diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml
index cfe2c87..5c72614 100644
--- a/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml
+++ b/stretch_camera_testrig/data/results/testrig_errors_data_202202171855.yaml
@@ -1,3600 +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}
+    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/data/results/testrig_results_202202171855.yaml b/stretch_camera_testrig/data/results/testrig_results_202202171855.yaml
index 57b2818..2c97e47 100644
--- a/stretch_camera_testrig/data/results/testrig_results_202202171855.yaml
+++ b/stretch_camera_testrig/data/results/testrig_results_202202171855.yaml
@@ -1,6 +1,12 @@
 capture_id: '202202171855'
-lighting_condition: {brightness: null, temperature: null}
-null_frames: {base_left_marker_pose: 0, base_right_marker_pose: 0, shoulder_marker_pose: 327,
-  wrist_inside_marker_pose: 0, wrist_top_marker_pose: 0}
+lighting_condition:
+  brightness: null
+  temperature: null
+null_frames:
+  base_left_marker_pose: 0
+  base_right_marker_pose: 0
+  shoulder_marker_pose: 327
+  wrist_inside_marker_pose: 0
+  wrist_top_marker_pose: 0
 number_samples: 600
-realsense_firmware: null
+realsense_firmware: 05.13.00.50
diff --git a/stretch_camera_testrig/main.py b/stretch_camera_testrig/main.py
new file mode 100644
index 0000000..5596b44
--- /dev/null
+++ b/stretch_camera_testrig/main.py
@@ -0,0 +1,16 @@
+# This is a sample Python script.
+
+# Press Shift+F10 to execute it or replace it with your code.
+# Press Double Shift to search everywhere for classes, files, tool windows, actions, and settings.
+
+
+def print_hi(name):
+    # Use a breakpoint in the code line below to debug your script.
+    print(f'Hi, {name}')  # Press Ctrl+F8 to toggle the breakpoint.
+
+
+# Press the green button in the gutter to run the script.
+if __name__ == '__main__':
+    print_hi('PyCharm')
+
+# See PyCharm help at https://www.jetbrains.com/help/pycharm/
diff --git a/stretch_camera_testrig/nodes/testrig_analyze_data.py b/stretch_camera_testrig/nodes/testrig_analyze_data.py
index 26d599b..6007da8 100644
--- a/stretch_camera_testrig/nodes/testrig_analyze_data.py
+++ b/stretch_camera_testrig/nodes/testrig_analyze_data.py
@@ -106,7 +106,8 @@ class TestRig_Analyze:
             fw_details = Popen("rs-fw-update -l | grep -i 'firmware'", shell=True, bufsize=64, stdin=PIPE, stdout=PIPE,
                                close_fds=True).stdout.read()
             fw_v = fw_details.split(',')[3]
-            fw_v = fw_details.split(' ')[-1]
+            fw_v = fw_v.split(' ')[-1]
+            fw_version = fw_v
         except:
             print('[Error] Realsense FW not found.')