_error: 0.5789061708923015 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089449217896787 + euclidean_error: 0.5785010929884895 + wrist_top_marker_pose: + angle_rotation_error: 3.1349662358549364 + euclidean_error: 0.5803375792691197 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113862772137394 + euclidean_error: 0.5821009856259466 + base_right_marker_pose: + angle_rotation_error: 3.1311179617013125 + euclidean_error: 0.5788502289514371 + shoulder_marker_pose: + angle_rotation_error: 3.099642976739511 + euclidean_error: 0.5813254391176884 + wrist_inside_marker_pose: + angle_rotation_error: 3.1005637196538576 + euclidean_error: 0.5785520774857412 + wrist_top_marker_pose: + angle_rotation_error: 3.125395760004484 + euclidean_error: 0.580071973591004 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100958639878239 + euclidean_error: 0.5822052640813277 + base_right_marker_pose: + angle_rotation_error: 3.131545503518483 + euclidean_error: 0.5789403004182574 + shoulder_marker_pose: + angle_rotation_error: 3.123004001049864 + euclidean_error: 0.5813141822847689 + wrist_inside_marker_pose: + angle_rotation_error: 3.092003485700654 + euclidean_error: 0.578502483162892 + wrist_top_marker_pose: + angle_rotation_error: 3.1306055210069568 + euclidean_error: 0.5802540090387283 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1073338823123833 + euclidean_error: 0.5821865788631939 + base_right_marker_pose: + angle_rotation_error: 3.119670953633011 + euclidean_error: 0.5787826364986015 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0969156551726535 + euclidean_error: 0.578562571401849 + wrist_top_marker_pose: + angle_rotation_error: 3.1345628093471056 + euclidean_error: 0.5801777361273098 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124889954263586 + euclidean_error: 0.5823236788482407 + base_right_marker_pose: + angle_rotation_error: 3.132787446373085 + euclidean_error: 0.5790361115435221 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0989027019175497 + euclidean_error: 0.5786233729706897 + wrist_top_marker_pose: + angle_rotation_error: 3.1053301120867407 + euclidean_error: 0.5805459365453598 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1101257252912906 + euclidean_error: 0.5822088513972794 + base_right_marker_pose: + angle_rotation_error: 3.132776140113264 + euclidean_error: 0.5789989587004327 + shoulder_marker_pose: + angle_rotation_error: 3.1190420732592234 + euclidean_error: 0.5812155453023266 + wrist_inside_marker_pose: + angle_rotation_error: 3.096430009304419 + euclidean_error: 0.5784879478975267 + wrist_top_marker_pose: + angle_rotation_error: 3.121439234459663 + euclidean_error: 0.58034786407969 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10410179516087 + euclidean_error: 0.5822354494337373 + base_right_marker_pose: + angle_rotation_error: 3.140580097121202 + euclidean_error: 0.579038854198982 + shoulder_marker_pose: + angle_rotation_error: 3.0906423907135356 + euclidean_error: 0.5812824298591281 + wrist_inside_marker_pose: + angle_rotation_error: 3.0847668724545514 + euclidean_error: 0.5784593457928889 + wrist_top_marker_pose: + angle_rotation_error: 3.1080070491796103 + euclidean_error: 0.5803179412195623 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117714141696428 + euclidean_error: 0.5823461749532767 + base_right_marker_pose: + angle_rotation_error: 3.137471498234367 + euclidean_error: 0.5790500009636788 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0936963726751587 + euclidean_error: 0.5785468081126943 + wrist_top_marker_pose: + angle_rotation_error: 3.1350486025331863 + euclidean_error: 0.580360125429719 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1158617960228168 + euclidean_error: 0.5821113641598306 + base_right_marker_pose: + angle_rotation_error: 3.119531876655989 + euclidean_error: 0.578927954784415 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1038825048804055 + euclidean_error: 0.5786083795099524 + wrist_top_marker_pose: + angle_rotation_error: 3.1260512783058982 + euclidean_error: 0.5802391094466613 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1038430551770126 + euclidean_error: 0.5822024377988826 + base_right_marker_pose: + angle_rotation_error: 3.1406420195185016 + euclidean_error: 0.5790993694559281 + shoulder_marker_pose: + angle_rotation_error: 3.1093075277315783 + euclidean_error: 0.5813426233819313 + wrist_inside_marker_pose: + angle_rotation_error: 3.100669505306869 + euclidean_error: 0.5785229185173453 + wrist_top_marker_pose: + angle_rotation_error: 3.1230582688556736 + euclidean_error: 0.5803667755258108 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1110701158244916 + euclidean_error: 0.5821852237208647 + base_right_marker_pose: + angle_rotation_error: 3.1190014426156316 + euclidean_error: 0.5789413321598492 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0964198939345158 + euclidean_error: 0.5785891251487126 + wrist_top_marker_pose: + angle_rotation_error: 3.1314428863249013 + euclidean_error: 0.5801184036796085 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1083459150514656 + euclidean_error: 0.5821386927926724 + base_right_marker_pose: + angle_rotation_error: 3.120757449468928 + euclidean_error: 0.5789510191328516 + shoulder_marker_pose: + angle_rotation_error: 3.1236328015744133 + euclidean_error: 0.5813515022974292 + wrist_inside_marker_pose: + angle_rotation_error: 3.1015039600388725 + euclidean_error: 0.5784932978363023 + wrist_top_marker_pose: + angle_rotation_error: 3.1281725058677305 + euclidean_error: 0.580230084113839 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107889217112027 + euclidean_error: 0.5821718182135325 + base_right_marker_pose: + angle_rotation_error: 3.1299441502230163 + euclidean_error: 0.5789162861040108 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1069540832440308 + euclidean_error: 0.5786586070706826 + wrist_top_marker_pose: + angle_rotation_error: 3.1023645931752926 + euclidean_error: 0.5802825385044823 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1008613218514465 + euclidean_error: 0.5819849325113365 + base_right_marker_pose: + angle_rotation_error: 3.123481162670874 + euclidean_error: 0.5788734457573949 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.132202164493734 + euclidean_error: 0.5787555820698931 + wrist_top_marker_pose: + angle_rotation_error: 3.1090360624951052 + euclidean_error: 0.5803424387248679 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0908103189180087 + euclidean_error: 0.5822904817965866 + base_right_marker_pose: + angle_rotation_error: 3.1252355189948986 + euclidean_error: 0.578664638372625 + shoulder_marker_pose: + angle_rotation_error: 3.1204298822077914 + euclidean_error: 0.5812295333801779 + wrist_inside_marker_pose: + angle_rotation_error: 3.0781350741743703 + euclidean_error: 0.5784497961914595 + wrist_top_marker_pose: + angle_rotation_error: 3.102941099219436 + euclidean_error: 0.5803442938981985 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116925451528259 + euclidean_error: 0.5822061692386982 + base_right_marker_pose: + angle_rotation_error: 3.131021694449485 + euclidean_error: 0.5788393946713899 + shoulder_marker_pose: + angle_rotation_error: 3.1108245414915436 + euclidean_error: 0.5812149433545009 + wrist_inside_marker_pose: + angle_rotation_error: 3.092221629863136 + euclidean_error: 0.5786427137709041 + wrist_top_marker_pose: + angle_rotation_error: 3.1187449979591415 + euclidean_error: 0.5801573800467515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1167670824581966 + euclidean_error: 0.5819563057978778 + base_right_marker_pose: + angle_rotation_error: 3.133144915305104 + euclidean_error: 0.5788011663464647 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.084119934813741 + euclidean_error: 0.578536014439593 + wrist_top_marker_pose: + angle_rotation_error: 3.0955263412736933 + euclidean_error: 0.5801210209749667 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121194702144826 + euclidean_error: 0.5820683223145889 + base_right_marker_pose: + angle_rotation_error: 3.137796229605148 + euclidean_error: 0.5788559510020834 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1062316759866757 + euclidean_error: 0.5786304098669223 + wrist_top_marker_pose: + angle_rotation_error: 3.0932296067757212 + euclidean_error: 0.5803252264881562 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108515636792959 + euclidean_error: 0.5820718214968129 + base_right_marker_pose: + angle_rotation_error: 3.1407069184324916 + euclidean_error: 0.578844393130136 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1027738401951783 + euclidean_error: 0.5785573695371556 + wrist_top_marker_pose: + angle_rotation_error: 3.0910074233351956 + euclidean_error: 0.5803738430872103 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1098674770943093 + euclidean_error: 0.5821912358053333 + base_right_marker_pose: + angle_rotation_error: 3.1224990105499857 + euclidean_error: 0.5788417986164205 + shoulder_marker_pose: + angle_rotation_error: 3.1062314347046915 + euclidean_error: 0.5813545982750357 + wrist_inside_marker_pose: + angle_rotation_error: 3.093757246201988 + euclidean_error: 0.5785167855554777 + wrist_top_marker_pose: + angle_rotation_error: 3.108936022974966 + euclidean_error: 0.5802067454884872 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1161749369905336 + euclidean_error: 0.5821669080714684 + base_right_marker_pose: + angle_rotation_error: 3.13123512889056 + euclidean_error: 0.5789424596796874 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0975665406640056 + euclidean_error: 0.5785690864703573 + wrist_top_marker_pose: + angle_rotation_error: 3.121970278500237 + euclidean_error: 0.5804411987725686 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1092809780022557 + euclidean_error: 0.5823379183928219 + base_right_marker_pose: + angle_rotation_error: 3.1353130731213232 + euclidean_error: 0.5790821623238905 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0814949118303767 + euclidean_error: 0.5785011202648539 + wrist_top_marker_pose: + angle_rotation_error: 3.100508870306343 + euclidean_error: 0.5803215659794544 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1052385203919393 + euclidean_error: 0.5822148663208295 + base_right_marker_pose: + angle_rotation_error: 3.13684737677693 + euclidean_error: 0.5787516532184106 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1032362988745374 + euclidean_error: 0.5785595391815208 + wrist_top_marker_pose: + angle_rotation_error: 3.11515500938531 + euclidean_error: 0.5802344772495656 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103320389728836 + euclidean_error: 0.5821322274657614 + base_right_marker_pose: + angle_rotation_error: 3.121516631343678 + euclidean_error: 0.579131926676451 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0949946680292872 + euclidean_error: 0.5785598023358708 + wrist_top_marker_pose: + angle_rotation_error: 3.135354424383739 + euclidean_error: 0.5802483296763193 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1100620971766335 + euclidean_error: 0.5820842940943254 + base_right_marker_pose: + angle_rotation_error: 3.124822996205153 + euclidean_error: 0.5789086924955442 + shoulder_marker_pose: + angle_rotation_error: 3.0998617854628794 + euclidean_error: 0.5812459374700236 + wrist_inside_marker_pose: + angle_rotation_error: 3.0853550826530505 + euclidean_error: 0.5786002955965968 + wrist_top_marker_pose: + angle_rotation_error: 3.133853111761879 + euclidean_error: 0.5802137547991598 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115397554282898 + euclidean_error: 0.5819296134500853 + base_right_marker_pose: + angle_rotation_error: 3.138198973991874 + euclidean_error: 0.5788809980184932 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0896062877834667 + euclidean_error: 0.5785101967449938 + wrist_top_marker_pose: + angle_rotation_error: 3.1273974843272323 + euclidean_error: 0.5804258200934965 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1073724928130653 + euclidean_error: 0.5819626386283937 + base_right_marker_pose: + angle_rotation_error: 3.1217091972350803 + euclidean_error: 0.5788389406543558 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.08978015562417 + euclidean_error: 0.5785375402002946 + wrist_top_marker_pose: + angle_rotation_error: 3.139804091911968 + euclidean_error: 0.5802682817194866 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1159926780492517 + euclidean_error: 0.5820642423834511 + base_right_marker_pose: + angle_rotation_error: 3.124160485425197 + euclidean_error: 0.5790972890136177 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1107487395470046 + euclidean_error: 0.5786579656604974 + wrist_top_marker_pose: + angle_rotation_error: 3.127867356027184 + euclidean_error: 0.5801486657143943 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1157688116030835 + euclidean_error: 0.5820413702147641 + base_right_marker_pose: + angle_rotation_error: 3.1255837060065175 + euclidean_error: 0.5788083089519976 + shoulder_marker_pose: + angle_rotation_error: 3.10198074222375 + euclidean_error: 0.5812371030397844 + wrist_inside_marker_pose: + angle_rotation_error: 3.0982477722786568 + euclidean_error: 0.578556080987244 + wrist_top_marker_pose: + angle_rotation_error: 3.127928116599149 + euclidean_error: 0.5803235142214056 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1229675878320635 + euclidean_error: 0.5819445577968939 + base_right_marker_pose: + angle_rotation_error: 3.127669579885034 + euclidean_error: 0.5790816932459566 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.073897936842131 + euclidean_error: 0.5786792444268919 + wrist_top_marker_pose: + angle_rotation_error: 3.1412404426476863 + euclidean_error: 0.580303897346772 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115940439151362 + euclidean_error: 0.5819301007883468 + base_right_marker_pose: + angle_rotation_error: 3.13225919776453 + euclidean_error: 0.5789684298903234 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.094145618626963 + euclidean_error: 0.578567037797286 + wrist_top_marker_pose: + angle_rotation_error: 3.1251846734902458 + euclidean_error: 0.58034597360995 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1129374527789224 + euclidean_error: 0.5818815128906709 + base_right_marker_pose: + angle_rotation_error: 3.1177987895584507 + euclidean_error: 0.5788893372787337 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0810156901606605 + euclidean_error: 0.5787120540387343 + wrist_top_marker_pose: + angle_rotation_error: 3.1265420643223556 + euclidean_error: 0.5803103169097629 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106573546200357 + euclidean_error: 0.5819830275041838 + base_right_marker_pose: + angle_rotation_error: 3.127707975286058 + euclidean_error: 0.5787972823465735 + shoulder_marker_pose: + angle_rotation_error: 3.100287253612399 + euclidean_error: 0.5811460657325654 + wrist_inside_marker_pose: + angle_rotation_error: 3.0782512174059247 + euclidean_error: 0.5784411307850117 + wrist_top_marker_pose: + angle_rotation_error: 3.130676334770063 + euclidean_error: 0.5802055951106612 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1014528056600765 + euclidean_error: 0.5819931614030434 + base_right_marker_pose: + angle_rotation_error: 3.117178968078866 + euclidean_error: 0.5789277462053118 + shoulder_marker_pose: + angle_rotation_error: 3.1089755946667403 + euclidean_error: 0.581281557703706 + wrist_inside_marker_pose: + angle_rotation_error: 3.083170158586645 + euclidean_error: 0.5784903085193317 + wrist_top_marker_pose: + angle_rotation_error: 3.1243607448888686 + euclidean_error: 0.5801240600248082 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1071633771522897 + euclidean_error: 0.5818785493092732 + base_right_marker_pose: + angle_rotation_error: 3.1163977173220263 + euclidean_error: 0.5788785655172068 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.092889295219759 + euclidean_error: 0.578650660069613 + wrist_top_marker_pose: + angle_rotation_error: 3.118938051326305 + euclidean_error: 0.5803188867582301 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.12109004444466 + euclidean_error: 0.5819370738095925 + base_right_marker_pose: + angle_rotation_error: 3.1317237273865386 + euclidean_error: 0.5788300739970005 + shoulder_marker_pose: + angle_rotation_error: 3.104364753437995 + euclidean_error: 0.5812171746387389 + wrist_inside_marker_pose: + angle_rotation_error: 3.083830073574297 + euclidean_error: 0.578483644331617 + wrist_top_marker_pose: + angle_rotation_error: 3.1267691374821496 + euclidean_error: 0.5800473100397919 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1061598997538216 + euclidean_error: 0.5819589407251942 + base_right_marker_pose: + angle_rotation_error: 3.1237387065596 + euclidean_error: 0.5787574628422353 + shoulder_marker_pose: + angle_rotation_error: 3.093543129445403 + euclidean_error: 0.5812559986816138 + wrist_inside_marker_pose: + angle_rotation_error: 3.0781893015689468 + euclidean_error: 0.578474370033363 + wrist_top_marker_pose: + angle_rotation_error: 3.135885016696301 + euclidean_error: 0.5802857391042582 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107882632214368 + euclidean_error: 0.5820719613571494 + base_right_marker_pose: + angle_rotation_error: 3.1161871303274022 + euclidean_error: 0.5787059038182376 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089455053923466 + euclidean_error: 0.5785382173074722 + wrist_top_marker_pose: + angle_rotation_error: 3.1230481708696445 + euclidean_error: 0.5800455936655369 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1072640681248473 + euclidean_error: 0.5821467035377013 + base_right_marker_pose: + angle_rotation_error: 3.123155193123526 + euclidean_error: 0.5789384457175883 + shoulder_marker_pose: + angle_rotation_error: 3.09991371347813 + euclidean_error: 0.5811786725630476 + wrist_inside_marker_pose: + angle_rotation_error: 3.0956656673780683 + euclidean_error: 0.5785414574448349 + wrist_top_marker_pose: + angle_rotation_error: 3.1187552508909104 + euclidean_error: 0.580345382903936 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.100353201199685 + euclidean_error: 0.5820862378257783 + base_right_marker_pose: + angle_rotation_error: 3.123086427062076 + euclidean_error: 0.5788060028014212 + shoulder_marker_pose: + angle_rotation_error: 3.10350511426492 + euclidean_error: 0.581218079716083 + wrist_inside_marker_pose: + angle_rotation_error: 3.090872002473287 + euclidean_error: 0.5785133527714976 + wrist_top_marker_pose: + angle_rotation_error: 3.112156697859043 + euclidean_error: 0.580300416813436 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1155748024255745 + euclidean_error: 0.5819727151795618 + base_right_marker_pose: + angle_rotation_error: 3.1385831788209693 + euclidean_error: 0.578953231234294 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0930213664888586 + euclidean_error: 0.5784808579810763 + wrist_top_marker_pose: + angle_rotation_error: 3.120329966100111 + euclidean_error: 0.5800647494023992 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1116971461720597 + euclidean_error: 0.5821883699397498 + base_right_marker_pose: + angle_rotation_error: 3.135757637258156 + euclidean_error: 0.5787853100690581 + shoulder_marker_pose: + angle_rotation_error: 3.11355690457319 + euclidean_error: 0.5811390696179557 + wrist_inside_marker_pose: + angle_rotation_error: 3.098709775537802 + euclidean_error: 0.5786347475816956 + wrist_top_marker_pose: + angle_rotation_error: 3.124559171432606 + euclidean_error: 0.5802910949540994 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117669225673634 + euclidean_error: 0.5820304565964621 + base_right_marker_pose: + angle_rotation_error: 3.1280533118973683 + euclidean_error: 0.5789948538900063 + shoulder_marker_pose: + angle_rotation_error: 3.11859040571596 + euclidean_error: 0.5813182338586689 + wrist_inside_marker_pose: + angle_rotation_error: 3.089557968553569 + euclidean_error: 0.5785243956396311 + wrist_top_marker_pose: + angle_rotation_error: 3.1068286795350923 + euclidean_error: 0.5803304955981955 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1105052738378625 + euclidean_error: 0.5821283290536091 + base_right_marker_pose: + angle_rotation_error: 3.136529185164723 + euclidean_error: 0.5790868877841172 + shoulder_marker_pose: + angle_rotation_error: 3.1302565556828457 + euclidean_error: 0.5812684977716723 + wrist_inside_marker_pose: + angle_rotation_error: 3.096646895771639 + euclidean_error: 0.5785463207397779 + wrist_top_marker_pose: + angle_rotation_error: 3.0888950782796853 + euclidean_error: 0.580391471554402 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112589684116744 + euclidean_error: 0.5821226288455984 + base_right_marker_pose: + angle_rotation_error: 3.132303774381331 + euclidean_error: 0.578944330585838 + shoulder_marker_pose: + angle_rotation_error: 3.1065594285383433 + euclidean_error: 0.5811174310674556 + wrist_inside_marker_pose: + angle_rotation_error: 3.1099598979385257 + euclidean_error: 0.5785814507405134 + wrist_top_marker_pose: + angle_rotation_error: 3.106398187187885 + euclidean_error: 0.5801686685005266 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1054195364655066 + euclidean_error: 0.582099834972167 + base_right_marker_pose: + angle_rotation_error: 3.1286652297542332 + euclidean_error: 0.5789900625080103 + shoulder_marker_pose: + angle_rotation_error: 3.114970212321173 + euclidean_error: 0.5812457590520893 + wrist_inside_marker_pose: + angle_rotation_error: 3.098261794529435 + euclidean_error: 0.5785041681286721 + wrist_top_marker_pose: + angle_rotation_error: 3.1222569430637543 + euclidean_error: 0.5803119182928037 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1034303128762786 + euclidean_error: 0.582095570227688 + base_right_marker_pose: + angle_rotation_error: 3.1304100548512057 + euclidean_error: 0.5788384718997771 + shoulder_marker_pose: + angle_rotation_error: 3.1113206597126144 + euclidean_error: 0.58123638933989 + wrist_inside_marker_pose: + angle_rotation_error: 3.0925713905431937 + euclidean_error: 0.578531143679802 + wrist_top_marker_pose: + angle_rotation_error: 3.097500018991314 + euclidean_error: 0.5802620921803288 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1181579570008866 + euclidean_error: 0.5820548185167007 + base_right_marker_pose: + angle_rotation_error: 3.1208438400889573 + euclidean_error: 0.5789944610570916 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.09823793156346 + euclidean_error: 0.5785755906684721 + wrist_top_marker_pose: + angle_rotation_error: 3.103793103214033 + euclidean_error: 0.5802096383693441 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1071130154333795 + euclidean_error: 0.5821444808378834 + base_right_marker_pose: + angle_rotation_error: 3.1412080651614147 + euclidean_error: 0.5789902460905337 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.079618893974722 + euclidean_error: 0.5784266398764053 + wrist_top_marker_pose: + angle_rotation_error: 3.07731576601012 + euclidean_error: 0.5803291213163573 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1178465060656966 + euclidean_error: 0.582157335512138 + base_right_marker_pose: + angle_rotation_error: 3.1281990161434057 + euclidean_error: 0.5790408347809013 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0837296957252476 + euclidean_error: 0.5785114241459026 + wrist_top_marker_pose: + angle_rotation_error: 3.0749077341382622 + euclidean_error: 0.5803060663178585 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112438893860575 + euclidean_error: 0.5821005096716401 + base_right_marker_pose: + angle_rotation_error: 3.1263185253284203 + euclidean_error: 0.5789276674737017 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.099776154194567 + euclidean_error: 0.5785228862750177 + wrist_top_marker_pose: + angle_rotation_error: 3.076783607258522 + euclidean_error: 0.5804445533937981 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1136505385558455 + euclidean_error: 0.5819928480732588 + base_right_marker_pose: + angle_rotation_error: 3.127032626723208 + euclidean_error: 0.5790060769421915 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.087441763777447 + euclidean_error: 0.5785492847857839 + wrist_top_marker_pose: + angle_rotation_error: 3.097207329313202 + euclidean_error: 0.5802067034948868 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1114382237664606 + euclidean_error: 0.5822079028140767 + base_right_marker_pose: + angle_rotation_error: 3.126523386464262 + euclidean_error: 0.5789768954257513 + shoulder_marker_pose: + angle_rotation_error: 3.1073346617253526 + euclidean_error: 0.5811221485395917 + wrist_inside_marker_pose: + angle_rotation_error: 3.0983766713328276 + euclidean_error: 0.5785048375106924 + wrist_top_marker_pose: + angle_rotation_error: 3.0966743991646166 + euclidean_error: 0.5802060065796727 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1134504548177055 + euclidean_error: 0.5820257120060318 + base_right_marker_pose: + angle_rotation_error: 3.1364922076498836 + euclidean_error: 0.5788934491384577 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0950148749905955 + euclidean_error: 0.5785321115318185 + wrist_top_marker_pose: + angle_rotation_error: 3.100092319641969 + euclidean_error: 0.580328068526789 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1073569207323897 + euclidean_error: 0.5820334762542605 + base_right_marker_pose: + angle_rotation_error: 3.127242947511489 + euclidean_error: 0.5789960852537162 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0890480325811605 + euclidean_error: 0.5785127595436663 + wrist_top_marker_pose: + angle_rotation_error: 3.095251678448434 + euclidean_error: 0.580256044198895 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124594481873027 + euclidean_error: 0.5821732986390291 + base_right_marker_pose: + angle_rotation_error: 3.1352896535314008 + euclidean_error: 0.5790091860245413 + shoulder_marker_pose: + angle_rotation_error: 3.1045388849687785 + euclidean_error: 0.5812052058391833 + wrist_inside_marker_pose: + angle_rotation_error: 3.100828116010203 + euclidean_error: 0.5785421315914451 + wrist_top_marker_pose: + angle_rotation_error: 3.1148355342374496 + euclidean_error: 0.5803277254086185 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.102639360421765 + euclidean_error: 0.5822974958500399 + base_right_marker_pose: + angle_rotation_error: 3.119289724212643 + euclidean_error: 0.5789855369620992 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.103808050418794 + euclidean_error: 0.5785805198593919 + wrist_top_marker_pose: + angle_rotation_error: 3.1148238462804074 + euclidean_error: 0.5801303672916492 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1094195685532884 + euclidean_error: 0.582237279973114 + base_right_marker_pose: + angle_rotation_error: 3.1218639700751316 + euclidean_error: 0.579047804336111 + shoulder_marker_pose: + angle_rotation_error: 3.0960398963771194 + euclidean_error: 0.581355318766592 + wrist_inside_marker_pose: + angle_rotation_error: 3.0940092860536885 + euclidean_error: 0.5784152377579946 + wrist_top_marker_pose: + angle_rotation_error: 3.1181608984830333 + euclidean_error: 0.5801302904023652 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0998012537587956 + euclidean_error: 0.5822259937288814 + base_right_marker_pose: + angle_rotation_error: 3.0980531454787092 + euclidean_error: 0.5790593494198432 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.078906253292805 + euclidean_error: 0.5784248871517104 + wrist_top_marker_pose: + angle_rotation_error: 3.1109546882465633 + euclidean_error: 0.580233432238224 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0990162071740324 + euclidean_error: 0.582113381900726 + base_right_marker_pose: + angle_rotation_error: 3.11678963034935 + euclidean_error: 0.5789010021380073 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0912350189588 + euclidean_error: 0.5784953939791888 + wrist_top_marker_pose: + angle_rotation_error: 3.111319900617965 + euclidean_error: 0.5802416799060204 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1172050219209804 + euclidean_error: 0.5821100170933511 + base_right_marker_pose: + angle_rotation_error: 3.125034592541462 + euclidean_error: 0.5789411182164236 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0871706123445137 + euclidean_error: 0.5784806134122393 + wrist_top_marker_pose: + angle_rotation_error: 3.1198197677183095 + euclidean_error: 0.580165676238579 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1029418150325774 + euclidean_error: 0.5821385757371399 + base_right_marker_pose: + angle_rotation_error: 3.1162967850318224 + euclidean_error: 0.5790013080184534 + shoulder_marker_pose: + angle_rotation_error: 3.107595162443136 + euclidean_error: 0.5812808180819873 + wrist_inside_marker_pose: + angle_rotation_error: 3.073509994647854 + euclidean_error: 0.578402926216036 + wrist_top_marker_pose: + angle_rotation_error: 3.1045011113046064 + euclidean_error: 0.5803753110177791 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1053971207966593 + euclidean_error: 0.5822823266341715 + base_right_marker_pose: + angle_rotation_error: 3.1213575965957747 + euclidean_error: 0.5788334797773748 + shoulder_marker_pose: + angle_rotation_error: 3.113315195984547 + euclidean_error: 0.5812286946056193 + wrist_inside_marker_pose: + angle_rotation_error: 3.0912486826205394 + euclidean_error: 0.5785297814762898 + wrist_top_marker_pose: + angle_rotation_error: 3.12916754599441 + euclidean_error: 0.5803095857093014 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1131771248071427 + euclidean_error: 0.5823262494889014 + base_right_marker_pose: + angle_rotation_error: 3.120604287045016 + euclidean_error: 0.5789684280258329 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.086839953610372 + euclidean_error: 0.5784053872226576 + wrist_top_marker_pose: + angle_rotation_error: 3.1125842492012814 + euclidean_error: 0.580214943852583 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1104760500018274 + euclidean_error: 0.5820937289319529 + base_right_marker_pose: + angle_rotation_error: 3.123353700486348 + euclidean_error: 0.5790104057319453 + shoulder_marker_pose: + angle_rotation_error: 3.112377082873167 + euclidean_error: 0.5812874429751383 + wrist_inside_marker_pose: + angle_rotation_error: 3.099132787077146 + euclidean_error: 0.5786062206138796 + wrist_top_marker_pose: + angle_rotation_error: 3.114286996711848 + euclidean_error: 0.580395127645438 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.097018866386783 + euclidean_error: 0.582155451853602 + base_right_marker_pose: + angle_rotation_error: 3.1287751193770656 + euclidean_error: 0.5789977109007117 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0957050934644177 + euclidean_error: 0.578464378179529 + wrist_top_marker_pose: + angle_rotation_error: 3.1152664550388725 + euclidean_error: 0.5802465836633707 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1155490503027825 + euclidean_error: 0.5821537118624044 + base_right_marker_pose: + angle_rotation_error: 3.133413848546622 + euclidean_error: 0.5791258684617296 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.100980927386138 + euclidean_error: 0.5785676362033219 + wrist_top_marker_pose: + angle_rotation_error: 3.110876588516233 + euclidean_error: 0.580039765448366 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1133079759727975 + euclidean_error: 0.5820491991077675 + base_right_marker_pose: + angle_rotation_error: 3.1375894184383015 + euclidean_error: 0.5788362452053895 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1075939261219867 + euclidean_error: 0.5786061406053826 + wrist_top_marker_pose: + angle_rotation_error: 3.119905897261893 + euclidean_error: 0.580221654344609 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107942594199965 + euclidean_error: 0.582145613946104 + base_right_marker_pose: + angle_rotation_error: 3.1269603732421043 + euclidean_error: 0.5789407915953213 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088711231229045 + euclidean_error: 0.578481230032559 + wrist_top_marker_pose: + angle_rotation_error: 3.115869879710791 + euclidean_error: 0.5802916091738303 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104202495704039 + euclidean_error: 0.5824225026965391 + base_right_marker_pose: + angle_rotation_error: 3.1365800742756984 + euclidean_error: 0.5790531819197772 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0667159127225254 + euclidean_error: 0.5783885573244145 + wrist_top_marker_pose: + angle_rotation_error: 3.1210375127495777 + euclidean_error: 0.5801400923968724 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1078121538039998 + euclidean_error: 0.5820751777520663 + base_right_marker_pose: + angle_rotation_error: 3.1316499859647733 + euclidean_error: 0.578990611690428 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0922379435487004 + euclidean_error: 0.578510613956172 + wrist_top_marker_pose: + angle_rotation_error: 3.110014205711361 + euclidean_error: 0.5802099257072194 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1096904260366522 + euclidean_error: 0.582135550520195 + base_right_marker_pose: + angle_rotation_error: 3.119330639992873 + euclidean_error: 0.5790012235005239 + shoulder_marker_pose: + angle_rotation_error: 3.112618869915621 + euclidean_error: 0.5813524359650007 + wrist_inside_marker_pose: + angle_rotation_error: 3.0872699269991566 + euclidean_error: 0.5785081624930605 + wrist_top_marker_pose: + angle_rotation_error: 3.1041607893739935 + euclidean_error: 0.5801562696723978 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.103442920690304 + euclidean_error: 0.5821822339923325 + base_right_marker_pose: + angle_rotation_error: 3.12801060165474 + euclidean_error: 0.5789473146684622 + shoulder_marker_pose: + angle_rotation_error: 3.1092570519289535 + euclidean_error: 0.5811882177189007 + wrist_inside_marker_pose: + angle_rotation_error: 3.0806332015352753 + euclidean_error: 0.578581583059128 + wrist_top_marker_pose: + angle_rotation_error: 3.097254883394421 + euclidean_error: 0.5803893775132061 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114958546674981 + euclidean_error: 0.5821364132065904 + base_right_marker_pose: + angle_rotation_error: 3.1323450903659857 + euclidean_error: 0.5790122448489902 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0945581312161825 + euclidean_error: 0.5784920199158701 + wrist_top_marker_pose: + angle_rotation_error: 3.1213934225975364 + euclidean_error: 0.5802227563204327 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1083270728356145 + euclidean_error: 0.5822262076304586 + base_right_marker_pose: + angle_rotation_error: 3.1379516689583125 + euclidean_error: 0.5789213858457293 + shoulder_marker_pose: + angle_rotation_error: 3.1000773132533315 + euclidean_error: 0.5812987295524246 + wrist_inside_marker_pose: + angle_rotation_error: 3.087935532299384 + euclidean_error: 0.5784887649102415 + wrist_top_marker_pose: + angle_rotation_error: 3.1149295368303975 + euclidean_error: 0.5802996377028734 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111030426561952 + euclidean_error: 0.5821169366912418 + base_right_marker_pose: + angle_rotation_error: 3.1307160901795523 + euclidean_error: 0.5790901153952269 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.087867991837074 + euclidean_error: 0.5785604776669032 + wrist_top_marker_pose: + angle_rotation_error: 3.0939629926436285 + euclidean_error: 0.5802048739285168 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111313106124692 + euclidean_error: 0.582189742533609 + base_right_marker_pose: + angle_rotation_error: 3.120124110740908 + euclidean_error: 0.5789023871010157 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0817244294238355 + euclidean_error: 0.5784960538077834 + wrist_top_marker_pose: + angle_rotation_error: 3.1035697326635385 + euclidean_error: 0.5801497282096922 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109293218609377 + euclidean_error: 0.5820631056373603 + base_right_marker_pose: + angle_rotation_error: 3.1395911737632134 + euclidean_error: 0.5791099015365856 + shoulder_marker_pose: + angle_rotation_error: 3.1205276370772785 + euclidean_error: 0.5813550910943773 + wrist_inside_marker_pose: + angle_rotation_error: 3.0844792594477006 + euclidean_error: 0.5783742474494743 + wrist_top_marker_pose: + angle_rotation_error: 3.090585223979814 + euclidean_error: 0.580259082877736 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1102735008580797 + euclidean_error: 0.5821026439935788 + base_right_marker_pose: + angle_rotation_error: 3.1366377640077334 + euclidean_error: 0.5789418951079867 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.110293239440007 + euclidean_error: 0.5786160477473941 + wrist_top_marker_pose: + angle_rotation_error: 3.1104851534224087 + euclidean_error: 0.58017901827365 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124988325287277 + euclidean_error: 0.582190766119412 + base_right_marker_pose: + angle_rotation_error: 3.1376411062271523 + euclidean_error: 0.5789855785824205 + shoulder_marker_pose: + angle_rotation_error: 3.115604703284803 + euclidean_error: 0.5812343780509617 + wrist_inside_marker_pose: + angle_rotation_error: 3.0932082983926033 + euclidean_error: 0.578495324738962 + wrist_top_marker_pose: + angle_rotation_error: 3.0927991309475447 + euclidean_error: 0.5803932642504604 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106496591263741 + euclidean_error: 0.5821025231835323 + base_right_marker_pose: + angle_rotation_error: 3.1357118560495607 + euclidean_error: 0.5789682041268062 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1139728753257723 + euclidean_error: 0.5786028077869421 + wrist_top_marker_pose: + angle_rotation_error: 3.1134463437725413 + euclidean_error: 0.5802314763407712 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1130576662508758 + euclidean_error: 0.582115990769096 + base_right_marker_pose: + angle_rotation_error: 3.137387427470953 + euclidean_error: 0.5790314426092071 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0954783940488158 + euclidean_error: 0.5785897449133742 + wrist_top_marker_pose: + angle_rotation_error: 3.1226679321647564 + euclidean_error: 0.5802378090440107 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.095695360744141 + euclidean_error: 0.5822386929496655 + base_right_marker_pose: + angle_rotation_error: 3.1313770916305588 + euclidean_error: 0.5790229343079423 + shoulder_marker_pose: + angle_rotation_error: 3.109817437134908 + euclidean_error: 0.5812620189391596 + wrist_inside_marker_pose: + angle_rotation_error: 3.091501124551902 + euclidean_error: 0.5784725629880345 + wrist_top_marker_pose: + angle_rotation_error: 3.1214997348737987 + euclidean_error: 0.5801697463973179 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1283618998099247 + euclidean_error: 0.5821848158770488 + base_right_marker_pose: + angle_rotation_error: 3.1225431377576953 + euclidean_error: 0.579155049638671 + shoulder_marker_pose: + angle_rotation_error: 3.106721092158742 + euclidean_error: 0.5811865160001765 + wrist_inside_marker_pose: + angle_rotation_error: 3.09969553916384 + euclidean_error: 0.5784975685398493 + wrist_top_marker_pose: + angle_rotation_error: 3.0965411974026673 + euclidean_error: 0.580363333539268 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1097830438026954 + euclidean_error: 0.582119699688193 + base_right_marker_pose: + angle_rotation_error: 3.134017588326568 + euclidean_error: 0.5790560600774664 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.08784309147177 + euclidean_error: 0.5784903089728999 + wrist_top_marker_pose: + angle_rotation_error: 3.0971446827863622 + euclidean_error: 0.5802768895161914 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112681331566182 + euclidean_error: 0.5821783864643034 + base_right_marker_pose: + angle_rotation_error: 3.1319767138907793 + euclidean_error: 0.5789320554764176 + shoulder_marker_pose: + angle_rotation_error: 3.1161029808645218 + euclidean_error: 0.5812791126170899 + wrist_inside_marker_pose: + angle_rotation_error: 3.0968380058611116 + euclidean_error: 0.5785545875768959 + wrist_top_marker_pose: + angle_rotation_error: 3.1188811911762353 + euclidean_error: 0.5801708657101167 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.102592610126084 + euclidean_error: 0.5821045019248874 + base_right_marker_pose: + angle_rotation_error: 3.1272623086229308 + euclidean_error: 0.5790526951634763 + shoulder_marker_pose: + angle_rotation_error: 3.116191378305625 + euclidean_error: 0.5812737181321708 + wrist_inside_marker_pose: + angle_rotation_error: 3.0811555819830763 + euclidean_error: 0.5784232814065012 + wrist_top_marker_pose: + angle_rotation_error: 3.134979184916663 + euclidean_error: 0.5802337262134255 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108643251174972 + euclidean_error: 0.5821336364823929 + base_right_marker_pose: + angle_rotation_error: 3.1216687355986594 + euclidean_error: 0.5791371430413166 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088572062974947 + euclidean_error: 0.5785544639510761 + wrist_top_marker_pose: + angle_rotation_error: 3.1124024949774527 + euclidean_error: 0.5803739518116274 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109407375590115 + euclidean_error: 0.5822398631587551 + base_right_marker_pose: + angle_rotation_error: 3.1215055217972285 + euclidean_error: 0.5790114985789954 + shoulder_marker_pose: + angle_rotation_error: 3.1184687810669014 + euclidean_error: 0.5813612109186265 + wrist_inside_marker_pose: + angle_rotation_error: 3.082461975898197 + euclidean_error: 0.5784364846244517 + wrist_top_marker_pose: + angle_rotation_error: 3.12638054481599 + euclidean_error: 0.5802732176808548 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1090469279005313 + euclidean_error: 0.582073597673217 + base_right_marker_pose: + angle_rotation_error: 3.1310625153862905 + euclidean_error: 0.578958371026909 + shoulder_marker_pose: + angle_rotation_error: 3.1082333585037856 + euclidean_error: 0.5812249445161635 + wrist_inside_marker_pose: + angle_rotation_error: 3.109077661127064 + euclidean_error: 0.5786202161114095 + wrist_top_marker_pose: + angle_rotation_error: 3.1289325408969284 + euclidean_error: 0.5801267972048292 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1195133550190213 + euclidean_error: 0.5821747331438129 + base_right_marker_pose: + angle_rotation_error: 3.122586938019912 + euclidean_error: 0.5790012813313647 + shoulder_marker_pose: + angle_rotation_error: 3.1029321219428634 + euclidean_error: 0.5812409783149429 + wrist_inside_marker_pose: + angle_rotation_error: 3.091489277073665 + euclidean_error: 0.5784723084809148 + wrist_top_marker_pose: + angle_rotation_error: 3.120459928237861 + euclidean_error: 0.5801639385230664 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116967526477855 + euclidean_error: 0.5820817684840237 + base_right_marker_pose: + angle_rotation_error: 3.1215420630774675 + euclidean_error: 0.5789466935972645 + shoulder_marker_pose: + angle_rotation_error: 3.127797300845365 + euclidean_error: 0.5813780524139119 + wrist_inside_marker_pose: + angle_rotation_error: 3.100860428698574 + euclidean_error: 0.5785149148711988 + wrist_top_marker_pose: + angle_rotation_error: 3.1050384324202933 + euclidean_error: 0.5803616403229943 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1142601224602715 + euclidean_error: 0.5820966245156776 + base_right_marker_pose: + angle_rotation_error: 3.1403634277415797 + euclidean_error: 0.5789392604434078 + shoulder_marker_pose: + angle_rotation_error: 3.101575161109447 + euclidean_error: 0.5812694989609252 + wrist_inside_marker_pose: + angle_rotation_error: 3.0955152877274896 + euclidean_error: 0.5785643571014119 + wrist_top_marker_pose: + angle_rotation_error: 3.106348296461248 + euclidean_error: 0.5802909595660316 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1133497261353025 + euclidean_error: 0.5820861257424415 + base_right_marker_pose: + angle_rotation_error: 3.138934165233196 + euclidean_error: 0.5789640660944168 + shoulder_marker_pose: + angle_rotation_error: 3.1202712014106546 + euclidean_error: 0.5813341357902723 + wrist_inside_marker_pose: + angle_rotation_error: 3.0851388324314857 + euclidean_error: 0.5784575144728893 + wrist_top_marker_pose: + angle_rotation_error: 3.1100677999809667 + euclidean_error: 0.5801202503162628 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1277405468640995 + euclidean_error: 0.5821202916295727 + base_right_marker_pose: + angle_rotation_error: 3.129888804475077 + euclidean_error: 0.578861130517298 + shoulder_marker_pose: + angle_rotation_error: 3.1014496274148664 + euclidean_error: 0.5811092227020712 + wrist_inside_marker_pose: + angle_rotation_error: 3.1017991565744265 + euclidean_error: 0.5786093295309656 + wrist_top_marker_pose: + angle_rotation_error: 3.1094533968124254 + euclidean_error: 0.5802936240133345 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1089945137495527 + euclidean_error: 0.5821038302969219 + base_right_marker_pose: + angle_rotation_error: 3.128183546969187 + euclidean_error: 0.5790256015268685 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090954282745376 + euclidean_error: 0.5785022798416306 + wrist_top_marker_pose: + angle_rotation_error: 3.111960458816892 + euclidean_error: 0.5801251529273131 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.104616921164482 + euclidean_error: 0.5821818830402565 + base_right_marker_pose: + angle_rotation_error: 3.1392288556366665 + euclidean_error: 0.5789574489823023 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.09685908386188 + euclidean_error: 0.578573666833044 + wrist_top_marker_pose: + angle_rotation_error: 3.1206458950614864 + euclidean_error: 0.5802360360081501 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1037712018328047 + euclidean_error: 0.5821502394601034 + base_right_marker_pose: + angle_rotation_error: 3.1381547827763314 + euclidean_error: 0.578974194564616 + shoulder_marker_pose: + angle_rotation_error: 3.114070398643126 + euclidean_error: 0.5812860218253079 + wrist_inside_marker_pose: + angle_rotation_error: 3.107955085462809 + euclidean_error: 0.5785937413017007 + wrist_top_marker_pose: + angle_rotation_error: 3.110310031707506 + euclidean_error: 0.5804056484797534 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118803119674411 + euclidean_error: 0.5822736597172256 + base_right_marker_pose: + angle_rotation_error: 3.1263564253322005 + euclidean_error: 0.5789968094257337 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.094293318518158 + euclidean_error: 0.5786098210557682 + wrist_top_marker_pose: + angle_rotation_error: 3.1161472358511593 + euclidean_error: 0.5802200675665711 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1064907256823284 + euclidean_error: 0.5820775448718369 + base_right_marker_pose: + angle_rotation_error: 3.129147458774085 + euclidean_error: 0.5789390695086385 + shoulder_marker_pose: + angle_rotation_error: 3.1189454254664484 + euclidean_error: 0.5812742218016879 + wrist_inside_marker_pose: + angle_rotation_error: 3.080375227255843 + euclidean_error: 0.5784434628889994 + wrist_top_marker_pose: + angle_rotation_error: 3.114816599748086 + euclidean_error: 0.5802147614931089 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1204563118391966 + euclidean_error: 0.5820917553557075 + base_right_marker_pose: + angle_rotation_error: 3.1265955661989224 + euclidean_error: 0.5790379571343374 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.087072660895112 + euclidean_error: 0.5784491758715133 + wrist_top_marker_pose: + angle_rotation_error: 3.0811511937080844 + euclidean_error: 0.5803891504817994 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1083374859605164 + euclidean_error: 0.5820712735994332 + base_right_marker_pose: + angle_rotation_error: 3.1310231277561655 + euclidean_error: 0.5788660317502261 + shoulder_marker_pose: + angle_rotation_error: 3.1195327226539122 + euclidean_error: 0.5813038502457332 + wrist_inside_marker_pose: + angle_rotation_error: 3.078305564328543 + euclidean_error: 0.5784695156468345 + wrist_top_marker_pose: + angle_rotation_error: 3.119712042510898 + euclidean_error: 0.5803556971189446 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113646511218349 + euclidean_error: 0.5820882287404113 + base_right_marker_pose: + angle_rotation_error: 3.1169965089497427 + euclidean_error: 0.5788975927044084 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0773319714053655 + euclidean_error: 0.5784687877270888 + wrist_top_marker_pose: + angle_rotation_error: 3.111495945623674 + euclidean_error: 0.5803689126963024 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10824469054136 + euclidean_error: 0.5822168993611108 + base_right_marker_pose: + angle_rotation_error: 3.139273498100826 + euclidean_error: 0.5789667241219892 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0969189036113267 + euclidean_error: 0.5785516622219605 + wrist_top_marker_pose: + angle_rotation_error: 3.091622865207143 + euclidean_error: 0.5803368855044994 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1076878936091115 + euclidean_error: 0.5820997010665145 + base_right_marker_pose: + angle_rotation_error: 3.1240923950804995 + euclidean_error: 0.578839063615622 + shoulder_marker_pose: + angle_rotation_error: 3.1117844894501183 + euclidean_error: 0.5812387227103674 + wrist_inside_marker_pose: + angle_rotation_error: 3.0804934904468992 + euclidean_error: 0.5785575309904329 + wrist_top_marker_pose: + angle_rotation_error: 3.1079018512519108 + euclidean_error: 0.58030619134265 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118148768497808 + euclidean_error: 0.5821209762162479 + base_right_marker_pose: + angle_rotation_error: 3.133234269033337 + euclidean_error: 0.5788653540124065 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088738413533241 + euclidean_error: 0.5785191693944638 + wrist_top_marker_pose: + angle_rotation_error: 3.0991691191879376 + euclidean_error: 0.5800886598034529 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107180825826612 + euclidean_error: 0.5821149060775863 + base_right_marker_pose: + angle_rotation_error: 3.1180002946482976 + euclidean_error: 0.5789854364216125 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0839957068349895 + euclidean_error: 0.5784510754024973 + wrist_top_marker_pose: + angle_rotation_error: 3.1332212582113383 + euclidean_error: 0.5802745379478615 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1100304067444675 + euclidean_error: 0.5822539139272874 + base_right_marker_pose: + angle_rotation_error: 3.1262249454869164 + euclidean_error: 0.5789550281811566 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.102920283659702 + euclidean_error: 0.5785526446249846 + wrist_top_marker_pose: + angle_rotation_error: 3.1036605855314954 + euclidean_error: 0.5802138416160855 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1161576838677343 + euclidean_error: 0.5820765454209321 + base_right_marker_pose: + angle_rotation_error: 3.1331071090618545 + euclidean_error: 0.5789507238020503 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0868503027025085 + euclidean_error: 0.5784724739124768 + wrist_top_marker_pose: + angle_rotation_error: 3.129477351179683 + euclidean_error: 0.5801754631671451 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110439678819791 + euclidean_error: 0.5820025532385158 + base_right_marker_pose: + angle_rotation_error: 3.12725198215544 + euclidean_error: 0.5789964948613168 + shoulder_marker_pose: + angle_rotation_error: 3.112840878583693 + euclidean_error: 0.5811367382392053 + wrist_inside_marker_pose: + angle_rotation_error: 3.0931162486534647 + euclidean_error: 0.5785543568467217 + wrist_top_marker_pose: + angle_rotation_error: 3.1092147342740586 + euclidean_error: 0.5801958646508537 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107173829980636 + euclidean_error: 0.5822426640541918 + base_right_marker_pose: + angle_rotation_error: 3.134036004088752 + euclidean_error: 0.5790112141339575 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1094602658717982 + euclidean_error: 0.5786558770778069 + wrist_top_marker_pose: + angle_rotation_error: 3.1074532910482744 + euclidean_error: 0.5803529168885604 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113251390647302 + euclidean_error: 0.582140788231732 + base_right_marker_pose: + angle_rotation_error: 3.130460981384008 + euclidean_error: 0.5789902951113844 + shoulder_marker_pose: + angle_rotation_error: 3.107634957387399 + euclidean_error: 0.5812226169498544 + wrist_inside_marker_pose: + angle_rotation_error: 3.1035796807806455 + euclidean_error: 0.5785568303676649 + wrist_top_marker_pose: + angle_rotation_error: 3.1045149803831817 + euclidean_error: 0.5804232183265399 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10984622259076 + euclidean_error: 0.582074093139565 + base_right_marker_pose: + angle_rotation_error: 3.13950495691484 + euclidean_error: 0.578867194746393 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.095158955750778 + euclidean_error: 0.5785376656786543 + wrist_top_marker_pose: + angle_rotation_error: 3.1052771473088643 + euclidean_error: 0.5801685297308113 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1152893180495163 + euclidean_error: 0.582124767179374 + base_right_marker_pose: + angle_rotation_error: 3.1211846858109613 + euclidean_error: 0.5788857449115987 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0825007414041123 + euclidean_error: 0.578441004281735 + wrist_top_marker_pose: + angle_rotation_error: 3.09928626307911 + euclidean_error: 0.5804025170988584 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.128382918054468 + euclidean_error: 0.5820553148774475 + base_right_marker_pose: + angle_rotation_error: 3.12068421154457 + euclidean_error: 0.5791246954608603 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0912764488598854 + euclidean_error: 0.5784635764182469 + wrist_top_marker_pose: + angle_rotation_error: 3.1364607255005494 + euclidean_error: 0.5801951337851536 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1094418057487556 + euclidean_error: 0.5821582139831526 + base_right_marker_pose: + angle_rotation_error: 3.125630118221122 + euclidean_error: 0.578946244189942 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0834388061816225 + euclidean_error: 0.5784225788012555 + wrist_top_marker_pose: + angle_rotation_error: 3.1289294009533313 + euclidean_error: 0.5802782023475301 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113731014652259 + euclidean_error: 0.5821754158454038 + base_right_marker_pose: + angle_rotation_error: 3.1192091758064033 + euclidean_error: 0.5789946891394455 + shoulder_marker_pose: + angle_rotation_error: 3.1127585227974577 + euclidean_error: 0.581221952697358 + wrist_inside_marker_pose: + angle_rotation_error: 3.0866206656743542 + euclidean_error: 0.5784867864208235 + wrist_top_marker_pose: + angle_rotation_error: 3.0832747022624485 + euclidean_error: 0.5803754050600872 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116536064056748 + euclidean_error: 0.5820546796453104 + base_right_marker_pose: + angle_rotation_error: 3.133308926886767 + euclidean_error: 0.5789821859436998 + shoulder_marker_pose: + angle_rotation_error: 3.1179282185515045 + euclidean_error: 0.5812959295557895 + wrist_inside_marker_pose: + angle_rotation_error: 3.0970247504506156 + euclidean_error: 0.578555039918503 + wrist_top_marker_pose: + angle_rotation_error: 3.1100410986026805 + euclidean_error: 0.5803303089326736 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108108843751444 + euclidean_error: 0.5821160223648086 + base_right_marker_pose: + angle_rotation_error: 3.1391489792339 + euclidean_error: 0.5789870358307829 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.09982573479326 + euclidean_error: 0.578593303777536 + wrist_top_marker_pose: + angle_rotation_error: 3.1292064547678993 + euclidean_error: 0.5801964514665897 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109413821730152 + euclidean_error: 0.5822097915758201 + base_right_marker_pose: + angle_rotation_error: 3.115353364186781 + euclidean_error: 0.5790438528476824 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1065076239297134 + euclidean_error: 0.578605971960806 + wrist_top_marker_pose: + angle_rotation_error: 3.131098004910399 + euclidean_error: 0.5801604141234423 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1192382493212563 + euclidean_error: 0.5820226899983988 + base_right_marker_pose: + angle_rotation_error: 3.1290292959625248 + euclidean_error: 0.579010402769885 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088591075661169 + euclidean_error: 0.5785008380839658 + wrist_top_marker_pose: + angle_rotation_error: 3.114414471208595 + euclidean_error: 0.5802158013670164 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1193064139135074 + euclidean_error: 0.5820998525478442 + base_right_marker_pose: + angle_rotation_error: 3.1334433634367884 + euclidean_error: 0.5788785121729002 + shoulder_marker_pose: + angle_rotation_error: 3.1198024649135516 + euclidean_error: 0.581271728823334 + wrist_inside_marker_pose: + angle_rotation_error: 3.0889701306848645 + euclidean_error: 0.5784945255390903 + wrist_top_marker_pose: + angle_rotation_error: 3.1301788271786184 + euclidean_error: 0.5803615377306867 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115259602728414 + euclidean_error: 0.5822332627241643 + base_right_marker_pose: + angle_rotation_error: 3.126871163078021 + euclidean_error: 0.5790433412710797 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1009022371164643 + euclidean_error: 0.5785291328807097 + wrist_top_marker_pose: + angle_rotation_error: 3.1201547787649644 + euclidean_error: 0.5801675005775894 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116070863788493 + euclidean_error: 0.5820712295931808 + base_right_marker_pose: + angle_rotation_error: 3.118153206214939 + euclidean_error: 0.5789240279261069 + shoulder_marker_pose: + angle_rotation_error: 3.105917442624633 + euclidean_error: 0.5811321366423531 + wrist_inside_marker_pose: + angle_rotation_error: 3.1025703271687464 + euclidean_error: 0.5786043924320767 + wrist_top_marker_pose: + angle_rotation_error: 3.1117849173481105 + euclidean_error: 0.5802645619380168 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1155213629831957 + euclidean_error: 0.5821049120257721 + base_right_marker_pose: + angle_rotation_error: 3.1288672087667657 + euclidean_error: 0.5789574273150295 + shoulder_marker_pose: + angle_rotation_error: 3.110159282844806 + euclidean_error: 0.5813326255631109 + wrist_inside_marker_pose: + angle_rotation_error: 3.0959518600257376 + euclidean_error: 0.5785804074479775 + wrist_top_marker_pose: + angle_rotation_error: 3.121939370564627 + euclidean_error: 0.5803100554354942 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1246692226502906 + euclidean_error: 0.5821339511240549 + base_right_marker_pose: + angle_rotation_error: 3.1384319858772254 + euclidean_error: 0.5791981095380745 + shoulder_marker_pose: + angle_rotation_error: 3.1079475915467336 + euclidean_error: 0.5812775037881952 + wrist_inside_marker_pose: + angle_rotation_error: 3.101184728492762 + euclidean_error: 0.5785816636430795 + wrist_top_marker_pose: + angle_rotation_error: 3.120700795578401 + euclidean_error: 0.5801946353850326 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1098270620168607 + euclidean_error: 0.5821918455251954 + base_right_marker_pose: + angle_rotation_error: 3.1402860018418717 + euclidean_error: 0.5791002871552158 + shoulder_marker_pose: + angle_rotation_error: 3.0949746302040735 + euclidean_error: 0.5812028671565815 + wrist_inside_marker_pose: + angle_rotation_error: 3.099146850938451 + euclidean_error: 0.5786169583429224 + wrist_top_marker_pose: + angle_rotation_error: 3.111322058354294 + euclidean_error: 0.5802076037009528 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.108213324778343 + euclidean_error: 0.5821212555979808 + base_right_marker_pose: + angle_rotation_error: 3.133083461818308 + euclidean_error: 0.578828156780331 + shoulder_marker_pose: + angle_rotation_error: 3.109639600464637 + euclidean_error: 0.5812510871857232 + wrist_inside_marker_pose: + angle_rotation_error: 3.096242927443664 + euclidean_error: 0.5785970102242675 + wrist_top_marker_pose: + angle_rotation_error: 3.1152041878412797 + euclidean_error: 0.5802486692580431 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119137954867458 + euclidean_error: 0.5821743132937616 + base_right_marker_pose: + angle_rotation_error: 3.122655470523501 + euclidean_error: 0.5790743319205419 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089512518685012 + euclidean_error: 0.5785501901146995 + wrist_top_marker_pose: + angle_rotation_error: 3.1237713600238846 + euclidean_error: 0.5802998103653126 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1189274864448224 + euclidean_error: 0.5819662028641835 + base_right_marker_pose: + angle_rotation_error: 3.1398128129195517 + euclidean_error: 0.5789216930575667 + shoulder_marker_pose: + angle_rotation_error: 3.115096983096762 + euclidean_error: 0.5812083798444218 + wrist_inside_marker_pose: + angle_rotation_error: 3.075825285504121 + euclidean_error: 0.5784773046296321 + wrist_top_marker_pose: + angle_rotation_error: 3.131670890157791 + euclidean_error: 0.5803731730522614 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107691863791824 + euclidean_error: 0.5822410655683598 + base_right_marker_pose: + angle_rotation_error: 3.126376713037396 + euclidean_error: 0.5789975631060116 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.102302200326761 + euclidean_error: 0.5786110259661024 + wrist_top_marker_pose: + angle_rotation_error: 3.1031881682631153 + euclidean_error: 0.5802781806469369 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1233622590150736 + euclidean_error: 0.582091387813166 + base_right_marker_pose: + angle_rotation_error: 3.1409516474716677 + euclidean_error: 0.5788441622649728 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.072467695665038 + euclidean_error: 0.5783994231147691 + wrist_top_marker_pose: + angle_rotation_error: 3.114807256586985 + euclidean_error: 0.580126504234347 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118049219789993 + euclidean_error: 0.5821102759228445 + base_right_marker_pose: + angle_rotation_error: 3.133395239778248 + euclidean_error: 0.5789521089623928 + shoulder_marker_pose: + angle_rotation_error: 3.114920154945124 + euclidean_error: 0.5813196477201882 + wrist_inside_marker_pose: + angle_rotation_error: 3.1023858554449544 + euclidean_error: 0.5786311386485593 + wrist_top_marker_pose: + angle_rotation_error: 3.0991684177490644 + euclidean_error: 0.5802454386712121 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107352112594396 + euclidean_error: 0.5821482646752554 + base_right_marker_pose: + angle_rotation_error: 3.136665862868018 + euclidean_error: 0.579018814976099 + shoulder_marker_pose: + angle_rotation_error: 3.111673104101385 + euclidean_error: 0.5812230847287583 + wrist_inside_marker_pose: + angle_rotation_error: 3.0918202928404974 + euclidean_error: 0.5784725543008445 + wrist_top_marker_pose: + angle_rotation_error: 3.1072718436488036 + euclidean_error: 0.5802528347714703 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1128606719978955 + euclidean_error: 0.5820437637139978 + base_right_marker_pose: + angle_rotation_error: 3.1170246108631154 + euclidean_error: 0.5790281281022762 + shoulder_marker_pose: + angle_rotation_error: 3.114940139835131 + euclidean_error: 0.5813225143025559 + wrist_inside_marker_pose: + angle_rotation_error: 3.0752935774499273 + euclidean_error: 0.5784097505139356 + wrist_top_marker_pose: + angle_rotation_error: 3.1140852287683485 + euclidean_error: 0.5800820356210431 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1203499364649274 + euclidean_error: 0.5820413342960334 + base_right_marker_pose: + angle_rotation_error: 3.1382762710992482 + euclidean_error: 0.5789277784539639 + shoulder_marker_pose: + angle_rotation_error: 3.116372673030142 + euclidean_error: 0.5813327711621644 + wrist_inside_marker_pose: + angle_rotation_error: 3.1176756518258846 + euclidean_error: 0.5786797888381746 + wrist_top_marker_pose: + angle_rotation_error: 3.106098601868185 + euclidean_error: 0.580161518498538 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1191549119644395 + euclidean_error: 0.582099080668243 + base_right_marker_pose: + angle_rotation_error: 3.1287437128156985 + euclidean_error: 0.5791112674378438 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0772510567136724 + euclidean_error: 0.5784406884183692 + wrist_top_marker_pose: + angle_rotation_error: 3.1213157718106395 + euclidean_error: 0.5802802664026206 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116862521514758 + euclidean_error: 0.5820966595132171 + base_right_marker_pose: + angle_rotation_error: 3.130728658113012 + euclidean_error: 0.5790194722740366 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0765554717503716 + euclidean_error: 0.5784229384643144 + wrist_top_marker_pose: + angle_rotation_error: 3.1238884374999425 + euclidean_error: 0.5803173896310329 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.110356517069499 + euclidean_error: 0.5821358810547717 + base_right_marker_pose: + angle_rotation_error: 3.133786385077142 + euclidean_error: 0.5789184691441913 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.080533789446005 + euclidean_error: 0.5784296464235791 + wrist_top_marker_pose: + angle_rotation_error: 3.124541359033025 + euclidean_error: 0.5802018123737631 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1034735505268776 + euclidean_error: 0.582282661434997 + base_right_marker_pose: + angle_rotation_error: 3.1277083375983095 + euclidean_error: 0.5789417676484507 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1204900418405135 + euclidean_error: 0.578718691172312 + wrist_top_marker_pose: + angle_rotation_error: 3.1086021543738953 + euclidean_error: 0.5804507992241233 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1146431930266036 + euclidean_error: 0.5822438473015101 + base_right_marker_pose: + angle_rotation_error: 3.132115102480835 + euclidean_error: 0.5789850453740678 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.103928662615585 + euclidean_error: 0.5785703602630856 + wrist_top_marker_pose: + angle_rotation_error: 3.0988879083084973 + euclidean_error: 0.5803740330254773 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1180888800795854 + euclidean_error: 0.5819335927885055 + base_right_marker_pose: + angle_rotation_error: 3.133205915889978 + euclidean_error: 0.5789517987536414 + shoulder_marker_pose: + angle_rotation_error: 3.1144502344061356 + euclidean_error: 0.5813090538271702 + wrist_inside_marker_pose: + angle_rotation_error: 3.091338549138605 + euclidean_error: 0.5785147343159663 + wrist_top_marker_pose: + angle_rotation_error: 3.1113596330639695 + euclidean_error: 0.5803222338157219 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119669844675792 + euclidean_error: 0.5821898136772613 + base_right_marker_pose: + angle_rotation_error: 3.1365011988719376 + euclidean_error: 0.5788629741009492 + shoulder_marker_pose: + angle_rotation_error: 3.1106548472881372 + euclidean_error: 0.5813460385551388 + wrist_inside_marker_pose: + angle_rotation_error: 3.0886168730739465 + euclidean_error: 0.5784516953565264 + wrist_top_marker_pose: + angle_rotation_error: 3.135065550826715 + euclidean_error: 0.580293441277911 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.128095639537081 + euclidean_error: 0.5821558178312268 + base_right_marker_pose: + angle_rotation_error: 3.13332088582592 + euclidean_error: 0.5791662586759173 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0888170312599805 + euclidean_error: 0.5784595892909421 + wrist_top_marker_pose: + angle_rotation_error: 3.1247083042575445 + euclidean_error: 0.580437043441823 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121713232041953 + euclidean_error: 0.5821832512937825 + base_right_marker_pose: + angle_rotation_error: 3.126355997859574 + euclidean_error: 0.5790100700802225 + shoulder_marker_pose: + angle_rotation_error: 3.1165016531749408 + euclidean_error: 0.5811956205404099 + wrist_inside_marker_pose: + angle_rotation_error: 3.0873590443050367 + euclidean_error: 0.5785301664398442 + wrist_top_marker_pose: + angle_rotation_error: 3.105280449967967 + euclidean_error: 0.5804203939892819 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1132791243570517 + euclidean_error: 0.5821638428988585 + base_right_marker_pose: + angle_rotation_error: 3.138626292066048 + euclidean_error: 0.5790032464067884 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0948755947187534 + euclidean_error: 0.5784670486275095 + wrist_top_marker_pose: + angle_rotation_error: 3.100855711435856 + euclidean_error: 0.5802242116469739 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1084490622401644 + euclidean_error: 0.5820223692404636 + base_right_marker_pose: + angle_rotation_error: 3.1186548239653846 + euclidean_error: 0.5789257180177952 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.082415195901105 + euclidean_error: 0.5784941494202038 + wrist_top_marker_pose: + angle_rotation_error: 3.0968545970002963 + euclidean_error: 0.5803336826983024 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.113710309989981 + euclidean_error: 0.5822132166109184 + base_right_marker_pose: + angle_rotation_error: 3.1338873785160084 + euclidean_error: 0.578961241892731 + shoulder_marker_pose: + angle_rotation_error: 3.1126238288518993 + euclidean_error: 0.5812186656204867 + wrist_inside_marker_pose: + angle_rotation_error: 3.106952095787426 + euclidean_error: 0.5786738110265723 + wrist_top_marker_pose: + angle_rotation_error: 3.137376812838192 + euclidean_error: 0.5803181789016327 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1123873009363687 + euclidean_error: 0.5820760250847301 + base_right_marker_pose: + angle_rotation_error: 3.1397415100910786 + euclidean_error: 0.578874204919485 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0896254107593433 + euclidean_error: 0.5784992695699457 + wrist_top_marker_pose: + angle_rotation_error: 3.127700018416938 + euclidean_error: 0.580242301271515 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1050290784550505 + euclidean_error: 0.582146634256768 + base_right_marker_pose: + angle_rotation_error: 3.127829523305943 + euclidean_error: 0.5791092887388714 + shoulder_marker_pose: + angle_rotation_error: 3.1189959417056965 + euclidean_error: 0.5812205086421331 + wrist_inside_marker_pose: + angle_rotation_error: 3.0919659636581773 + euclidean_error: 0.5785165813050192 + wrist_top_marker_pose: + angle_rotation_error: 3.1345600850863224 + euclidean_error: 0.5801976993938381 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119312023213924 + euclidean_error: 0.5822172672968355 + base_right_marker_pose: + angle_rotation_error: 3.1246848576141706 + euclidean_error: 0.5790785141897231 + shoulder_marker_pose: + angle_rotation_error: 3.1174489781765384 + euclidean_error: 0.5812061872322413 + wrist_inside_marker_pose: + angle_rotation_error: 3.099162038235617 + euclidean_error: 0.5785640352182239 + wrist_top_marker_pose: + angle_rotation_error: 3.1208247650209793 + euclidean_error: 0.5802923334247445 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.114238181257479 + euclidean_error: 0.5821711152136958 + base_right_marker_pose: + angle_rotation_error: 3.1295562459044426 + euclidean_error: 0.5789473669274527 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0971080728232083 + euclidean_error: 0.5785742995742947 + wrist_top_marker_pose: + angle_rotation_error: 3.1047458924743663 + euclidean_error: 0.5804092416663603 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1108536221402523 + euclidean_error: 0.582105668128925 + base_right_marker_pose: + angle_rotation_error: 3.1273966015441492 + euclidean_error: 0.5789915560619833 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.087400318493365 + euclidean_error: 0.5785625287605731 + wrist_top_marker_pose: + angle_rotation_error: 3.1099704802770254 + euclidean_error: 0.5803574167445632 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1127008724506897 + euclidean_error: 0.582026552160672 + base_right_marker_pose: + angle_rotation_error: 3.1386823119301157 + euclidean_error: 0.5790986900627467 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1139030379395107 + euclidean_error: 0.5787128878556744 + wrist_top_marker_pose: + angle_rotation_error: 3.087043924295106 + euclidean_error: 0.5803828830878195 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1200132075896287 + euclidean_error: 0.5820355879323906 + base_right_marker_pose: + angle_rotation_error: 3.123101038479745 + euclidean_error: 0.5790610147625229 + shoulder_marker_pose: + angle_rotation_error: 3.117220049659157 + euclidean_error: 0.581278102396086 + wrist_inside_marker_pose: + angle_rotation_error: 3.086584483541866 + euclidean_error: 0.5785156654154368 + wrist_top_marker_pose: + angle_rotation_error: 3.1030892588897774 + euclidean_error: 0.5801799066457611 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1153439952024797 + euclidean_error: 0.5822246865684796 + base_right_marker_pose: + angle_rotation_error: 3.1395364313441427 + euclidean_error: 0.579181602184417 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.104867328036361 + euclidean_error: 0.5785952436812255 + wrist_top_marker_pose: + angle_rotation_error: 3.101551283591592 + euclidean_error: 0.5802956349854371 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107641754161184 + euclidean_error: 0.5820931688226554 + base_right_marker_pose: + angle_rotation_error: 3.1318089315708675 + euclidean_error: 0.5790337366455047 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.116297699451769 + euclidean_error: 0.5786486936131829 + wrist_top_marker_pose: + angle_rotation_error: 3.1011730906180595 + euclidean_error: 0.5802640556258297 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1133694997188552 + euclidean_error: 0.5821230749314791 + base_right_marker_pose: + angle_rotation_error: 3.1396488993267555 + euclidean_error: 0.5790896817170518 + shoulder_marker_pose: + angle_rotation_error: 3.102094680374208 + euclidean_error: 0.58131643704948 + wrist_inside_marker_pose: + angle_rotation_error: 3.1132208461410973 + euclidean_error: 0.5785856895866245 + wrist_top_marker_pose: + angle_rotation_error: 3.1228048834243434 + euclidean_error: 0.5801733598322433 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.121480268378386 + euclidean_error: 0.5820083996695149 + base_right_marker_pose: + angle_rotation_error: 3.128369830461477 + euclidean_error: 0.5790919137486571 + shoulder_marker_pose: + angle_rotation_error: 3.10800710809503 + euclidean_error: 0.5813297123351475 + wrist_inside_marker_pose: + angle_rotation_error: 3.093658571656111 + euclidean_error: 0.5785243302575706 + wrist_top_marker_pose: + angle_rotation_error: 3.109606338647592 + euclidean_error: 0.5802989095887502 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1083823638412253 + euclidean_error: 0.5820841694143869 + base_right_marker_pose: + angle_rotation_error: 3.134932437811622 + euclidean_error: 0.5791519541478813 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.106551520579069 + euclidean_error: 0.578563367066663 + wrist_top_marker_pose: + angle_rotation_error: 3.116325206102473 + euclidean_error: 0.5803228965298681 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1106553210092143 + euclidean_error: 0.5820918363267854 + base_right_marker_pose: + angle_rotation_error: 3.119120405637446 + euclidean_error: 0.5788152232732133 + shoulder_marker_pose: + angle_rotation_error: 3.116140886812704 + euclidean_error: 0.5812843463016395 + wrist_inside_marker_pose: + angle_rotation_error: 3.1205205719043168 + euclidean_error: 0.5786954177120944 + wrist_top_marker_pose: + angle_rotation_error: 3.107772465488679 + euclidean_error: 0.5802917192238309 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1222101103338344 + euclidean_error: 0.5820495878787084 + base_right_marker_pose: + angle_rotation_error: 3.132506289707607 + euclidean_error: 0.5790686557427619 + shoulder_marker_pose: + angle_rotation_error: 3.1168162160911503 + euclidean_error: 0.5813177535748825 + wrist_inside_marker_pose: + angle_rotation_error: 3.0855436585482776 + euclidean_error: 0.5784932069848345 + wrist_top_marker_pose: + angle_rotation_error: 3.1143951523099296 + euclidean_error: 0.5803989490089758 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0978995675866585 + euclidean_error: 0.5820400571616362 + base_right_marker_pose: + angle_rotation_error: 3.121647232424693 + euclidean_error: 0.5788823782987886 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.077304395263971 + euclidean_error: 0.5784599418830542 + wrist_top_marker_pose: + angle_rotation_error: 3.1121946711627944 + euclidean_error: 0.5801000749902523 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0924844076033353 + euclidean_error: 0.5822999993154119 + base_right_marker_pose: + angle_rotation_error: 3.1403506418329745 + euclidean_error: 0.5790046606203748 + shoulder_marker_pose: + angle_rotation_error: 3.1210294702407 + euclidean_error: 0.5813192254248442 + wrist_inside_marker_pose: + angle_rotation_error: 3.0832066129534264 + euclidean_error: 0.5784123561162366 + wrist_top_marker_pose: + angle_rotation_error: 3.110040749741995 + euclidean_error: 0.5802044914994694 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116074068152913 + euclidean_error: 0.5821352149892434 + base_right_marker_pose: + angle_rotation_error: 3.1284632284791996 + euclidean_error: 0.5790712319748689 + shoulder_marker_pose: + angle_rotation_error: 3.1277506878667487 + euclidean_error: 0.5812271027650493 + wrist_inside_marker_pose: + angle_rotation_error: 3.0863258967354854 + euclidean_error: 0.5784301684497661 + wrist_top_marker_pose: + angle_rotation_error: 3.1063522016384875 + euclidean_error: 0.5801592634256943 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1018080287049297 + euclidean_error: 0.5820920841393347 + base_right_marker_pose: + angle_rotation_error: 3.126090775280775 + euclidean_error: 0.579016670721353 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.105195574510842 + euclidean_error: 0.5786608294763692 + wrist_top_marker_pose: + angle_rotation_error: 3.1143702390374877 + euclidean_error: 0.5800584274742453 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109605360986118 + euclidean_error: 0.5821223110478221 + base_right_marker_pose: + angle_rotation_error: 3.1401045887001002 + euclidean_error: 0.5787058658561236 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.090249124503432 + euclidean_error: 0.5785453586303879 + wrist_top_marker_pose: + angle_rotation_error: 3.1347158494379026 + euclidean_error: 0.5803430447886089 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115427463955204 + euclidean_error: 0.5822082794708798 + base_right_marker_pose: + angle_rotation_error: 3.135290736022074 + euclidean_error: 0.5788473678935743 + shoulder_marker_pose: + angle_rotation_error: 3.1130117792344154 + euclidean_error: 0.5812827511296618 + wrist_inside_marker_pose: + angle_rotation_error: 3.1024974731166304 + euclidean_error: 0.5785288993787634 + wrist_top_marker_pose: + angle_rotation_error: 3.1108466789459466 + euclidean_error: 0.5803456444220207 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1091168496736437 + euclidean_error: 0.5820503837253971 + base_right_marker_pose: + angle_rotation_error: 3.1293787363002874 + euclidean_error: 0.5788883931391373 + shoulder_marker_pose: + angle_rotation_error: 3.1214055179513904 + euclidean_error: 0.5812156295581747 + wrist_inside_marker_pose: + angle_rotation_error: 3.109521665107495 + euclidean_error: 0.5786371027272686 + wrist_top_marker_pose: + angle_rotation_error: 3.1175341615363075 + euclidean_error: 0.5802425996863624 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1067248498469144 + euclidean_error: 0.5822705330688209 + base_right_marker_pose: + angle_rotation_error: 3.12856093710607 + euclidean_error: 0.5789424787370417 + shoulder_marker_pose: + angle_rotation_error: 3.114511675660023 + euclidean_error: 0.5811035941663579 + wrist_inside_marker_pose: + angle_rotation_error: 3.0968129283576777 + euclidean_error: 0.5785271703634187 + wrist_top_marker_pose: + angle_rotation_error: 3.1061091984266644 + euclidean_error: 0.5801354389855843 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1082973098529654 + euclidean_error: 0.5820851407956427 + base_right_marker_pose: + angle_rotation_error: 3.132335692465332 + euclidean_error: 0.5790846834307989 + shoulder_marker_pose: + angle_rotation_error: 3.1206421368508264 + euclidean_error: 0.5811735371120967 + wrist_inside_marker_pose: + angle_rotation_error: 3.107460562088798 + euclidean_error: 0.5786476174768646 + wrist_top_marker_pose: + angle_rotation_error: 3.126155832891878 + euclidean_error: 0.5800818886534822 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.118576831903542 + euclidean_error: 0.5821207077696168 + base_right_marker_pose: + angle_rotation_error: 3.128659956249575 + euclidean_error: 0.5791669240685846 + shoulder_marker_pose: + angle_rotation_error: 3.1074404987182542 + euclidean_error: 0.5812474684566284 + wrist_inside_marker_pose: + angle_rotation_error: 3.101015334282187 + euclidean_error: 0.5786244322745192 + wrist_top_marker_pose: + angle_rotation_error: 3.1168016500055606 + euclidean_error: 0.5804497970930607 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1017789006392706 + euclidean_error: 0.5821735356949056 + base_right_marker_pose: + angle_rotation_error: 3.1409674727680996 + euclidean_error: 0.5790404455806702 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.118999394595321 + euclidean_error: 0.5786433939851379 + wrist_top_marker_pose: + angle_rotation_error: 3.1214868107692415 + euclidean_error: 0.580293725106114 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124913901146303 + euclidean_error: 0.5820996222621454 + base_right_marker_pose: + angle_rotation_error: 3.1312961163365256 + euclidean_error: 0.5790030165520795 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0876566296016734 + euclidean_error: 0.5783925252153475 + wrist_top_marker_pose: + angle_rotation_error: 3.123825438135076 + euclidean_error: 0.5804345925413904 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.10866686264731 + euclidean_error: 0.5821525675428824 + base_right_marker_pose: + angle_rotation_error: 3.133211516950066 + euclidean_error: 0.5787628229714429 + shoulder_marker_pose: + angle_rotation_error: 3.1036789613982787 + euclidean_error: 0.5811980416182737 + wrist_inside_marker_pose: + angle_rotation_error: 3.0877777305306147 + euclidean_error: 0.5784414987542139 + wrist_top_marker_pose: + angle_rotation_error: 3.1077597349904407 + euclidean_error: 0.5802666522070394 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1232415471210144 + euclidean_error: 0.5820005674931119 + base_right_marker_pose: + angle_rotation_error: 3.1309894968804803 + euclidean_error: 0.578864037898463 + shoulder_marker_pose: + angle_rotation_error: 3.1124307935095685 + euclidean_error: 0.5812393416284573 + wrist_inside_marker_pose: + angle_rotation_error: 3.1207437870091135 + euclidean_error: 0.5786303960540068 + wrist_top_marker_pose: + angle_rotation_error: 3.1386321331624565 + euclidean_error: 0.5804286431443565 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1105846110124853 + euclidean_error: 0.5822186652589586 + base_right_marker_pose: + angle_rotation_error: 3.121357451896953 + euclidean_error: 0.579204390649478 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.102648019940483 + euclidean_error: 0.5785719288057285 + wrist_top_marker_pose: + angle_rotation_error: 3.1026241964027266 + euclidean_error: 0.5801986332138473 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117836770464763 + euclidean_error: 0.5820145745243337 + base_right_marker_pose: + angle_rotation_error: 3.140420827864748 + euclidean_error: 0.5788363748169127 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1018198224914535 + euclidean_error: 0.5785563182990641 + wrist_top_marker_pose: + angle_rotation_error: 3.100381682302269 + euclidean_error: 0.5802689164125507 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.102972732262604 + euclidean_error: 0.5822069832735087 + base_right_marker_pose: + angle_rotation_error: 3.122544503473639 + euclidean_error: 0.5790607893259265 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0887528062891922 + euclidean_error: 0.5785650512281578 + wrist_top_marker_pose: + angle_rotation_error: 3.1107294878359912 + euclidean_error: 0.5803227328383388 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112524044467079 + euclidean_error: 0.5820819602733927 + base_right_marker_pose: + angle_rotation_error: 3.1234300760440665 + euclidean_error: 0.5787559908854462 + shoulder_marker_pose: + angle_rotation_error: 3.115368505024866 + euclidean_error: 0.5811097617205694 + wrist_inside_marker_pose: + angle_rotation_error: 3.1019903443518846 + euclidean_error: 0.5785612510934841 + wrist_top_marker_pose: + angle_rotation_error: 3.113690400729173 + euclidean_error: 0.5802620576281889 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1198848865218807 + euclidean_error: 0.5820361338501673 + base_right_marker_pose: + angle_rotation_error: 3.1373890087411374 + euclidean_error: 0.5789473861141459 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0894233879266895 + euclidean_error: 0.5785203087477825 + wrist_top_marker_pose: + angle_rotation_error: 3.1067651264685545 + euclidean_error: 0.5802143385092694 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.124885641914667 + euclidean_error: 0.5820928778765233 + base_right_marker_pose: + angle_rotation_error: 3.121378134008192 + euclidean_error: 0.5789418272184199 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1108801461869504 + euclidean_error: 0.5786331494474374 + wrist_top_marker_pose: + angle_rotation_error: 3.11820019197019 + euclidean_error: 0.5802535467593273 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1069542587245196 + euclidean_error: 0.5821521557213584 + base_right_marker_pose: + angle_rotation_error: 3.139757024060486 + euclidean_error: 0.5788744949991205 + shoulder_marker_pose: + angle_rotation_error: 3.103427490267488 + euclidean_error: 0.5812523681697447 + wrist_inside_marker_pose: + angle_rotation_error: 3.1097829604513114 + euclidean_error: 0.5786024698645211 + wrist_top_marker_pose: + angle_rotation_error: 3.1130101192417445 + euclidean_error: 0.5803241910844331 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112726201623626 + euclidean_error: 0.5821051207852196 + base_right_marker_pose: + angle_rotation_error: 3.130458794052488 + euclidean_error: 0.578967607671655 + shoulder_marker_pose: + angle_rotation_error: 3.1190186359671612 + euclidean_error: 0.581303908416678 + wrist_inside_marker_pose: + angle_rotation_error: 3.100277462124452 + euclidean_error: 0.5785491847554144 + wrist_top_marker_pose: + angle_rotation_error: 3.115623850446262 + euclidean_error: 0.5803997242131363 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1152229139029397 + euclidean_error: 0.582170607950811 + base_right_marker_pose: + angle_rotation_error: 3.127568235671936 + euclidean_error: 0.5789767717337376 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.112944296235865 + euclidean_error: 0.5786117278968822 + wrist_top_marker_pose: + angle_rotation_error: 3.107619495894997 + euclidean_error: 0.5803009869242208 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.107461942263374 + euclidean_error: 0.5820801422647472 + base_right_marker_pose: + angle_rotation_error: 3.12108148056392 + euclidean_error: 0.5788319112035406 + shoulder_marker_pose: + angle_rotation_error: 3.1154817095939387 + euclidean_error: 0.5812399021842376 + wrist_inside_marker_pose: + angle_rotation_error: 3.110533372893423 + euclidean_error: 0.578613823072294 + wrist_top_marker_pose: + angle_rotation_error: 3.110994428019062 + euclidean_error: 0.580198015425283 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1063748233331943 + euclidean_error: 0.5822516358291315 + base_right_marker_pose: + angle_rotation_error: 3.1336500892543313 + euclidean_error: 0.5788691717151344 + shoulder_marker_pose: + angle_rotation_error: 3.101064937904111 + euclidean_error: 0.5811598309991807 + wrist_inside_marker_pose: + angle_rotation_error: 3.1010834435852797 + euclidean_error: 0.5786263251281697 + wrist_top_marker_pose: + angle_rotation_error: 3.0951722019519243 + euclidean_error: 0.5802823212953724 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1041961062937538 + euclidean_error: 0.5820356345347755 + base_right_marker_pose: + angle_rotation_error: 3.139388484543012 + euclidean_error: 0.5789586098395978 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.089098013147275 + euclidean_error: 0.578501340823807 + wrist_top_marker_pose: + angle_rotation_error: 3.1181830216952418 + euclidean_error: 0.5802086751483271 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.115569247701777 + euclidean_error: 0.5820365416486617 + base_right_marker_pose: + angle_rotation_error: 3.1402560654890643 + euclidean_error: 0.5790610385499103 + shoulder_marker_pose: + angle_rotation_error: 3.0939974060278903 + euclidean_error: 0.5811643225336119 + wrist_inside_marker_pose: + angle_rotation_error: 3.100404544243776 + euclidean_error: 0.578523785661016 + wrist_top_marker_pose: + angle_rotation_error: 3.1038431103763093 + euclidean_error: 0.5803498276303535 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1246001869994666 + euclidean_error: 0.5819989241775013 + base_right_marker_pose: + angle_rotation_error: 3.1311760716664065 + euclidean_error: 0.578888953626524 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1161097629148564 + euclidean_error: 0.5786070450299707 + wrist_top_marker_pose: + angle_rotation_error: 3.100828463632272 + euclidean_error: 0.5803624221180936 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1046022519291423 + euclidean_error: 0.5821261324683864 + base_right_marker_pose: + angle_rotation_error: 3.1303645672439897 + euclidean_error: 0.5789346119749453 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0775612420019907 + euclidean_error: 0.5783548219476738 + wrist_top_marker_pose: + angle_rotation_error: 3.129927376193661 + euclidean_error: 0.5801211100494323 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119647958368367 + euclidean_error: 0.5821409009971829 + base_right_marker_pose: + angle_rotation_error: 3.1278896258419446 + euclidean_error: 0.5789599198182426 + shoulder_marker_pose: + angle_rotation_error: 3.1226749743346383 + euclidean_error: 0.5813372147731489 + wrist_inside_marker_pose: + angle_rotation_error: 3.105716627778276 + euclidean_error: 0.5786111187008302 + wrist_top_marker_pose: + angle_rotation_error: 3.0936200518442956 + euclidean_error: 0.5803354246930624 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1131207138668344 + euclidean_error: 0.5821086772901296 + base_right_marker_pose: + angle_rotation_error: 3.11974104204769 + euclidean_error: 0.5790119311224687 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1104894282516695 + euclidean_error: 0.5786484013259298 + wrist_top_marker_pose: + angle_rotation_error: 3.1030901799643233 + euclidean_error: 0.5803160633148507 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1097024216291116 + euclidean_error: 0.5821125072137506 + base_right_marker_pose: + angle_rotation_error: 3.123145076678252 + euclidean_error: 0.5789334163994249 + shoulder_marker_pose: + angle_rotation_error: 3.115945574661779 + euclidean_error: 0.581241452022209 + wrist_inside_marker_pose: + angle_rotation_error: 3.109566138055206 + euclidean_error: 0.5786302966916765 + wrist_top_marker_pose: + angle_rotation_error: 3.0877722982007425 + euclidean_error: 0.5802906824601499 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.106483717365139 + euclidean_error: 0.582073176901406 + base_right_marker_pose: + angle_rotation_error: 3.1220132315552624 + euclidean_error: 0.5792078684285824 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1084018025783053 + euclidean_error: 0.5785624369290986 + wrist_top_marker_pose: + angle_rotation_error: 3.11223092164088 + euclidean_error: 0.580276015188682 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1074726096439167 + euclidean_error: 0.5821108762620306 + base_right_marker_pose: + angle_rotation_error: 3.131642203213547 + euclidean_error: 0.578924726839283 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.1128359050006327 + euclidean_error: 0.5786445117179275 + wrist_top_marker_pose: + angle_rotation_error: 3.1120161009003735 + euclidean_error: 0.5802849352581828 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1124571402805254 + euclidean_error: 0.5819737585901286 + base_right_marker_pose: + angle_rotation_error: 3.135266091423946 + euclidean_error: 0.5791019903410652 + shoulder_marker_pose: + angle_rotation_error: 3.1051898514391216 + euclidean_error: 0.5812401782406655 + wrist_inside_marker_pose: + angle_rotation_error: 3.0923638004024387 + euclidean_error: 0.5785577026121579 + wrist_top_marker_pose: + angle_rotation_error: 3.0995738856277195 + euclidean_error: 0.5803196273357039 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.111224780586157 + euclidean_error: 0.5821223948862886 + base_right_marker_pose: + angle_rotation_error: 3.140041026722842 + euclidean_error: 0.5789279789749635 + shoulder_marker_pose: + angle_rotation_error: 3.113154758540538 + euclidean_error: 0.5811596395977843 + wrist_inside_marker_pose: + angle_rotation_error: 3.0880098834379477 + euclidean_error: 0.578584895186653 + wrist_top_marker_pose: + angle_rotation_error: 3.1059757480958283 + euclidean_error: 0.5802884259560568 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1096117092286857 + euclidean_error: 0.5821042189972258 + base_right_marker_pose: + angle_rotation_error: 3.125051998114501 + euclidean_error: 0.5789666527264016 + shoulder_marker_pose: + angle_rotation_error: 3.11279471297032 + euclidean_error: 0.5813230461065053 + wrist_inside_marker_pose: + angle_rotation_error: 3.0901148951358466 + euclidean_error: 0.5785122490087529 + wrist_top_marker_pose: + angle_rotation_error: 3.0930560082259637 + euclidean_error: 0.5803358173909984 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117396791992933 + euclidean_error: 0.5821690176011192 + base_right_marker_pose: + angle_rotation_error: 3.1241236230332263 + euclidean_error: 0.5790818142807904 + shoulder_marker_pose: + angle_rotation_error: 3.1033736256022766 + euclidean_error: 0.5811494641848367 + wrist_inside_marker_pose: + angle_rotation_error: 3.0800719693459784 + euclidean_error: 0.5784907824038878 + wrist_top_marker_pose: + angle_rotation_error: 3.0838107478606904 + euclidean_error: 0.5803427643579391 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.112325064015472 + euclidean_error: 0.582158732106081 + base_right_marker_pose: + angle_rotation_error: 3.1404584732064476 + euclidean_error: 0.5788997580758043 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.109641274808203 + euclidean_error: 0.5786128975602012 + wrist_top_marker_pose: + angle_rotation_error: 3.11608276281998 + euclidean_error: 0.5802386074530901 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.11640465934045 + euclidean_error: 0.5820898332756282 + base_right_marker_pose: + angle_rotation_error: 3.1266155888382325 + euclidean_error: 0.57916177435974 + shoulder_marker_pose: + angle_rotation_error: 3.1115352997371444 + euclidean_error: 0.5812676107309441 + wrist_inside_marker_pose: + angle_rotation_error: 3.1245481652168463 + euclidean_error: 0.5786910375688235 + wrist_top_marker_pose: + angle_rotation_error: 3.114072691247425 + euclidean_error: 0.580397586872938 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.0993170991298333 + euclidean_error: 0.5821817577069403 + base_right_marker_pose: + angle_rotation_error: 3.1336741474346352 + euclidean_error: 0.5788961134977212 + shoulder_marker_pose: + angle_rotation_error: 3.1134047025233063 + euclidean_error: 0.5812178203231676 + wrist_inside_marker_pose: + angle_rotation_error: 3.110158606294645 + euclidean_error: 0.5786087373603849 + wrist_top_marker_pose: + angle_rotation_error: 3.1084373857577576 + euclidean_error: 0.5801901270050654 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1106467857582865 + euclidean_error: 0.5820936001381604 + base_right_marker_pose: + angle_rotation_error: 3.133045840843295 + euclidean_error: 0.5791026087002247 + shoulder_marker_pose: + angle_rotation_error: 3.1074305972692344 + euclidean_error: 0.5811983391443739 + wrist_inside_marker_pose: + angle_rotation_error: 3.0648361210674278 + euclidean_error: 0.578471705865602 + wrist_top_marker_pose: + angle_rotation_error: 3.1127362958211786 + euclidean_error: 0.5801527793574696 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.12427678435872 + euclidean_error: 0.582085375922826 + base_right_marker_pose: + angle_rotation_error: 3.1367362626546598 + euclidean_error: 0.5790898096848712 + shoulder_marker_pose: + angle_rotation_error: 3.1110731374663665 + euclidean_error: 0.5811497432435103 + wrist_inside_marker_pose: + angle_rotation_error: 3.097813264260576 + euclidean_error: 0.57860270392796 + wrist_top_marker_pose: + angle_rotation_error: 3.0774888366686253 + euclidean_error: 0.580366954212768 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1087626890662303 + euclidean_error: 0.5820673164387972 + base_right_marker_pose: + angle_rotation_error: 3.132621446379392 + euclidean_error: 0.5790588418342785 + shoulder_marker_pose: + angle_rotation_error: 3.1130708530947717 + euclidean_error: 0.5812948337102174 + wrist_inside_marker_pose: + angle_rotation_error: 3.096111735029212 + euclidean_error: 0.5785564350160822 + wrist_top_marker_pose: + angle_rotation_error: 3.098836403689933 + euclidean_error: 0.5802464593937362 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1156639701048827 + euclidean_error: 0.5821486599484509 + base_right_marker_pose: + angle_rotation_error: 3.1227663957279566 + euclidean_error: 0.5790507629111581 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.109460093822195 + euclidean_error: 0.5785702946137056 + wrist_top_marker_pose: + angle_rotation_error: 3.091434918688915 + euclidean_error: 0.5803056003687326 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1168819510917767 + euclidean_error: 0.5820431439395612 + base_right_marker_pose: + angle_rotation_error: 3.126440848585874 + euclidean_error: 0.5790830051596287 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.088247736376504 + euclidean_error: 0.5784464307872097 + wrist_top_marker_pose: + angle_rotation_error: 3.1174656170760557 + euclidean_error: 0.5802028229943027 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.116189582506243 + euclidean_error: 0.5820672542213191 + base_right_marker_pose: + angle_rotation_error: 3.1314853508511646 + euclidean_error: 0.5790604355309854 + shoulder_marker_pose: + angle_rotation_error: 3.1230909686934507 + euclidean_error: 0.5813326147005102 + wrist_inside_marker_pose: + angle_rotation_error: 3.0955742937716275 + euclidean_error: 0.5785192429100151 + wrist_top_marker_pose: + angle_rotation_error: 3.0930025147224027 + euclidean_error: 0.5803333639217774 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1235174371368584 + euclidean_error: 0.582048018434371 + base_right_marker_pose: + angle_rotation_error: 3.1302243921119293 + euclidean_error: 0.5791405530506946 + shoulder_marker_pose: + angle_rotation_error: 3.118335856968237 + euclidean_error: 0.5811547030069829 + wrist_inside_marker_pose: + angle_rotation_error: 3.104401648402622 + euclidean_error: 0.5785303466693226 + wrist_top_marker_pose: + angle_rotation_error: 3.103678795401456 + euclidean_error: 0.5802881158007106 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.119823986049585 + euclidean_error: 0.5819169387881951 + base_right_marker_pose: + angle_rotation_error: 3.120610111473695 + euclidean_error: 0.5788558659899077 + shoulder_marker_pose: + angle_rotation_error: 3.1194322233241967 + euclidean_error: 0.581234975450335 + wrist_inside_marker_pose: + angle_rotation_error: 3.1201174212830125 + euclidean_error: 0.5786590184451362 + wrist_top_marker_pose: + angle_rotation_error: 3.1185122437347355 + euclidean_error: 0.5802391017312969 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1003839740856556 + euclidean_error: 0.5821163524983132 + base_right_marker_pose: + angle_rotation_error: 3.1257852515786713 + euclidean_error: 0.5790137478031087 + shoulder_marker_pose: + angle_rotation_error: 3.106212673767532 + euclidean_error: 0.5812316428686567 + wrist_inside_marker_pose: + angle_rotation_error: 3.110656110710857 + euclidean_error: 0.5786236188132837 + wrist_top_marker_pose: + angle_rotation_error: 3.119973993074401 + euclidean_error: 0.5801848136939014 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1144523340954797 + euclidean_error: 0.581993519146845 + base_right_marker_pose: + angle_rotation_error: 3.130695786969028 + euclidean_error: 0.5790242042466804 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.106715322357673 + euclidean_error: 0.5786417369498487 + wrist_top_marker_pose: + angle_rotation_error: 3.1089423304019217 + euclidean_error: 0.5802558509474519 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1263405943412246 + euclidean_error: 0.5821416403384974 + base_right_marker_pose: + angle_rotation_error: 3.127401243210864 + euclidean_error: 0.5790476269472306 + shoulder_marker_pose: + angle_rotation_error: 3.1162446557308625 + euclidean_error: 0.5813427776381747 + wrist_inside_marker_pose: + angle_rotation_error: 3.09122368565318 + euclidean_error: 0.5786165768672801 + wrist_top_marker_pose: + angle_rotation_error: 3.095157467699162 + euclidean_error: 0.580399830779582 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1092346096117436 + euclidean_error: 0.5822638980396325 + base_right_marker_pose: + angle_rotation_error: 3.1238974266899104 + euclidean_error: 0.5789654264580948 + shoulder_marker_pose: + angle_rotation_error: 3.1172293687994337 + euclidean_error: 0.5812167460806185 + wrist_inside_marker_pose: + angle_rotation_error: 3.084195664215334 + euclidean_error: 0.578464790436811 + wrist_top_marker_pose: + angle_rotation_error: 3.0955935412973776 + euclidean_error: 0.580229453190488 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117182010729517 + euclidean_error: 0.582163568954055 + base_right_marker_pose: + angle_rotation_error: 3.1342907480896 + euclidean_error: 0.5788670404907207 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.0925171469115145 + euclidean_error: 0.5785316133263441 + wrist_top_marker_pose: + angle_rotation_error: 3.11564318253624 + euclidean_error: 0.5803248772403405 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1171031548250583 + euclidean_error: 0.5821477234488776 + base_right_marker_pose: + angle_rotation_error: 3.1270538275756024 + euclidean_error: 0.5792078020286098 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.114196709521107 + euclidean_error: 0.5786722759814192 + wrist_top_marker_pose: + angle_rotation_error: 3.1318117455260226 + euclidean_error: 0.5802722627848189 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1194028476909805 + euclidean_error: 0.5822356839542593 + base_right_marker_pose: + angle_rotation_error: 3.1272815383398007 + euclidean_error: 0.5790473746720844 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.095646900783294 + euclidean_error: 0.578553185210982 + wrist_top_marker_pose: + angle_rotation_error: 3.0986056382410165 + euclidean_error: 0.5803239721178957 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.122346324269488 + euclidean_error: 0.5822202167684594 + base_right_marker_pose: + angle_rotation_error: 3.128260570727086 + euclidean_error: 0.5790892469064685 + shoulder_marker_pose: + angle_rotation_error: 3.118429274348414 + euclidean_error: 0.5811926213713717 + wrist_inside_marker_pose: + angle_rotation_error: 3.110154616129632 + euclidean_error: 0.5786299980889719 + wrist_top_marker_pose: + angle_rotation_error: 3.088337667521165 + euclidean_error: 0.580323497157604 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.117218395499492 + euclidean_error: 0.5821183281852942 + base_right_marker_pose: + angle_rotation_error: 3.1234392668561526 + euclidean_error: 0.5788538781302337 + shoulder_marker_pose: + angle_rotation_error: 3.1100116869341714 + euclidean_error: 0.5812931095944373 + wrist_inside_marker_pose: + angle_rotation_error: 3.0813487729541666 + euclidean_error: 0.5784431022010641 + wrist_top_marker_pose: + angle_rotation_error: 3.115283577008663 + euclidean_error: 0.5802702227936835 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1063341318179796 + euclidean_error: 0.5822054861335619 + base_right_marker_pose: + angle_rotation_error: 3.1277101588861926 + euclidean_error: 0.5793388546377312 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.102401384997717 + euclidean_error: 0.5785513093102376 + wrist_top_marker_pose: + angle_rotation_error: 3.1273744359438793 + euclidean_error: 0.5802067887200312 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1009971099444593 + euclidean_error: 0.5820151212595162 + base_right_marker_pose: + angle_rotation_error: 3.136347485457757 + euclidean_error: 0.5788537842868409 + shoulder_marker_pose: + angle_rotation_error: 3.113899148889126 + euclidean_error: 0.5812824572113557 + wrist_inside_marker_pose: + angle_rotation_error: 3.0924157888716546 + euclidean_error: 0.5785147994534495 + wrist_top_marker_pose: + angle_rotation_error: 3.101944397196351 + euclidean_error: 0.5802955160939636 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.1064510946275483 + euclidean_error: 0.5820312905731208 + base_right_marker_pose: + angle_rotation_error: 3.1358705283013673 + euclidean_error: 0.5791097319742468 + shoulder_marker_pose: + angle_rotation_error: null + euclidean_error: null + wrist_inside_marker_pose: + angle_rotation_error: 3.095255947632553 + euclidean_error: 0.5786090454030817 + wrist_top_marker_pose: + angle_rotation_error: 3.103522943283337 + euclidean_error: 0.5804523002264239 +- error_data: + base_left_marker_pose: + angle_rotation_error: 3.109715701832385 + euclidean_error: 0.5820905585530629 + base_right_marker_pose: + angle_rotation_error: 3.1303876487593785 + euclidean_error: 0.5790224168503508 + shoulder_marker_pose: + angle_rotation_error: 3.1168341037957767 + euclidean_error: 0.5813454560016817 + wrist_inside_marker_pose: + angle_rotation_error: 3.0874973539840145 + euclidean_error: 0.5784945619375264 + wrist_top_marker_pose: + angle_rotation_error: 3.1148211508994703 + euclidean_error: 0.580276877687713 diff --git a/stretch_camera_testrig/nodes/camera_calibration.py b/stretch_camera_testrig/nodes/camera_calibration.py deleted file mode 100644 index e69de29..0000000 diff --git a/stretch_camera_testrig/nodes/rough.py b/stretch_camera_testrig/nodes/rough.py new file mode 100644 index 0000000..954a1b2 --- /dev/null +++ b/stretch_camera_testrig/nodes/rough.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python + +import numpy as np +from scipy.spatial.transform import Rotation +import math + +x = np.array([[1,2,3,4],[5,6,7,8],[9,10,11,12],[13,14,15,16]]) + +r1 = [[-0.956395958000000,0.292073230000000,0.000014880000000], + [-0.292073218000000,-0.956395931000000,0.000242173000000], + [0.000084963000000,0.000227268000000,0.999999971000000]] + +r2 = [[-0.956227882, 0.292623030000000, -0.000013768000000], + [-0.292073218000000, -0.956227882000000,-0.000029806000000], + [-0.000021887000000, 0.000024473000000, 0.999999999000000]] + +print(x) + +def rot_to_axes(r): + x_axis = np.reshape(r[:3,0], (3,1)) + y_axis = np.reshape(r[:3,1], (3,1)) + z_axis = np.reshape(r[:3,2], (3,1)) + return [x_axis, y_axis, z_axis] + +def norm_axes(axes): + x_axis, y_axis, z_axis = axes + x_axis = x_axis / np.linalg.norm(x_axis) + y_axis = y_axis / np.linalg.norm(y_axis) + z_axis = z_axis / np.linalg.norm(z_axis) + return [x_axis, y_axis, z_axis] + +def quat_to_rotated_axes(rot_mat, q): + r = Rotation.from_quat([q.x, q.y, q.z, q.w]).as_dcm() + rotated_r = np.matmul(rot_mat, r) + return rot_to_axes(rotated_r) + +def axis_error(axis, axis_target): + # dot product comparison: 1.0 is best case and -1.0 is worst case + error = np.dot(axis_target.transpose(), axis) + # linear transform: 0.0 is best case and 1.0 is worst case + return (1.0 - error) / 2.0 + +def axes_error(axes, axes_target): + # 0.0 is the best case and 1.0 is the worst case + errors = np.array([axis_error(axis, axis_target) for axis, axis_target in zip(axes, axes_target)]) + return np.sum(errors)/3.0 + +def affine_matrix_difference(t1, t2, size=4): + error = 0.0 + for i in range(size): + for j in range(size): + error += abs(t1[i,j] - t2[i,j]) + return error + +def angle_rot_error(r1,r2): + rot1 = np.array(r1) + rot2 = np.array(r2) + rot12 = np.matmul(rot1.T,rot2) + theta_error = np.arccos((np.trace(rot12)-1)/2) + return theta_error + +print(np.rad2deg(angle_rot_error(r1,r2))) + +print(x[:3,:3].shape) diff --git a/stretch_camera_testrig/nodes/testrig_analyze_data.py b/stretch_camera_testrig/nodes/testrig_analyze_data.py new file mode 100644 index 0000000..c312c9a --- /dev/null +++ b/stretch_camera_testrig/nodes/testrig_analyze_data.py @@ -0,0 +1,172 @@ +#!/usr/bin/env python +import argparse +import os +import sys +import yaml +import numpy as np +from tabulate import tabulate +import math +from scipy.spatial.transform import Rotation +from subprocess import Popen, PIPE +import time + +parser = argparse.ArgumentParser(description='Analyzes the recent Collected Test Rig Data') +parser.add_argument("--observation",help="Shows the computed error stats from the most recent collected data using the Testrig.", action="store_true") +parser.add_argument('-f', metavar='data_file', type=str, help='File path to specific sample data collected using Test Rig (Default:Most Recent Sample Data)') +args = parser.parse_args() + + +class TestRig_analyze: + def __init__(self,data_filename=None): + self.data_directory = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig/data') + self.nominal_poses_filename = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig/config/testrig_marker_info.yaml') + self.data_keys = ['base_left_marker_pose', + 'base_right_marker_pose', + 'wrist_inside_marker_pose', + 'wrist_top_marker_pose', + 'shoulder_marker_pose'] + + self.realsense_fw = self.get_realsense_fw() + + self.data_dict = None + self.euclidean_error_dict = None + self.angle_rotation_error_dict = None + + self.data_filename = None + self.data_capture_date = None + self.number_samples = None + + if data_filename: + self.data_filename = data_filename + else: + files = os.listdir(self.data_directory) + files.sort() + if files[-1].startswith("testrig_collected_data_"): + self.data_filename = self.data_directory + '/' + files[-1] + + capture_date = self.data_filename.split('_')[-1] + capture_date = capture_date.split('.')[0] + self.data_capture_date = capture_date + + def get_realsense_fw(self): + fw_details = Popen("rs-fw-update -l | grep -i 'firmware'", shell=True, bufsize=64, stdin=PIPE, stdout=PIPE, close_fds=True).stdout.read() + fw_details = fw_details.split(',')[3] + fw_version = fw_details.split(' ')[-1] + return fw_version + + def testrg_data_parse(self,filename): + # Parses the collected data in yaml + # returns disctionary with list of 4x4 Transformation Matrix + print('Test Rig Data File : {0}'.format(filename)) + data_dict = {} + try: + with open(filename, 'r') as file: + data_list = yaml.safe_load(file) + + for key in self.data_keys: + data_dict[key] = [] + + N = len(data_list) + print('Number of Samples found : {0}'.format(N)) + self.number_of_samples = N + for observation in data_list: + for key in self.data_keys: + marker_pose = observation['camera_measurements'][key] + if marker_pose!=None: + data_dict[key].append(np.array(marker_pose)) + else: + data_dict[key].append(None) + return data_dict + except IOError: + print('[Error]:Unable to open Testrig Data file: {0}'.format(filename)) + + def get_euclidean_errors(self,data_dict,nominal_poses_dict): + error_dict = {} + Num_samples = len(data_dict[self.data_keys[0]]) + + for key in self.data_keys: + error_dict[key] = [] + if Num_samples!=len(data_dict[key]): + print('[Warning]: Number of samples found inconsistent for each Marker tag.') + + for key in error_dict.keys(): + for i in range(Num_samples): + if type(data_dict[key][i]) != type(None): + error_dict[key].append(self.euclidean_error(nominal_poses_dict[key],data_dict[key][i])) + else: + error_dict[key].append(None) + return error_dict + + def get_angle_rot_errors(self,data_dict,nominal_poses_dict): + error_dict = {} + Num_samples = len(data_dict[self.data_keys[0]]) + + for key in self.data_keys: + error_dict[key] = [] + if Num_samples!=len(data_dict[key]): + print('[Warning]: Number of samples found inconsistent for each Marker tag.') + + for key in error_dict.keys(): + for i in range(Num_samples): + if type(data_dict[key][i]) != type(None): + error_dict[key].append(self.angle_rot_error(nominal_poses_dict[key],data_dict[key][i])) + else: + error_dict[key].append(None) + return error_dict + + def angle_rot_error(self,r1,r2): + rot1 = np.array(r1)[:3,:3] + rot2 = np.array(r2)[:3,:3] + rot12 = np.matmul(rot1.T,rot2) + theta_error = np.arccos((np.trace(rot12)-1)/2) + return float(theta_error) + + def euclidean_error(self,r1,r2): + dist = np.linalg.norm(r1[:3,3] - r2[:3,3]) + return float(dist) + + def get_nominal_pose_dict(self,filename): + try: + with open(filename, 'r') as file: + data = yaml.safe_load(file) + nominal_poses_dict = {} + for key in data['testrig_aruco_marker_info'].keys(): + nominal_poses_dict[key] = np.array(data['testrig_aruco_marker_info'][key]) + return nominal_poses_dict + except IOError: + print('[Error]:Unable to open Testrig Nominal Poses file: {0}'.format(filename)) + + def save_error_results(self): + t = time.localtime() + capture_date = self.data_capture_date + testrig_results = [] + + for i in range(self.number_of_samples): + error = {'error_data':{}} + for key in self.data_keys: + vals = {} + vals['angle_rotation_error'] = self.angle_rotation_error_dict[key][i] + vals['euclidean_error'] = self.euclidean_error_dict[key][i] + error['error_data'][key] = vals + testrig_results.append(error) + + filename = self.data_directory + '/results/testrig_errors_data_' + 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 get_observations(self): + self.data_dict = self.testrg_data_parse(self.data_filename) + self.nominal_poses_dict = self.get_nominal_pose_dict(self.nominal_poses_filename) + + self.euclidean_error_dict = self.get_euclidean_errors(self.data_dict,self.nominal_poses_dict) + self.angle_rotation_error_dict = self.get_angle_rot_errors(self.data_dict,self.nominal_poses_dict) + +if args.observation: + test_rig = TestRig_analyze() + test_rig.get_observations() + test_rig.save_error_results() + +if args.f: + data_file = args.f