From c7af808725a91a16b4f270dcbf0c384926a9b37b Mon Sep 17 00:00:00 2001
From: Mohamed Fazil <mfazil@hello-robot.com>
Date: Mon, 11 Apr 2022 18:16:41 -0700
Subject: [PATCH] Radio Btn Selection added

---
 stretch_camera_testrig/.idea/vcs.xml          |     6 +
 stretch_camera_testrig/.idea/workspace.xml    |    41 +
 .../testrig_errors_data_202203091216.yaml     | 13198 +++++++++++-----
 .../results/testrig_results_202203091216.yaml |    82 +-
 .../nodes/testrig_analyze_data.py             |     6 +-
 .../nodes/testrig_dashboard.py                |    18 +-
 6 files changed, 9717 insertions(+), 3634 deletions(-)
 create mode 100644 stretch_camera_testrig/.idea/vcs.xml
 create mode 100644 stretch_camera_testrig/.idea/workspace.xml

diff --git a/stretch_camera_testrig/.idea/vcs.xml b/stretch_camera_testrig/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/stretch_camera_testrig/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/stretch_camera_testrig/.idea/workspace.xml b/stretch_camera_testrig/.idea/workspace.xml
new file mode 100644
index 0000000..667364f
--- /dev/null
+++ b/stretch_camera_testrig/.idea/workspace.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ChangeListManager">
+    <list default="true" id="8154f261-5024-4ad3-94b0-67914c52580a" name="Changes" comment="">
+      <change beforePath="$PROJECT_DIR$/nodes/testrig_analyze_data.py" beforeDir="false" afterPath="$PROJECT_DIR$/nodes/testrig_analyze_data.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/nodes/testrig_dashboard.py" beforeDir="false" afterPath="$PROJECT_DIR$/nodes/testrig_dashboard.py" afterDir="false" />
+    </list>
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/.." />
+  </component>
+  <component name="MarkdownSettingsMigration">
+    <option name="stateVersion" value="1" />
+  </component>
+  <component name="ProjectId" id="267BfFMYq4KkadjfcEp1PtbnkKk" />
+  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent">
+    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
+    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$" />
+  </component>
+  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="8154f261-5024-4ad3-94b0-67914c52580a" name="Changes" comment="" />
+      <created>1646764847826</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1646764847826</updated>
+    </task>
+    <servers />
+  </component>
+</project>
\ No newline at end of file
diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_202203091216.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_202203091216.yaml
index 5a83af5..8c6db17 100644
--- a/stretch_camera_testrig/data/results/testrig_errors_data_202203091216.yaml
+++ b/stretch_camera_testrig/data/results/testrig_errors_data_202203091216.yaml
@@ -1,3600 +1,9600 @@
 - error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1060032090582523, euclidean_error: 0.5787175171562933}
-    base_right_marker_pose: {angle_rotation_error: 3.13201779245418, euclidean_error: 0.5764019135109739}
-    shoulder_marker_pose: {angle_rotation_error: 3.087655900915985, euclidean_error: 0.5837872300658732}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1397885706144875, euclidean_error: 0.5802087680255323}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0761677363607776, euclidean_error: 0.581549170296647}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1060032090582523, euclidean_error: 0.5787175171562933}
-    base_right_marker_pose: {angle_rotation_error: 3.13201779245418, euclidean_error: 0.5764019135109739}
-    shoulder_marker_pose: {angle_rotation_error: 3.087655900915985, euclidean_error: 0.5837872300658732}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1397885706144875, euclidean_error: 0.5802087680255323}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0761677363607776, euclidean_error: 0.581549170296647}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1203231470717876, euclidean_error: 0.578808426531158}
-    base_right_marker_pose: {angle_rotation_error: 3.136284220462128, euclidean_error: 0.5765898458596129}
-    shoulder_marker_pose: {angle_rotation_error: 3.071498324914277, euclidean_error: 0.5835916358874713}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.126318377523002, euclidean_error: 0.5802013747819016}
-    wrist_top_marker_pose: {angle_rotation_error: 3.061546706256039, euclidean_error: 0.5819778413953743}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1174398682091606, euclidean_error: 0.5789314506576447}
-    base_right_marker_pose: {angle_rotation_error: 3.1248688005719485, euclidean_error: 0.5765922910068195}
-    shoulder_marker_pose: {angle_rotation_error: 3.0742490079632825, euclidean_error: 0.5836821439745318}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1087108645080144, euclidean_error: 0.5803773811141641}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0731456818619156, euclidean_error: 0.5817913008311246}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0960246201809727, euclidean_error: 0.5788953242004247}
-    base_right_marker_pose: {angle_rotation_error: 3.135679865827528, euclidean_error: 0.5767565045226268}
-    shoulder_marker_pose: {angle_rotation_error: 3.081535165543527, euclidean_error: 0.5837805823171924}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.135065779831107, euclidean_error: 0.5799895628378207}
-    wrist_top_marker_pose: {angle_rotation_error: 3.107254079213257, euclidean_error: 0.5812110398356436}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1074602322563365, euclidean_error: 0.578660694809587}
-    base_right_marker_pose: {angle_rotation_error: 3.135949685684744, euclidean_error: 0.5764949992853248}
-    shoulder_marker_pose: {angle_rotation_error: 3.081259904482398, euclidean_error: 0.5837670359435264}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0829743216196346, euclidean_error: 0.5801406093607109}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0879502997156094, euclidean_error: 0.5817891282953792}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.111763281017988, euclidean_error: 0.578811485870557}
-    base_right_marker_pose: {angle_rotation_error: 3.121298106392668, euclidean_error: 0.5766706595705975}
-    shoulder_marker_pose: {angle_rotation_error: 3.067271665399815, euclidean_error: 0.5836751490268575}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1360731529046655, euclidean_error: 0.5803900295481013}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1164038061083783, euclidean_error: 0.5811947426827396}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1182400146146616, euclidean_error: 0.5787940200324186}
-    base_right_marker_pose: {angle_rotation_error: 3.139695803660828, euclidean_error: 0.5764362470615544}
-    shoulder_marker_pose: {angle_rotation_error: 3.0761122518265354, euclidean_error: 0.5836505354068598}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1378575383980416, euclidean_error: 0.5798112936612997}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1135904556772576, euclidean_error: 0.5812233323916747}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.11809065739746, euclidean_error: 0.578886280878051}
-    base_right_marker_pose: {angle_rotation_error: 3.1399549194812324, euclidean_error: 0.5765270622045059}
-    shoulder_marker_pose: {angle_rotation_error: 3.0698855702261763, euclidean_error: 0.5836106650083619}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1260594543613416, euclidean_error: 0.5799773149699903}
-    wrist_top_marker_pose: {angle_rotation_error: 3.077747082986257, euclidean_error: 0.5815228376555724}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.100129270339759, euclidean_error: 0.5787353476789068}
-    base_right_marker_pose: {angle_rotation_error: 3.133700979558582, euclidean_error: 0.5764418850080618}
-    shoulder_marker_pose: {angle_rotation_error: 3.07357271893363, euclidean_error: 0.5836212033874526}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1230176838783095, euclidean_error: 0.5801559171133672}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0735165861997173, euclidean_error: 0.5816784943312556}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.110823178289271, euclidean_error: 0.5788136110249973}
-    base_right_marker_pose: {angle_rotation_error: 3.1260912380353134, euclidean_error: 0.5762290863323518}
-    shoulder_marker_pose: {angle_rotation_error: 3.0890430324588953, euclidean_error: 0.5837255457751731}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1360605972059132, euclidean_error: 0.5799782443839328}
-    wrist_top_marker_pose: {angle_rotation_error: 3.131336399924651, euclidean_error: 0.5814450253422516}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1130593318609296, euclidean_error: 0.5788089223459176}
-    base_right_marker_pose: {angle_rotation_error: 3.136319078029875, euclidean_error: 0.5763735011014427}
-    shoulder_marker_pose: {angle_rotation_error: 3.07562037853911, euclidean_error: 0.5836064283746881}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.057907501042532, euclidean_error: 0.5801684047265943}
-    wrist_top_marker_pose: {angle_rotation_error: 3.09661024220923, euclidean_error: 0.581616893010025}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1058561685040136, euclidean_error: 0.5788265017395258}
-    base_right_marker_pose: {angle_rotation_error: 3.1246161622723845, euclidean_error: 0.576435671497419}
-    shoulder_marker_pose: {angle_rotation_error: 3.069810498403693, euclidean_error: 0.5837044418993684}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1360380556518144, euclidean_error: 0.5801807804294218}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0945796833594006, euclidean_error: 0.582203671032204}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1066459250123013, euclidean_error: 0.5788128088237949}
-    base_right_marker_pose: {angle_rotation_error: 3.134325342906953, euclidean_error: 0.5762320393716015}
-    shoulder_marker_pose: {angle_rotation_error: 3.067524878492964, euclidean_error: 0.5837991611148489}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1290245461295156, euclidean_error: 0.5803880155639438}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1059536180210134, euclidean_error: 0.5814068317279529}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1195953213174104, euclidean_error: 0.5787564976613535}
-    base_right_marker_pose: {angle_rotation_error: 3.1353976327049, euclidean_error: 0.5764546442431855}
-    shoulder_marker_pose: {angle_rotation_error: 3.0657072047414418, euclidean_error: 0.5836250148328114}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.136370786631297, euclidean_error: 0.5801483254592298}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0983437271179888, euclidean_error: 0.5818426532397991}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.109069744501913, euclidean_error: 0.5787086518107717}
-    base_right_marker_pose: {angle_rotation_error: 3.120451797736208, euclidean_error: 0.5764391181582993}
-    shoulder_marker_pose: {angle_rotation_error: 3.063036410375784, euclidean_error: 0.5836775336140351}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1224787668590936, euclidean_error: 0.580299673393872}
-    wrist_top_marker_pose: {angle_rotation_error: 3.049838224015859, euclidean_error: 0.5816947719852777}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.099576783969493, euclidean_error: 0.5787010921229516}
-    base_right_marker_pose: {angle_rotation_error: 3.138323316621776, euclidean_error: 0.5763208083700975}
-    shoulder_marker_pose: {angle_rotation_error: 3.0841164233326555, euclidean_error: 0.5837704519503693}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1279911376715854, euclidean_error: 0.580088534189933}
-    wrist_top_marker_pose: {angle_rotation_error: 3.070595805143483, euclidean_error: 0.5817473515518166}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1088561954272302, euclidean_error: 0.5787724591507387}
-    base_right_marker_pose: {angle_rotation_error: 3.1188310398809542, euclidean_error: 0.57643711163128}
-    shoulder_marker_pose: {angle_rotation_error: 3.0600061180787668, euclidean_error: 0.583524961868956}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.12468916760334, euclidean_error: 0.5799041502868216}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0981991405071128, euclidean_error: 0.581476989562333}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091549586394832, euclidean_error: 0.5786485455436166}
-    base_right_marker_pose: {angle_rotation_error: 3.1315002955546056, euclidean_error: 0.576573031816622}
-    shoulder_marker_pose: {angle_rotation_error: 3.078139141858959, euclidean_error: 0.5836945680702305}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.138628259734878, euclidean_error: 0.5801621682885164}
-    wrist_top_marker_pose: {angle_rotation_error: 3.085826605852007, euclidean_error: 0.581607358140909}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.107618207873592, euclidean_error: 0.5787501792443378}
-    base_right_marker_pose: {angle_rotation_error: 3.1191715343875486, euclidean_error: 0.5764728485047999}
-    shoulder_marker_pose: {angle_rotation_error: 3.083858764479601, euclidean_error: 0.5839576226407995}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1178910942861995, euclidean_error: 0.579962151263985}
-    wrist_top_marker_pose: {angle_rotation_error: 3.06415093383099, euclidean_error: 0.5816634136924317}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.116113332836486, euclidean_error: 0.5787253683364845}
-    base_right_marker_pose: {angle_rotation_error: 3.134726201433183, euclidean_error: 0.5764480746318297}
-    shoulder_marker_pose: {angle_rotation_error: 3.078268449566879, euclidean_error: 0.5837712396021985}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1103257247894507, euclidean_error: 0.5799310095900501}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0713100781691525, euclidean_error: 0.5817967328435946}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1124861981408083, euclidean_error: 0.5788688523199846}
-    base_right_marker_pose: {angle_rotation_error: 3.1414667598147052, euclidean_error: 0.5765249509780583}
-    shoulder_marker_pose: {angle_rotation_error: 3.072794920285662, euclidean_error: 0.5837242399562277}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.141327402355638, euclidean_error: 0.5802704487741073}
-    wrist_top_marker_pose: {angle_rotation_error: 3.050138481599631, euclidean_error: 0.5816775531028048}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.112391594335102, euclidean_error: 0.5787799401314193}
-    base_right_marker_pose: {angle_rotation_error: 3.134124101603897, euclidean_error: 0.5765099937518876}
-    shoulder_marker_pose: {angle_rotation_error: 3.0770643910056847, euclidean_error: 0.5837579615459066}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1317637624000376, euclidean_error: 0.5804158621002501}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0195176383474025, euclidean_error: 0.5816949463975208}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101288579353265, euclidean_error: 0.5787525776882613}
-    base_right_marker_pose: {angle_rotation_error: 3.139505916066701, euclidean_error: 0.5763982532916354}
-    shoulder_marker_pose: {angle_rotation_error: 3.0786918790011524, euclidean_error: 0.5837493419371952}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.122922773189969, euclidean_error: 0.5801195893584281}
-    wrist_top_marker_pose: {angle_rotation_error: 3.091025488691467, euclidean_error: 0.581946049506845}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.11930004576259, euclidean_error: 0.5788010846586543}
-    base_right_marker_pose: {angle_rotation_error: 3.1210358177545268, euclidean_error: 0.5765411186161004}
-    shoulder_marker_pose: {angle_rotation_error: 3.080666480291934, euclidean_error: 0.5837989512140785}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1352924855925823, euclidean_error: 0.580476071519044}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0964680800201476, euclidean_error: 0.5818473665615582}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1086626209560877, euclidean_error: 0.5788587646502271}
-    base_right_marker_pose: {angle_rotation_error: 3.1171271783385084, euclidean_error: 0.5764833768062426}
-    shoulder_marker_pose: {angle_rotation_error: 3.075418650313114, euclidean_error: 0.5838077471784182}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.13912633735686, euclidean_error: 0.5801266185734042}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0989749093815018, euclidean_error: 0.5812657829325251}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.106202956662604, euclidean_error: 0.5787943159920198}
-    base_right_marker_pose: {angle_rotation_error: 3.1330130789343933, euclidean_error: 0.5764497722780003}
-    shoulder_marker_pose: {angle_rotation_error: 3.0668731912982103, euclidean_error: 0.5837308029607747}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083782041666046, euclidean_error: 0.5807007319206626}
-    wrist_top_marker_pose: {angle_rotation_error: 3.117610645967896, euclidean_error: 0.5816665149135816}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1171308473390935, euclidean_error: 0.5788346422176956}
-    base_right_marker_pose: {angle_rotation_error: 3.127468323714954, euclidean_error: 0.5764452300941018}
-    shoulder_marker_pose: {angle_rotation_error: 3.083384418209641, euclidean_error: 0.5837968972388914}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1315506586911814, euclidean_error: 0.5802014835173668}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0881681725482237, euclidean_error: 0.5816351750088513}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0996977699378037, euclidean_error: 0.5787777829715273}
-    base_right_marker_pose: {angle_rotation_error: 3.1275172956772614, euclidean_error: 0.5765118145054547}
-    shoulder_marker_pose: {angle_rotation_error: 3.0931621529590307, euclidean_error: 0.5838728798502241}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.124192123050476, euclidean_error: 0.5803850502082798}
-    wrist_top_marker_pose: {angle_rotation_error: 3.069681121588603, euclidean_error: 0.581818450282817}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0955881429129577, euclidean_error: 0.5786975401430512}
-    base_right_marker_pose: {angle_rotation_error: 3.129942797064933, euclidean_error: 0.5761754460202798}
-    shoulder_marker_pose: {angle_rotation_error: 3.0837859237762726, euclidean_error: 0.5838377350391214}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1072968055897334, euclidean_error: 0.5803732275056647}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1184161827116887, euclidean_error: 0.5817315317768055}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.106414326307707, euclidean_error: 0.5787880782220786}
-    base_right_marker_pose: {angle_rotation_error: 3.130925161853251, euclidean_error: 0.5763352634001798}
-    shoulder_marker_pose: {angle_rotation_error: 3.07531943230811, euclidean_error: 0.583673157504952}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0691098603879485, euclidean_error: 0.5804383019800117}
-    wrist_top_marker_pose: {angle_rotation_error: 3.067845950845506, euclidean_error: 0.5817967337782078}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.114980779619375, euclidean_error: 0.5787452326242551}
-    base_right_marker_pose: {angle_rotation_error: 3.1334380625669214, euclidean_error: 0.5765262833411647}
-    shoulder_marker_pose: {angle_rotation_error: 3.0638198731525375, euclidean_error: 0.5837460847808322}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0915428768591013, euclidean_error: 0.58020405948457}
-    wrist_top_marker_pose: {angle_rotation_error: 3.100866472734852, euclidean_error: 0.5818248020829835}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0945308949120687, euclidean_error: 0.5787002012522299}
-    base_right_marker_pose: {angle_rotation_error: 3.1388424075680437, euclidean_error: 0.5762780686520341}
-    shoulder_marker_pose: {angle_rotation_error: 3.072910569804706, euclidean_error: 0.5837191734629702}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1390964575565685, euclidean_error: 0.5801953648274315}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1025263117908493, euclidean_error: 0.5814777347525868}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1075168110719122, euclidean_error: 0.5788282005741153}
-    base_right_marker_pose: {angle_rotation_error: 3.119019910954684, euclidean_error: 0.5764040885668791}
-    shoulder_marker_pose: {angle_rotation_error: 3.0763226468722116, euclidean_error: 0.5836839856751027}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1270697859377665, euclidean_error: 0.5801140136550255}
-    wrist_top_marker_pose: {angle_rotation_error: 3.069033166383079, euclidean_error: 0.5815923549917255}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1031807804085467, euclidean_error: 0.5788103530652795}
-    base_right_marker_pose: {angle_rotation_error: 3.138201617517753, euclidean_error: 0.5763339651963706}
-    shoulder_marker_pose: {angle_rotation_error: 3.075636041658625, euclidean_error: 0.5839585238743915}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1377965129147847, euclidean_error: 0.5800435586288559}
-    wrist_top_marker_pose: {angle_rotation_error: 3.111411154754937, euclidean_error: 0.5817084411835775}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.119584003825195, euclidean_error: 0.5788013536043242}
-    base_right_marker_pose: {angle_rotation_error: 3.1328765603415736, euclidean_error: 0.5765780513919379}
-    shoulder_marker_pose: {angle_rotation_error: 3.08969574510289, euclidean_error: 0.5837824339345755}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1165458959912518, euclidean_error: 0.5803773701696028}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1347533559565712, euclidean_error: 0.5816137356421488}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.103053864425729, euclidean_error: 0.5787749023409365}
-    base_right_marker_pose: {angle_rotation_error: 3.135045498893523, euclidean_error: 0.5763747124258516}
-    shoulder_marker_pose: {angle_rotation_error: 3.0726469435032304, euclidean_error: 0.5836846395525634}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1389534298675703, euclidean_error: 0.5808045689071294}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1008405702283697, euclidean_error: 0.5816284879934034}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1086596087689, euclidean_error: 0.5787591158930205}
-    base_right_marker_pose: {angle_rotation_error: 3.115921875521562, euclidean_error: 0.5763388765115839}
-    shoulder_marker_pose: {angle_rotation_error: 3.065977191627439, euclidean_error: 0.5838154955746437}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.127270958273043, euclidean_error: 0.5802885657258935}
-    wrist_top_marker_pose: {angle_rotation_error: 3.124131040592687, euclidean_error: 0.5819596736522512}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1112123767919146, euclidean_error: 0.5788375420802802}
-    base_right_marker_pose: {angle_rotation_error: 3.127608782413124, euclidean_error: 0.576476381868992}
-    shoulder_marker_pose: {angle_rotation_error: 3.0659998471130843, euclidean_error: 0.583751064697712}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.135131925509217, euclidean_error: 0.580394463954186}
-    wrist_top_marker_pose: {angle_rotation_error: 3.099718161666067, euclidean_error: 0.5819115758629487}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1069838078107987, euclidean_error: 0.5787975831736438}
-    base_right_marker_pose: {angle_rotation_error: 3.1364286840705295, euclidean_error: 0.5764303369918446}
-    shoulder_marker_pose: {angle_rotation_error: 3.0653864920257665, euclidean_error: 0.5837666104109622}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1388753250538692, euclidean_error: 0.5802770421529896}
-    wrist_top_marker_pose: {angle_rotation_error: 3.125937210077214, euclidean_error: 0.5819177299498638}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1055678932227933, euclidean_error: 0.5787125319111387}
-    base_right_marker_pose: {angle_rotation_error: 3.130111121782061, euclidean_error: 0.5766020574727105}
-    shoulder_marker_pose: {angle_rotation_error: 3.0739298592312507, euclidean_error: 0.5838855855070799}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.11154183255785, euclidean_error: 0.58022172753595}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0933003316630368, euclidean_error: 0.5817501878452315}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1073893867580438, euclidean_error: 0.578735688222718}
-    base_right_marker_pose: {angle_rotation_error: 3.140812619862566, euclidean_error: 0.5764741692383785}
-    shoulder_marker_pose: {angle_rotation_error: 3.063755423278019, euclidean_error: 0.5837289409477042}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0791948508864757, euclidean_error: 0.5802802529436548}
-    wrist_top_marker_pose: {angle_rotation_error: 3.113354237852448, euclidean_error: 0.5818933497217033}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.104295553196739, euclidean_error: 0.5787292904627881}
-    base_right_marker_pose: {angle_rotation_error: 3.1209076929517408, euclidean_error: 0.5763684942268712}
-    shoulder_marker_pose: {angle_rotation_error: 3.061349060161156, euclidean_error: 0.5837350477834167}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1395476435098497, euclidean_error: 0.5801058594212825}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1371469221049924, euclidean_error: 0.5817165410538679}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1211737222566778, euclidean_error: 0.5788847720925347}
-    base_right_marker_pose: {angle_rotation_error: 3.134511187155968, euclidean_error: 0.5763695444655111}
-    shoulder_marker_pose: {angle_rotation_error: 3.081837025605327, euclidean_error: 0.5839156519713185}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1113838566217704, euclidean_error: 0.5800532581925479}
-    wrist_top_marker_pose: {angle_rotation_error: 3.141473924121154, euclidean_error: 0.5820257285725929}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0971805195467272, euclidean_error: 0.5787373183997073}
-    base_right_marker_pose: {angle_rotation_error: 3.116886715060786, euclidean_error: 0.5765175076821376}
-    shoulder_marker_pose: {angle_rotation_error: 3.0719237885369064, euclidean_error: 0.5838436704961711}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.134075535107524, euclidean_error: 0.5801047253224499}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0840552397080216, euclidean_error: 0.5821205417251798}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1104891641959043, euclidean_error: 0.5789075012657089}
-    base_right_marker_pose: {angle_rotation_error: 3.139541102742511, euclidean_error: 0.5765494071629523}
-    shoulder_marker_pose: {angle_rotation_error: 3.0665952910387224, euclidean_error: 0.5838193692839951}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0829411149387216, euclidean_error: 0.5804788914038915}
-    wrist_top_marker_pose: {angle_rotation_error: 3.116304665098608, euclidean_error: 0.5818900884302508}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0884669879710964, euclidean_error: 0.5786309843559094}
-    base_right_marker_pose: {angle_rotation_error: 3.1376036743978597, euclidean_error: 0.5765612187071277}
-    shoulder_marker_pose: {angle_rotation_error: 3.0855949210560896, euclidean_error: 0.5838531643245797}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1010101423441467, euclidean_error: 0.580203249452656}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0926489526661474, euclidean_error: 0.5820703616044721}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1022258225563006, euclidean_error: 0.5786983653229019}
-    base_right_marker_pose: {angle_rotation_error: 3.1401211165130696, euclidean_error: 0.576413603759905}
-    shoulder_marker_pose: {angle_rotation_error: 3.0767450784904016, euclidean_error: 0.5836878743677748}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1277245224727848, euclidean_error: 0.5802112911955835}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1218763871135202, euclidean_error: 0.5816958486824785}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1039241707323355, euclidean_error: 0.5787527641763579}
-    base_right_marker_pose: {angle_rotation_error: 3.132265941622072, euclidean_error: 0.5763782106863968}
-    shoulder_marker_pose: {angle_rotation_error: 3.0595787648946753, euclidean_error: 0.5837009585655469}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1349998911573977, euclidean_error: 0.5800303678615744}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0593564728655083, euclidean_error: 0.5818213221992637}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.114534360471527, euclidean_error: 0.5787944652459718}
-    base_right_marker_pose: {angle_rotation_error: 3.133967512086823, euclidean_error: 0.5764552872493083}
-    shoulder_marker_pose: {angle_rotation_error: 3.0727481541427126, euclidean_error: 0.583629252768598}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.122761172529883, euclidean_error: 0.5802310488436255}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0650411735256204, euclidean_error: 0.5821835009098586}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102498001015341, euclidean_error: 0.5787470389457169}
-    base_right_marker_pose: {angle_rotation_error: 3.125604871128323, euclidean_error: 0.5763885827324136}
-    shoulder_marker_pose: {angle_rotation_error: 3.065939463743291, euclidean_error: 0.5836574018509364}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1203165142396094, euclidean_error: 0.5802285840580705}
-    wrist_top_marker_pose: {angle_rotation_error: 3.073788049239103, euclidean_error: 0.5813520456939324}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1103860515486343, euclidean_error: 0.5788381070467346}
-    base_right_marker_pose: {angle_rotation_error: 3.1388889411390575, euclidean_error: 0.5764043610501579}
-    shoulder_marker_pose: {angle_rotation_error: 3.0795126290601424, euclidean_error: 0.5837067824461497}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.101973662445407, euclidean_error: 0.5798513534377085}
-    wrist_top_marker_pose: {angle_rotation_error: 3.115110088142042, euclidean_error: 0.5817132850699096}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095558359940862, euclidean_error: 0.5787011413339208}
-    base_right_marker_pose: {angle_rotation_error: 3.1402341642320555, euclidean_error: 0.5765141731195402}
-    shoulder_marker_pose: {angle_rotation_error: 3.075782973813838, euclidean_error: 0.5837065184102204}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1360389488402736, euclidean_error: 0.5800507455745799}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0794808722362483, euclidean_error: 0.5819350916699877}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101982589712038, euclidean_error: 0.5787556847303938}
-    base_right_marker_pose: {angle_rotation_error: 3.136794727594864, euclidean_error: 0.5764058234464285}
-    shoulder_marker_pose: {angle_rotation_error: 3.069385090575213, euclidean_error: 0.5836542405613712}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.111052506851697, euclidean_error: 0.5802782563612736}
-    wrist_top_marker_pose: {angle_rotation_error: 3.098587645921744, euclidean_error: 0.5815536035798397}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1093446363285357, euclidean_error: 0.5787083586222636}
-    base_right_marker_pose: {angle_rotation_error: 3.1371722376989224, euclidean_error: 0.5765661667698864}
-    shoulder_marker_pose: {angle_rotation_error: 3.073884694702877, euclidean_error: 0.583739079845755}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1250053815228536, euclidean_error: 0.5804560681625544}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1295262127125905, euclidean_error: 0.5817877147059647}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.106591779181484, euclidean_error: 0.5787671816974699}
-    base_right_marker_pose: {angle_rotation_error: 3.1083425559797218, euclidean_error: 0.5763372433501143}
-    shoulder_marker_pose: {angle_rotation_error: 3.083720698073885, euclidean_error: 0.5837592141155858}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0935837150640113, euclidean_error: 0.5804365565675036}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0913683294197023, euclidean_error: 0.5817644970706098}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0987580852367733, euclidean_error: 0.5787699569130111}
-    base_right_marker_pose: {angle_rotation_error: 3.1277318875028475, euclidean_error: 0.5765200556493498}
-    shoulder_marker_pose: {angle_rotation_error: 3.0717227104964087, euclidean_error: 0.583832385058662}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088811472527739, euclidean_error: 0.5803047947696153}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0542578734509527, euclidean_error: 0.5818615458814357}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.114729767286801, euclidean_error: 0.5788019961226086}
-    base_right_marker_pose: {angle_rotation_error: 3.1213867383964207, euclidean_error: 0.5764566758310777}
-    shoulder_marker_pose: {angle_rotation_error: 3.079141032347104, euclidean_error: 0.5838430745441535}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.089951482522037, euclidean_error: 0.5804928623151031}
-    wrist_top_marker_pose: {angle_rotation_error: 3.095596569393477, euclidean_error: 0.5818745734259393}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.108561916269999, euclidean_error: 0.5788623875232274}
-    base_right_marker_pose: {angle_rotation_error: 3.132069000361475, euclidean_error: 0.5768500191607051}
-    shoulder_marker_pose: {angle_rotation_error: 3.073219410207182, euclidean_error: 0.5836083378998453}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.107663531355459, euclidean_error: 0.5804659347912765}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0523357973988867, euclidean_error: 0.5818459381202459}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.110021943664759, euclidean_error: 0.578889152988148}
-    base_right_marker_pose: {angle_rotation_error: 3.1363894238858543, euclidean_error: 0.5764732288643745}
-    shoulder_marker_pose: {angle_rotation_error: 3.058306213527008, euclidean_error: 0.5835939313235474}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.100896775131672, euclidean_error: 0.5801974729244782}
-    wrist_top_marker_pose: {angle_rotation_error: 3.110664411173457, euclidean_error: 0.5814776907109889}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0931280435443735, euclidean_error: 0.5787416227591337}
-    base_right_marker_pose: {angle_rotation_error: 3.117823260389329, euclidean_error: 0.5762203817559766}
-    shoulder_marker_pose: {angle_rotation_error: 3.0758818390496745, euclidean_error: 0.583775944608071}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1181911723652296, euclidean_error: 0.5803624416579597}
-    wrist_top_marker_pose: {angle_rotation_error: 3.063683546142819, euclidean_error: 0.5820004296772519}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1170866619634237, euclidean_error: 0.5788730105356825}
-    base_right_marker_pose: {angle_rotation_error: 3.1259239952305866, euclidean_error: 0.576421445017113}
-    shoulder_marker_pose: {angle_rotation_error: 3.072847624494034, euclidean_error: 0.5838211200852556}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1165318176829664, euclidean_error: 0.5800929716543979}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0804138014813565, euclidean_error: 0.5811987982082628}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0960207171918053, euclidean_error: 0.5788969377433196}
-    base_right_marker_pose: {angle_rotation_error: 3.1296716022786417, euclidean_error: 0.5765398190597469}
-    shoulder_marker_pose: {angle_rotation_error: 3.077288394079023, euclidean_error: 0.5836521015105556}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1076021293277623, euclidean_error: 0.5804635214082369}
-    wrist_top_marker_pose: {angle_rotation_error: 3.098326420985302, euclidean_error: 0.5816859899630732}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1173417501796683, euclidean_error: 0.5788259512925154}
-    base_right_marker_pose: {angle_rotation_error: 3.1415264778097374, euclidean_error: 0.5765627405452737}
-    shoulder_marker_pose: {angle_rotation_error: 3.0769859484489426, euclidean_error: 0.5837246509521692}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.121488176206867, euclidean_error: 0.5803705411297623}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1228683837066358, euclidean_error: 0.5816396744591246}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093696353379195, euclidean_error: 0.5786422888976865}
-    base_right_marker_pose: {angle_rotation_error: 3.130604017448552, euclidean_error: 0.5763678123908873}
-    shoulder_marker_pose: {angle_rotation_error: 3.073919921355225, euclidean_error: 0.5837685947809428}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1293085476005604, euclidean_error: 0.5799969847881534}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0532743440110104, euclidean_error: 0.5818890429321084}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.104877191732273, euclidean_error: 0.5787577897372653}
-    base_right_marker_pose: {angle_rotation_error: 3.133784343846737, euclidean_error: 0.576342658052804}
-    shoulder_marker_pose: {angle_rotation_error: 3.0654520038602753, euclidean_error: 0.5837914746246581}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.138304499906643, euclidean_error: 0.5806821490538591}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1362696087033437, euclidean_error: 0.5816047750599256}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.104238133484884, euclidean_error: 0.5788037901143306}
-    base_right_marker_pose: {angle_rotation_error: 3.1183780440953286, euclidean_error: 0.5765585593558179}
-    shoulder_marker_pose: {angle_rotation_error: 3.05966491530476, euclidean_error: 0.5837193701840981}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0772112024414793, euclidean_error: 0.5803770415982268}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1386021928296857, euclidean_error: 0.5816236020414183}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.09139039708487, euclidean_error: 0.57879694000331}
-    base_right_marker_pose: {angle_rotation_error: 3.137334299912793, euclidean_error: 0.576572521081281}
-    shoulder_marker_pose: {angle_rotation_error: 3.0719316347566528, euclidean_error: 0.5837540406966366}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0903816761367593, euclidean_error: 0.5802123856065996}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1001421264823583, euclidean_error: 0.5817298218712812}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092173036300487, euclidean_error: 0.5787252134111976}
-    base_right_marker_pose: {angle_rotation_error: 3.132085198243799, euclidean_error: 0.5767441174299028}
-    shoulder_marker_pose: {angle_rotation_error: 3.0716643136981276, euclidean_error: 0.583817300704442}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1300183324317716, euclidean_error: 0.5802261740815889}
-    wrist_top_marker_pose: {angle_rotation_error: 3.070559682493107, euclidean_error: 0.5818076656055968}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.103048971018831, euclidean_error: 0.5787137710509253}
-    base_right_marker_pose: {angle_rotation_error: 3.1228430173004074, euclidean_error: 0.5764504307909103}
-    shoulder_marker_pose: {angle_rotation_error: 3.061279753025131, euclidean_error: 0.5837493791578916}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.08969647198623, euclidean_error: 0.5803964666945555}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0883572409165536, euclidean_error: 0.5820241737979852}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1002516642258593, euclidean_error: 0.5787704681481324}
-    base_right_marker_pose: {angle_rotation_error: 3.1372096341313704, euclidean_error: 0.5764646779280671}
-    shoulder_marker_pose: {angle_rotation_error: 3.0564861574685507, euclidean_error: 0.5836632532370837}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.064229606229753, euclidean_error: 0.580444746938}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0667647564245155, euclidean_error: 0.5819461404455609}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096662116496839, euclidean_error: 0.5787462744775065}
-    base_right_marker_pose: {angle_rotation_error: 3.137872565867696, euclidean_error: 0.5764960920129927}
-    shoulder_marker_pose: {angle_rotation_error: 3.0756239098687836, euclidean_error: 0.5838458752680913}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.139345791895773, euclidean_error: 0.5804619525926361}
-    wrist_top_marker_pose: {angle_rotation_error: 3.10517501474547, euclidean_error: 0.5815636338785257}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1144050477855396, euclidean_error: 0.578827781319546}
-    base_right_marker_pose: {angle_rotation_error: 3.134796794697544, euclidean_error: 0.5767423995841552}
-    shoulder_marker_pose: {angle_rotation_error: 3.0626622475482757, euclidean_error: 0.5837565281086555}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1338163009758047, euclidean_error: 0.5802938436682372}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1372078423131424, euclidean_error: 0.5815815326935804}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.106794780863201, euclidean_error: 0.57861728403962}
-    base_right_marker_pose: {angle_rotation_error: 3.1203014170502597, euclidean_error: 0.5765329831932489}
-    shoulder_marker_pose: {angle_rotation_error: 3.075516997307443, euclidean_error: 0.5837191922462767}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1385515465783205, euclidean_error: 0.5803616415456428}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1096102327184414, euclidean_error: 0.5819982764137023}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.113781415551583, euclidean_error: 0.578780842900745}
-    base_right_marker_pose: {angle_rotation_error: 3.1331518350403345, euclidean_error: 0.5765982704969126}
-    shoulder_marker_pose: {angle_rotation_error: 3.080494086551063, euclidean_error: 0.583712854202028}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.134279856073181, euclidean_error: 0.5802782661184746}
-    wrist_top_marker_pose: {angle_rotation_error: 3.06236430472543, euclidean_error: 0.581925753354736}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093519926709551, euclidean_error: 0.57861070511172}
-    base_right_marker_pose: {angle_rotation_error: 3.1308694143766655, euclidean_error: 0.5766695104112421}
-    shoulder_marker_pose: {angle_rotation_error: 3.0689825034049645, euclidean_error: 0.58376699613171}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.140243301053823, euclidean_error: 0.580383244667667}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1396323929880365, euclidean_error: 0.5820810102537606}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1136373890509037, euclidean_error: 0.5788931341160738}
-    base_right_marker_pose: {angle_rotation_error: 3.1399046855041997, euclidean_error: 0.5765255979016959}
-    shoulder_marker_pose: {angle_rotation_error: 3.0754316992264306, euclidean_error: 0.5837329890073739}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.14125847184931, euclidean_error: 0.5803945148699479}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1148672453680475, euclidean_error: 0.5818151660299984}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0907744953926186, euclidean_error: 0.5786711074331911}
-    base_right_marker_pose: {angle_rotation_error: 3.1250588792498837, euclidean_error: 0.5766064166367466}
-    shoulder_marker_pose: {angle_rotation_error: 3.0950478735847646, euclidean_error: 0.5840008960612713}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.110922487378795, euclidean_error: 0.5803828027124943}
-    wrist_top_marker_pose: {angle_rotation_error: 3.10180580734362, euclidean_error: 0.5817624532416574}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.111236088014273, euclidean_error: 0.5788278101501779}
-    base_right_marker_pose: {angle_rotation_error: 3.125157721311681, euclidean_error: 0.5765142739039799}
-    shoulder_marker_pose: {angle_rotation_error: 3.085372056256502, euclidean_error: 0.583931356051414}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.137868858429481, euclidean_error: 0.5803648005038327}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1183891835377255, euclidean_error: 0.5815144475877785}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102614005187153, euclidean_error: 0.578761424623339}
-    base_right_marker_pose: {angle_rotation_error: 3.1413240586001527, euclidean_error: 0.5765411696751308}
-    shoulder_marker_pose: {angle_rotation_error: 3.076139410642922, euclidean_error: 0.5838638175286623}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1043795104787035, euclidean_error: 0.5801984630965692}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1019975009781087, euclidean_error: 0.5816127812745735}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1112504394494573, euclidean_error: 0.578900528956941}
-    base_right_marker_pose: {angle_rotation_error: 3.134969343769129, euclidean_error: 0.5765673748431217}
-    shoulder_marker_pose: {angle_rotation_error: 3.06750396715566, euclidean_error: 0.5838261882823217}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.132067495429024, euclidean_error: 0.5804134026754274}
-    wrist_top_marker_pose: {angle_rotation_error: 3.117846938716745, euclidean_error: 0.5815140859223548}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1157129019558765, euclidean_error: 0.5787918534515977}
-    base_right_marker_pose: {angle_rotation_error: 3.14133700884944, euclidean_error: 0.5766460883183663}
-    shoulder_marker_pose: {angle_rotation_error: 3.0787803060764944, euclidean_error: 0.5838129912828411}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0936000184832158, euclidean_error: 0.5807747078503691}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1397044749888647, euclidean_error: 0.5819961291773844}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1000260632882095, euclidean_error: 0.5787282111588163}
-    base_right_marker_pose: {angle_rotation_error: 3.1304245183661545, euclidean_error: 0.5762260524631165}
-    shoulder_marker_pose: {angle_rotation_error: 3.079851066900928, euclidean_error: 0.5838026504796971}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.121786327407287, euclidean_error: 0.5803814749891164}
-    wrist_top_marker_pose: {angle_rotation_error: 3.127477727059414, euclidean_error: 0.5819034833029194}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101451900888021, euclidean_error: 0.5787123498072902}
-    base_right_marker_pose: {angle_rotation_error: 3.1298860433909637, euclidean_error: 0.576620880721471}
-    shoulder_marker_pose: {angle_rotation_error: 3.0703747777545334, euclidean_error: 0.5839594929848875}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1393941469950355, euclidean_error: 0.5804514002015229}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0967356544107383, euclidean_error: 0.5818873019478056}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1049282104622202, euclidean_error: 0.5787115188537029}
-    base_right_marker_pose: {angle_rotation_error: 3.130385004168823, euclidean_error: 0.5765499312594803}
-    shoulder_marker_pose: {angle_rotation_error: 3.0922789215570656, euclidean_error: 0.5838353321033704}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.140581977327659, euclidean_error: 0.580385096564482}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0815443507941693, euclidean_error: 0.5817110104237796}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1104861212936683, euclidean_error: 0.578772338318188}
-    base_right_marker_pose: {angle_rotation_error: 3.1312451780454773, euclidean_error: 0.5765131505053624}
-    shoulder_marker_pose: {angle_rotation_error: 3.0651303928685723, euclidean_error: 0.5837781804306666}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0949731449653477, euclidean_error: 0.5806648589416916}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0789848193179084, euclidean_error: 0.5819209713826068}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0929712179695668, euclidean_error: 0.5787575172093365}
-    base_right_marker_pose: {angle_rotation_error: 3.132796049375396, euclidean_error: 0.5764838937079702}
-    shoulder_marker_pose: {angle_rotation_error: 3.054217137653592, euclidean_error: 0.5836159106241448}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.137976027949632, euclidean_error: 0.580484812960313}
-    wrist_top_marker_pose: {angle_rotation_error: 3.087791763163286, euclidean_error: 0.5819554413388416}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101235492143578, euclidean_error: 0.5787588569587803}
-    base_right_marker_pose: {angle_rotation_error: 3.120162493911315, euclidean_error: 0.5762447524136282}
-    shoulder_marker_pose: {angle_rotation_error: 3.067206007021767, euclidean_error: 0.5837023614012178}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1114992245570794, euclidean_error: 0.5807548402101141}
-    wrist_top_marker_pose: {angle_rotation_error: 3.094828147596526, euclidean_error: 0.5817929264037024}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1066609714508457, euclidean_error: 0.5787841281673191}
-    base_right_marker_pose: {angle_rotation_error: 3.1301255278184823, euclidean_error: 0.5765027882315397}
-    shoulder_marker_pose: {angle_rotation_error: 3.0813627293205537, euclidean_error: 0.5839162029702557}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1241140574778825, euclidean_error: 0.5802900757802443}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1261495316146704, euclidean_error: 0.5816946642434379}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1016810483167307, euclidean_error: 0.5788842472877098}
-    base_right_marker_pose: {angle_rotation_error: 3.136174110110722, euclidean_error: 0.5765867187240701}
-    shoulder_marker_pose: {angle_rotation_error: 3.07274625305736, euclidean_error: 0.5838903598016097}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.073626866014922, euclidean_error: 0.580550583971602}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1151156316707764, euclidean_error: 0.5818725586400131}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0977949465895396, euclidean_error: 0.5786536361941524}
-    base_right_marker_pose: {angle_rotation_error: 3.1354221876417383, euclidean_error: 0.5767912232956973}
-    shoulder_marker_pose: {angle_rotation_error: 3.0736781839009195, euclidean_error: 0.583863835116353}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1014936252498417, euclidean_error: 0.5801720968403918}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0983873422534747, euclidean_error: 0.5819205531059023}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0757167925854927, euclidean_error: 0.5785791594656086}
-    base_right_marker_pose: {angle_rotation_error: 3.121437200191367, euclidean_error: 0.5765660819668086}
-    shoulder_marker_pose: {angle_rotation_error: 3.089659461107141, euclidean_error: 0.5838980001685198}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1190344960697227, euclidean_error: 0.5806986522526003}
-    wrist_top_marker_pose: {angle_rotation_error: 3.113630090030224, euclidean_error: 0.5812864359299033}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088158556090973, euclidean_error: 0.5785976177190195}
-    base_right_marker_pose: {angle_rotation_error: 3.13223430833836, euclidean_error: 0.5766080449543807}
-    shoulder_marker_pose: {angle_rotation_error: 3.0911809601885842, euclidean_error: 0.5839229518338106}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0726642274457694, euclidean_error: 0.580607411245639}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0802858320258464, euclidean_error: 0.5813548631359489}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0951198302499145, euclidean_error: 0.5785435860108649}
-    base_right_marker_pose: {angle_rotation_error: 3.1168824596967593, euclidean_error: 0.5765918970161434}
-    shoulder_marker_pose: {angle_rotation_error: 3.0882106034257353, euclidean_error: 0.5839518559385337}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.084306961989183, euclidean_error: 0.5808173631210631}
-    wrist_top_marker_pose: {angle_rotation_error: 3.113955562239918, euclidean_error: 0.5814662947047923}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087105817521416, euclidean_error: 0.5784339665019307}
-    base_right_marker_pose: {angle_rotation_error: 3.1381910267069024, euclidean_error: 0.5766566390683338}
-    shoulder_marker_pose: {angle_rotation_error: 3.082231232390563, euclidean_error: 0.5837511401861336}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.084483591219665, euclidean_error: 0.5805943735251571}
-    wrist_top_marker_pose: {angle_rotation_error: 3.071566767351262, euclidean_error: 0.5811160494461515}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1040656385386023, euclidean_error: 0.5784638751778695}
-    base_right_marker_pose: {angle_rotation_error: 3.114139876081114, euclidean_error: 0.5765351738138793}
-    shoulder_marker_pose: {angle_rotation_error: 3.0910591900549584, euclidean_error: 0.5839172921761022}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0702045031943133, euclidean_error: 0.5806891828287978}
-    wrist_top_marker_pose: {angle_rotation_error: 3.038832039107277, euclidean_error: 0.5815936833035711}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1016296251772393, euclidean_error: 0.5784875024044355}
-    base_right_marker_pose: {angle_rotation_error: 3.132539934017314, euclidean_error: 0.5767071807642287}
-    shoulder_marker_pose: {angle_rotation_error: 3.1006417475103567, euclidean_error: 0.5838209799239933}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.116303120907344, euclidean_error: 0.5807060632732265}
-    wrist_top_marker_pose: {angle_rotation_error: 3.073394498772661, euclidean_error: 0.5810734849279496}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1004858112098144, euclidean_error: 0.5785227225297249}
-    base_right_marker_pose: {angle_rotation_error: 3.1360704814883857, euclidean_error: 0.5766565322007866}
-    shoulder_marker_pose: {angle_rotation_error: 3.080223880335823, euclidean_error: 0.5836649537969413}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.082728934867367, euclidean_error: 0.5802572524112718}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1041220428428478, euclidean_error: 0.5812417516239179}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.089851516225706, euclidean_error: 0.5785028821431846}
-    base_right_marker_pose: {angle_rotation_error: 3.114969384101673, euclidean_error: 0.5764619696457093}
-    shoulder_marker_pose: {angle_rotation_error: 3.0878538410077856, euclidean_error: 0.5838826539606411}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0899951341177094, euclidean_error: 0.5807794133392866}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0865376661510333, euclidean_error: 0.5813304350696535}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0970593507197344, euclidean_error: 0.5785509599352257}
-    base_right_marker_pose: {angle_rotation_error: 3.123752893670016, euclidean_error: 0.5767620232309054}
-    shoulder_marker_pose: {angle_rotation_error: 3.0929101105727463, euclidean_error: 0.583891304826044}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0997932954261644, euclidean_error: 0.5805373063893675}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0824230572973295, euclidean_error: 0.5813906396817178}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096317724425364, euclidean_error: 0.578466485158924}
-    base_right_marker_pose: {angle_rotation_error: 3.1246383052686078, euclidean_error: 0.5765344636174341}
-    shoulder_marker_pose: {angle_rotation_error: 3.0673588791798814, euclidean_error: 0.5837698741070981}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.107611334090247, euclidean_error: 0.5806134131743149}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0752392719946124, euclidean_error: 0.581632964845274}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08995662108274, euclidean_error: 0.5784351830948722}
-    base_right_marker_pose: {angle_rotation_error: 3.139206313697342, euclidean_error: 0.5768407225997495}
-    shoulder_marker_pose: {angle_rotation_error: 3.089878789173909, euclidean_error: 0.5838603529432366}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1178910751800815, euclidean_error: 0.5806686458597121}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0597818755694197, euclidean_error: 0.5812828767589258}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093497403020793, euclidean_error: 0.5785267969089269}
-    base_right_marker_pose: {angle_rotation_error: 3.129488518198444, euclidean_error: 0.5767276651250108}
-    shoulder_marker_pose: {angle_rotation_error: 3.077396896743062, euclidean_error: 0.5838936686226561}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.095153793688663, euclidean_error: 0.5806607996866404}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0753527449940585, euclidean_error: 0.5815177343736678}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.09178534670855, euclidean_error: 0.5785956901925027}
-    base_right_marker_pose: {angle_rotation_error: 3.1286079066374333, euclidean_error: 0.5764688599898553}
-    shoulder_marker_pose: {angle_rotation_error: 3.087140695298077, euclidean_error: 0.5839118687870987}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0969171470059473, euclidean_error: 0.5807648069047039}
-    wrist_top_marker_pose: {angle_rotation_error: 3.07420221633835, euclidean_error: 0.581096535282115}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090459432610683, euclidean_error: 0.5784586177234452}
-    base_right_marker_pose: {angle_rotation_error: 3.135643794232654, euclidean_error: 0.5766850391348037}
-    shoulder_marker_pose: {angle_rotation_error: 3.0594787391609874, euclidean_error: 0.5837005355244436}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.129788255862508, euclidean_error: 0.5808000259537848}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0686294460328574, euclidean_error: 0.5812481962222146}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091465703006675, euclidean_error: 0.5785056501044125}
-    base_right_marker_pose: {angle_rotation_error: 3.139275808453277, euclidean_error: 0.5765894716840393}
-    shoulder_marker_pose: {angle_rotation_error: 3.065861617577838, euclidean_error: 0.5835544111245237}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.103782614517035, euclidean_error: 0.5808665621272073}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0957282258912335, euclidean_error: 0.5814813899992041}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0994854934407883, euclidean_error: 0.5785784712027295}
-    base_right_marker_pose: {angle_rotation_error: 3.1108874042846804, euclidean_error: 0.5766019918041102}
-    shoulder_marker_pose: {angle_rotation_error: 3.081496399833734, euclidean_error: 0.5838650701419963}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0905055184077406, euclidean_error: 0.580658830674195}
-    wrist_top_marker_pose: {angle_rotation_error: 3.056165480228595, euclidean_error: 0.5817420188914934}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0929667816958792, euclidean_error: 0.5784736947461385}
-    base_right_marker_pose: {angle_rotation_error: 3.130251411984318, euclidean_error: 0.5764774505768218}
-    shoulder_marker_pose: {angle_rotation_error: 3.082325179853873, euclidean_error: 0.5837937682096201}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1058587082665823, euclidean_error: 0.5806100670912456}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0828128210751378, euclidean_error: 0.5816542675250402}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102289569661751, euclidean_error: 0.5784852336602971}
-    base_right_marker_pose: {angle_rotation_error: 3.130562882886141, euclidean_error: 0.5766909151851891}
-    shoulder_marker_pose: {angle_rotation_error: 3.0660049185014397, euclidean_error: 0.5837575439868965}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1144509763127686, euclidean_error: 0.5807321243796936}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0578975062571665, euclidean_error: 0.58126844267659}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.104175034382693, euclidean_error: 0.5785820496509404}
-    base_right_marker_pose: {angle_rotation_error: 3.119835134761894, euclidean_error: 0.5767410200341152}
-    shoulder_marker_pose: {angle_rotation_error: 3.0781874393090316, euclidean_error: 0.5838961701639046}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0991308516115716, euclidean_error: 0.5807780429065129}
-    wrist_top_marker_pose: {angle_rotation_error: 3.101787170002553, euclidean_error: 0.5813298924077205}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0925095686216575, euclidean_error: 0.5783864014612184}
-    base_right_marker_pose: {angle_rotation_error: 3.1155193090194873, euclidean_error: 0.5764166837793895}
-    shoulder_marker_pose: {angle_rotation_error: 3.0858026279103683, euclidean_error: 0.5838112769417262}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1111697728217145, euclidean_error: 0.5809124720251015}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1164025354032936, euclidean_error: 0.5811796711702286}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1003096130069845, euclidean_error: 0.5786634482077868}
-    base_right_marker_pose: {angle_rotation_error: 3.1337542374116834, euclidean_error: 0.5765929119354939}
-    shoulder_marker_pose: {angle_rotation_error: 3.0829578629182297, euclidean_error: 0.5838884786606953}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.098851099647033, euclidean_error: 0.5806831179624599}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1125702722226674, euclidean_error: 0.5811106841708553}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0950997202050825, euclidean_error: 0.5785462268073213}
-    base_right_marker_pose: {angle_rotation_error: 3.1401882392553664, euclidean_error: 0.5765857031228795}
-    shoulder_marker_pose: {angle_rotation_error: 3.0966369913548886, euclidean_error: 0.5839685547355259}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.117783622994057, euclidean_error: 0.5808988722702219}
-    wrist_top_marker_pose: {angle_rotation_error: 3.104198052527627, euclidean_error: 0.5813322757763462}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0918182483362924, euclidean_error: 0.5785198085699977}
-    base_right_marker_pose: {angle_rotation_error: 3.1391501984841796, euclidean_error: 0.5768322166398863}
-    shoulder_marker_pose: {angle_rotation_error: 3.0845710402560114, euclidean_error: 0.583879339390416}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0899975479993858, euclidean_error: 0.5807591202489734}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1035444430117103, euclidean_error: 0.5817530530039737}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102563807267547, euclidean_error: 0.5786533528749234}
-    base_right_marker_pose: {angle_rotation_error: 3.1370099870148187, euclidean_error: 0.5765579035612304}
-    shoulder_marker_pose: {angle_rotation_error: 3.0692370362392283, euclidean_error: 0.5837588778982628}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0976144264601477, euclidean_error: 0.5808747867790831}
-    wrist_top_marker_pose: {angle_rotation_error: 3.044050918162114, euclidean_error: 0.5815534849550015}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1130750774108304, euclidean_error: 0.5787789915848373}
-    base_right_marker_pose: {angle_rotation_error: 3.1337868945946945, euclidean_error: 0.5768085661833399}
-    shoulder_marker_pose: {angle_rotation_error: 3.0933203127790816, euclidean_error: 0.5840114952713036}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1200464905492526, euclidean_error: 0.5807961498042667}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0865716232633007, euclidean_error: 0.5815743336676893}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1058438958987424, euclidean_error: 0.5786577262676394}
-    base_right_marker_pose: {angle_rotation_error: 3.1347113529415114, euclidean_error: 0.5767496890661107}
-    shoulder_marker_pose: {angle_rotation_error: 3.085533275313442, euclidean_error: 0.5839447911130462}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1060840927056037, euclidean_error: 0.5805962780161239}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0561234544687568, euclidean_error: 0.5816019445484063}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1117043485243383, euclidean_error: 0.5788698027645223}
-    base_right_marker_pose: {angle_rotation_error: 3.1383558060967265, euclidean_error: 0.5764392840551427}
-    shoulder_marker_pose: {angle_rotation_error: 3.0873978373422193, euclidean_error: 0.5837478738034467}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1179824060888133, euclidean_error: 0.5802686583684996}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1297224895110904, euclidean_error: 0.5814577587650908}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08359492776328, euclidean_error: 0.5785058091184031}
-    base_right_marker_pose: {angle_rotation_error: 3.1312662572012595, euclidean_error: 0.5766029297795218}
-    shoulder_marker_pose: {angle_rotation_error: 3.0663956796258676, euclidean_error: 0.5838079067885921}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.067941148534465, euclidean_error: 0.5805727311172676}
-    wrist_top_marker_pose: {angle_rotation_error: 3.092686158810158, euclidean_error: 0.5817437033043475}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1060636934589434, euclidean_error: 0.5786302383386392}
-    base_right_marker_pose: {angle_rotation_error: 3.1333094385950524, euclidean_error: 0.5764809663451644}
-    shoulder_marker_pose: {angle_rotation_error: 3.052402830399011, euclidean_error: 0.5837655725918335}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.135706342983556, euclidean_error: 0.58052335712645}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0958919299590684, euclidean_error: 0.5813056037937946}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0936488682114645, euclidean_error: 0.5786663111387226}
-    base_right_marker_pose: {angle_rotation_error: 3.1148731535205854, euclidean_error: 0.5765465085478486}
-    shoulder_marker_pose: {angle_rotation_error: 3.0571034542772177, euclidean_error: 0.5835678974888914}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0837786031458436, euclidean_error: 0.5807647319491713}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0522103952194883, euclidean_error: 0.5819102801919062}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1012862192331982, euclidean_error: 0.5786865817553768}
-    base_right_marker_pose: {angle_rotation_error: 3.1215005311508572, euclidean_error: 0.5765892209082414}
-    shoulder_marker_pose: {angle_rotation_error: 3.093705688701088, euclidean_error: 0.5839549314694916}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1041294134208792, euclidean_error: 0.5807122369068567}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0645400710859816, euclidean_error: 0.5814799939425613}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1039278314842575, euclidean_error: 0.5786385706597912}
-    base_right_marker_pose: {angle_rotation_error: 3.1296129088570446, euclidean_error: 0.5766422036495018}
-    shoulder_marker_pose: {angle_rotation_error: 3.067748771836046, euclidean_error: 0.5838488985646846}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0829340430597454, euclidean_error: 0.5805920517408394}
-    wrist_top_marker_pose: {angle_rotation_error: 3.128159291914712, euclidean_error: 0.5816554582879664}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1122394548924537, euclidean_error: 0.5787056197914502}
-    base_right_marker_pose: {angle_rotation_error: 3.140521773217523, euclidean_error: 0.5765056900251845}
-    shoulder_marker_pose: {angle_rotation_error: 3.0775435017008883, euclidean_error: 0.5839288705155706}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0793708303544998, euclidean_error: 0.5806494425583344}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0841630610589736, euclidean_error: 0.581716578570353}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.105894291447986, euclidean_error: 0.5786199499720779}
-    base_right_marker_pose: {angle_rotation_error: 3.113483269381022, euclidean_error: 0.576744786175838}
-    shoulder_marker_pose: {angle_rotation_error: 3.084826830906879, euclidean_error: 0.5839601733664306}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083182301370352, euclidean_error: 0.580656262302096}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1156266200280283, euclidean_error: 0.5810876722021163}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091454429105691, euclidean_error: 0.57861197365821}
-    base_right_marker_pose: {angle_rotation_error: 3.136698658304465, euclidean_error: 0.5767944890984177}
-    shoulder_marker_pose: {angle_rotation_error: 3.0916074714403847, euclidean_error: 0.5839605112266324}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.128470671717967, euclidean_error: 0.5804855522992661}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1055818045976396, euclidean_error: 0.5814422898359168}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1154133707781373, euclidean_error: 0.5787594265580274}
-    base_right_marker_pose: {angle_rotation_error: 3.1232829993436106, euclidean_error: 0.5764790560902245}
-    shoulder_marker_pose: {angle_rotation_error: 3.0766199767164957, euclidean_error: 0.5838483615789689}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.069013779071316, euclidean_error: 0.5805701161720225}
-    wrist_top_marker_pose: {angle_rotation_error: 3.138090954114527, euclidean_error: 0.5819032670905467}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.109618379776856, euclidean_error: 0.5786728039328747}
-    base_right_marker_pose: {angle_rotation_error: 3.1199685649255744, euclidean_error: 0.5768151726908646}
-    shoulder_marker_pose: {angle_rotation_error: 3.055517669026468, euclidean_error: 0.5837278713218788}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1133964658674924, euclidean_error: 0.5805242475661101}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1044489829739486, euclidean_error: 0.5814325601754782}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0906436585588333, euclidean_error: 0.5785888540936347}
-    base_right_marker_pose: {angle_rotation_error: 3.135240911311811, euclidean_error: 0.5766784271315377}
-    shoulder_marker_pose: {angle_rotation_error: 3.086548244257165, euclidean_error: 0.5839613866480694}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.070374594807776, euclidean_error: 0.5807940622712738}
-    wrist_top_marker_pose: {angle_rotation_error: 3.083513117848129, euclidean_error: 0.5817802156805457}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.094443996185973, euclidean_error: 0.5786067693417315}
-    base_right_marker_pose: {angle_rotation_error: 3.1277363792694453, euclidean_error: 0.5766037020437884}
-    shoulder_marker_pose: {angle_rotation_error: 3.066340582513761, euclidean_error: 0.583884107276473}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1196002976779904, euclidean_error: 0.5806941084731969}
-    wrist_top_marker_pose: {angle_rotation_error: 3.068990462283613, euclidean_error: 0.5815064024316965}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0968054990567166, euclidean_error: 0.5786131954734627}
-    base_right_marker_pose: {angle_rotation_error: 3.125540115087389, euclidean_error: 0.5767490297308803}
-    shoulder_marker_pose: {angle_rotation_error: 3.0783928279156068, euclidean_error: 0.5838531192569425}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.075243951706307, euclidean_error: 0.5805273322907821}
-    wrist_top_marker_pose: {angle_rotation_error: 3.087422918026421, euclidean_error: 0.5816030459543751}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1045526249134037, euclidean_error: 0.5787663551552522}
-    base_right_marker_pose: {angle_rotation_error: 3.1234932134198155, euclidean_error: 0.5765957569704926}
-    shoulder_marker_pose: {angle_rotation_error: 3.089844303708465, euclidean_error: 0.583936548121271}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.11522783580834, euclidean_error: 0.5806909575502841}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0947859721923665, euclidean_error: 0.5815637241712363}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0811716142623027, euclidean_error: 0.578575282893512}
-    base_right_marker_pose: {angle_rotation_error: 3.126651363308819, euclidean_error: 0.5765953101147667}
-    shoulder_marker_pose: {angle_rotation_error: 3.0721900195366545, euclidean_error: 0.583822974338742}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0844517870519086, euclidean_error: 0.5807781354856828}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0745354086689334, euclidean_error: 0.5815294749671878}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1063304823230578, euclidean_error: 0.5786759338844769}
-    base_right_marker_pose: {angle_rotation_error: 3.131859125349904, euclidean_error: 0.5766780606147207}
-    shoulder_marker_pose: {angle_rotation_error: 3.0708348769689775, euclidean_error: 0.5837943562765655}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1181306748435764, euclidean_error: 0.5803068144252845}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0540888468437175, euclidean_error: 0.5815411670817074}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1055458691831705, euclidean_error: 0.5787047714567936}
-    base_right_marker_pose: {angle_rotation_error: 3.13149006786788, euclidean_error: 0.5765114629254906}
-    shoulder_marker_pose: {angle_rotation_error: 3.0930882940219124, euclidean_error: 0.5838598883253912}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0984750017151583, euclidean_error: 0.5807677734955885}
-    wrist_top_marker_pose: {angle_rotation_error: 3.112019313973464, euclidean_error: 0.58111569412519}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08435343900838, euclidean_error: 0.5784729545667211}
-    base_right_marker_pose: {angle_rotation_error: 3.1159142659501686, euclidean_error: 0.5765971337921878}
-    shoulder_marker_pose: {angle_rotation_error: 3.0898289760982305, euclidean_error: 0.5839303641816086}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.122474981522084, euclidean_error: 0.5804312765690207}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0678583907432206, euclidean_error: 0.5814496334448791}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08180638330404, euclidean_error: 0.5785889113582094}
-    base_right_marker_pose: {angle_rotation_error: 3.1402055234101325, euclidean_error: 0.5764867357098312}
-    shoulder_marker_pose: {angle_rotation_error: 3.063772890512357, euclidean_error: 0.5836810472952192}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0913385127605, euclidean_error: 0.5806552487043577}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1320447715248645, euclidean_error: 0.581546001275865}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1034875936629085, euclidean_error: 0.5787085153827515}
-    base_right_marker_pose: {angle_rotation_error: 3.139642170295144, euclidean_error: 0.5767902436319527}
-    shoulder_marker_pose: {angle_rotation_error: 3.0578522820334584, euclidean_error: 0.5837358018793568}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.092208370681414, euclidean_error: 0.5808878948152433}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0983211738869594, euclidean_error: 0.5814977269659267}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.099114332890629, euclidean_error: 0.5785959315745536}
-    base_right_marker_pose: {angle_rotation_error: 3.137917763512072, euclidean_error: 0.5765497512215255}
-    shoulder_marker_pose: {angle_rotation_error: 3.077995331581113, euclidean_error: 0.5838066650381497}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1003059634044043, euclidean_error: 0.5806166595003395}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130322874541903, euclidean_error: 0.5816946980332615}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1016714340072773, euclidean_error: 0.5787095691257774}
-    base_right_marker_pose: {angle_rotation_error: 3.13829042524541, euclidean_error: 0.576752421002522}
-    shoulder_marker_pose: {angle_rotation_error: 3.0613434004618996, euclidean_error: 0.5837691215295114}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1271574421673276, euclidean_error: 0.5806712174021131}
-    wrist_top_marker_pose: {angle_rotation_error: 3.090686542833272, euclidean_error: 0.5814044482973784}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092840639916799, euclidean_error: 0.578571549239279}
-    base_right_marker_pose: {angle_rotation_error: 3.1408695298257205, euclidean_error: 0.5767443224293157}
-    shoulder_marker_pose: {angle_rotation_error: 3.082386811371663, euclidean_error: 0.5838684660869704}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1071761585381594, euclidean_error: 0.580640014795462}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1274931137350896, euclidean_error: 0.5814101005480773}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.097384240747826, euclidean_error: 0.5786371288736463}
-    base_right_marker_pose: {angle_rotation_error: 3.1372749854680415, euclidean_error: 0.5765356165158222}
-    shoulder_marker_pose: {angle_rotation_error: 3.0757251927605314, euclidean_error: 0.5838815548142243}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0757147942630056, euclidean_error: 0.5806015683483209}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0763653638465933, euclidean_error: 0.5814118325744534}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.094686330786099, euclidean_error: 0.578468806912546}
-    base_right_marker_pose: {angle_rotation_error: 3.136820484150494, euclidean_error: 0.5766088323241423}
-    shoulder_marker_pose: {angle_rotation_error: 3.0762946185788085, euclidean_error: 0.5837708677369168}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.077179920365648, euclidean_error: 0.5806254006956684}
-    wrist_top_marker_pose: {angle_rotation_error: 3.119555317437188, euclidean_error: 0.5815338307515807}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0912559098353127, euclidean_error: 0.5785725999825827}
-    base_right_marker_pose: {angle_rotation_error: 3.135627848597829, euclidean_error: 0.5767516045700609}
-    shoulder_marker_pose: {angle_rotation_error: 3.084592725395498, euclidean_error: 0.583981862924716}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.112506832164495, euclidean_error: 0.5806775280952742}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1019823828995934, euclidean_error: 0.5815111210940468}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090012018743067, euclidean_error: 0.5784756356240315}
-    base_right_marker_pose: {angle_rotation_error: 3.1110334278668406, euclidean_error: 0.5765973352598396}
-    shoulder_marker_pose: {angle_rotation_error: 3.0733281775571997, euclidean_error: 0.583836263693252}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.139473773535916, euclidean_error: 0.5804158114680817}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0883489860919813, euclidean_error: 0.5812712361989135}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.083697593239116, euclidean_error: 0.5786147358472844}
-    base_right_marker_pose: {angle_rotation_error: 3.1321237175628527, euclidean_error: 0.5764828617377119}
-    shoulder_marker_pose: {angle_rotation_error: 3.079114845709324, euclidean_error: 0.5838486204817666}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1002356516174174, euclidean_error: 0.58075373272032}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1231864508613794, euclidean_error: 0.5816646843895298}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.117253791472155, euclidean_error: 0.5787721502770853}
-    base_right_marker_pose: {angle_rotation_error: 3.1278012039049625, euclidean_error: 0.5766106184688368}
-    shoulder_marker_pose: {angle_rotation_error: 3.0858175551343927, euclidean_error: 0.5838557957362565}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0846779573232412, euclidean_error: 0.5805172086061936}
-    wrist_top_marker_pose: {angle_rotation_error: 3.129042756487319, euclidean_error: 0.5816509845948378}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.076640946892151, euclidean_error: 0.5784828474227756}
-    base_right_marker_pose: {angle_rotation_error: 3.1277708998906344, euclidean_error: 0.5766753602351792}
-    shoulder_marker_pose: {angle_rotation_error: 3.0667709843500353, euclidean_error: 0.583871963553837}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1112362605337207, euclidean_error: 0.5805249205621409}
-    wrist_top_marker_pose: {angle_rotation_error: 3.083096178661851, euclidean_error: 0.5815235731498806}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0951802596737092, euclidean_error: 0.5786599218785277}
-    base_right_marker_pose: {angle_rotation_error: 3.125860784778996, euclidean_error: 0.5767385561831654}
-    shoulder_marker_pose: {angle_rotation_error: 3.079855146383571, euclidean_error: 0.5838645995220069}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0893267739689407, euclidean_error: 0.5804085643983401}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0845325147365648, euclidean_error: 0.5813971486194953}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.097769416535306, euclidean_error: 0.5785673649563842}
-    base_right_marker_pose: {angle_rotation_error: 3.1038254434216057, euclidean_error: 0.5765367963138079}
-    shoulder_marker_pose: {angle_rotation_error: 3.075067352229632, euclidean_error: 0.583841786353476}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0899215166269376, euclidean_error: 0.5807382846130216}
-    wrist_top_marker_pose: {angle_rotation_error: 3.070139226824127, euclidean_error: 0.581497753337381}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.09675926562717, euclidean_error: 0.5785666191741557}
-    base_right_marker_pose: {angle_rotation_error: 3.1247766079111567, euclidean_error: 0.5765584599892815}
-    shoulder_marker_pose: {angle_rotation_error: 3.090031863956741, euclidean_error: 0.5839673159277358}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1159066623694662, euclidean_error: 0.5806065798289508}
-    wrist_top_marker_pose: {angle_rotation_error: 3.11866353254925, euclidean_error: 0.581614058629932}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0887927581052623, euclidean_error: 0.5785599989847456}
-    base_right_marker_pose: {angle_rotation_error: 3.133241626059637, euclidean_error: 0.5766796063500708}
-    shoulder_marker_pose: {angle_rotation_error: 3.0750280688700435, euclidean_error: 0.5838659528455324}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0902624238722654, euclidean_error: 0.5807944002010748}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1039310805973335, euclidean_error: 0.5812901079139091}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095914986717411, euclidean_error: 0.5785384571264233}
-    base_right_marker_pose: {angle_rotation_error: 3.124299901713945, euclidean_error: 0.5768387586870625}
-    shoulder_marker_pose: {angle_rotation_error: 3.0857796813797282, euclidean_error: 0.5841755924455108}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090651190931972, euclidean_error: 0.5808720430127635}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0569297531936943, euclidean_error: 0.5814982131216874}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0983945193985707, euclidean_error: 0.5785464777431353}
-    base_right_marker_pose: {angle_rotation_error: 3.1397183004942195, euclidean_error: 0.5765207311673732}
-    shoulder_marker_pose: {angle_rotation_error: 3.0840452117588693, euclidean_error: 0.5839326062925076}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0799476105350387, euclidean_error: 0.5807261297974936}
-    wrist_top_marker_pose: {angle_rotation_error: 3.058026487126528, euclidean_error: 0.5818211629209656}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0841888951650147, euclidean_error: 0.5785971417659929}
-    base_right_marker_pose: {angle_rotation_error: 3.1405957145568517, euclidean_error: 0.5766173826769558}
-    shoulder_marker_pose: {angle_rotation_error: 3.0892213950463097, euclidean_error: 0.5839384636943368}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083146780192024, euclidean_error: 0.5805762511249222}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1300810033911337, euclidean_error: 0.5814643698649552}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1057251663178875, euclidean_error: 0.5786784934862585}
-    base_right_marker_pose: {angle_rotation_error: 3.1290026212242474, euclidean_error: 0.576656209126889}
-    shoulder_marker_pose: {angle_rotation_error: 3.0891124551642486, euclidean_error: 0.5838382366633598}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1120565120288046, euclidean_error: 0.580615145978613}
-    wrist_top_marker_pose: {angle_rotation_error: 3.13090071175433, euclidean_error: 0.5815727144848822}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101371715740986, euclidean_error: 0.5786959079460472}
-    base_right_marker_pose: {angle_rotation_error: 3.138072260885553, euclidean_error: 0.5767942213842198}
-    shoulder_marker_pose: {angle_rotation_error: 3.065870391482437, euclidean_error: 0.5839533807142843}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0775521723059955, euclidean_error: 0.5806045915873195}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0969952533704923, euclidean_error: 0.5817671814890305}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096577004095006, euclidean_error: 0.5786092140551082}
-    base_right_marker_pose: {angle_rotation_error: 3.137759775992317, euclidean_error: 0.5766563096879581}
-    shoulder_marker_pose: {angle_rotation_error: 3.076113494330372, euclidean_error: 0.58395833093959}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1215387514092567, euclidean_error: 0.5806522942840507}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0898957225293757, euclidean_error: 0.5817008628834781}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.107165851649843, euclidean_error: 0.5787354726641704}
-    base_right_marker_pose: {angle_rotation_error: 3.1308840085872194, euclidean_error: 0.5768075687700949}
-    shoulder_marker_pose: {angle_rotation_error: 3.0887695505041095, euclidean_error: 0.5839722280555084}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.109109028678116, euclidean_error: 0.5806929006331871}
-    wrist_top_marker_pose: {angle_rotation_error: 3.099083393505374, euclidean_error: 0.5814781491198643}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.10081165437145, euclidean_error: 0.5787081848547075}
-    base_right_marker_pose: {angle_rotation_error: 3.1230584760191653, euclidean_error: 0.576926218003353}
-    shoulder_marker_pose: {angle_rotation_error: 3.0775674469621412, euclidean_error: 0.5839681281645208}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0973774599764083, euclidean_error: 0.5808964498453123}
-    wrist_top_marker_pose: {angle_rotation_error: 3.082623798965419, euclidean_error: 0.5817078917090573}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1055703950754134, euclidean_error: 0.57852984393179}
-    base_right_marker_pose: {angle_rotation_error: 3.1264857555601555, euclidean_error: 0.576716539595741}
-    shoulder_marker_pose: {angle_rotation_error: 3.0889584804159766, euclidean_error: 0.584052574509467}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.086540251473814, euclidean_error: 0.5808161038049557}
-    wrist_top_marker_pose: {angle_rotation_error: 3.074967778044275, euclidean_error: 0.5818985186113353}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092082054579771, euclidean_error: 0.5784616460626838}
-    base_right_marker_pose: {angle_rotation_error: 3.136568717459866, euclidean_error: 0.5767318348282646}
-    shoulder_marker_pose: {angle_rotation_error: 3.072321194351959, euclidean_error: 0.5839061254672722}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1010040385273947, euclidean_error: 0.5808530299137973}
-    wrist_top_marker_pose: {angle_rotation_error: 3.088453892780868, euclidean_error: 0.5814015452835017}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.106764469030685, euclidean_error: 0.5786635817984557}
-    base_right_marker_pose: {angle_rotation_error: 3.1249693623540384, euclidean_error: 0.5768403746488793}
-    shoulder_marker_pose: {angle_rotation_error: 3.0640791077591394, euclidean_error: 0.5839320686212537}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0928548293875107, euclidean_error: 0.5806499605376054}
-    wrist_top_marker_pose: {angle_rotation_error: 3.112959955440967, euclidean_error: 0.5817505733815491}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0922051624543685, euclidean_error: 0.5785334812258591}
-    base_right_marker_pose: {angle_rotation_error: 3.1304354036925024, euclidean_error: 0.5766845928957629}
-    shoulder_marker_pose: {angle_rotation_error: 3.0902024496589178, euclidean_error: 0.5838074305758524}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083469560143774, euclidean_error: 0.5806450554337863}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130876785911803, euclidean_error: 0.5814917569453387}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0793720977313024, euclidean_error: 0.5786282166416009}
-    base_right_marker_pose: {angle_rotation_error: 3.1280798906507634, euclidean_error: 0.5767942164792631}
-    shoulder_marker_pose: {angle_rotation_error: 3.0791785310960513, euclidean_error: 0.5838505036128508}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1154299450313143, euclidean_error: 0.5803762132228009}
-    wrist_top_marker_pose: {angle_rotation_error: 3.069778930312142, euclidean_error: 0.5814915563112787}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1075192403277088, euclidean_error: 0.5786555847318035}
-    base_right_marker_pose: {angle_rotation_error: 3.12660109939897, euclidean_error: 0.5769325723448979}
-    shoulder_marker_pose: {angle_rotation_error: 3.0577537179576875, euclidean_error: 0.5837378609405868}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0876609384876157, euclidean_error: 0.5807904544569727}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1174370827690048, euclidean_error: 0.5817244088361444}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0982781752878177, euclidean_error: 0.5785318393195857}
-    base_right_marker_pose: {angle_rotation_error: 3.12674494091827, euclidean_error: 0.5767435001669022}
-    shoulder_marker_pose: {angle_rotation_error: 3.0871113540447785, euclidean_error: 0.5838386900302017}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0948002553158998, euclidean_error: 0.5804954939483864}
-    wrist_top_marker_pose: {angle_rotation_error: 3.089691542251892, euclidean_error: 0.5813374410110828}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091967404280361, euclidean_error: 0.5785711057248698}
-    base_right_marker_pose: {angle_rotation_error: 3.1357070336412174, euclidean_error: 0.5764999287425219}
-    shoulder_marker_pose: {angle_rotation_error: 3.1005031386497937, euclidean_error: 0.5838838185999728}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1056744272817367, euclidean_error: 0.5804899765185243}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0962489428052624, euclidean_error: 0.5811722137723674}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0983118292383347, euclidean_error: 0.5786334229066821}
-    base_right_marker_pose: {angle_rotation_error: 3.109495926812158, euclidean_error: 0.5765708643665273}
-    shoulder_marker_pose: {angle_rotation_error: 3.08200419181458, euclidean_error: 0.5839123024486567}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.091943388858404, euclidean_error: 0.5806242388870216}
-    wrist_top_marker_pose: {angle_rotation_error: 3.116668646195056, euclidean_error: 0.5811469987709368}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.10388405351173, euclidean_error: 0.5786025879221084}
-    base_right_marker_pose: {angle_rotation_error: 3.1332200509398733, euclidean_error: 0.5767538521251956}
-    shoulder_marker_pose: {angle_rotation_error: 3.084759249873397, euclidean_error: 0.5839132206114104}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.107373359937841, euclidean_error: 0.5805932283047152}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1372972691836423, euclidean_error: 0.5811869941574263}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0916061666169172, euclidean_error: 0.5784594964585863}
-    base_right_marker_pose: {angle_rotation_error: 3.133069186210095, euclidean_error: 0.5767067680868303}
-    shoulder_marker_pose: {angle_rotation_error: 3.100595358395557, euclidean_error: 0.5838778201124218}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.115853921857433, euclidean_error: 0.5806977609714757}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0885455212842636, euclidean_error: 0.5817830494098402}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101159958351213, euclidean_error: 0.578665690276577}
-    base_right_marker_pose: {angle_rotation_error: 3.12833287499649, euclidean_error: 0.5768842809753729}
-    shoulder_marker_pose: {angle_rotation_error: 3.081204400207299, euclidean_error: 0.5839257239636251}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1169948535576224, euclidean_error: 0.5808193926902023}
-    wrist_top_marker_pose: {angle_rotation_error: 3.085131142103527, euclidean_error: 0.5813741464394531}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096393867048214, euclidean_error: 0.5787059425899654}
-    base_right_marker_pose: {angle_rotation_error: 3.1395978584347546, euclidean_error: 0.5769551474774003}
-    shoulder_marker_pose: {angle_rotation_error: 3.0853888259102487, euclidean_error: 0.5839606723999877}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0961218926663676, euclidean_error: 0.5804803371970891}
-    wrist_top_marker_pose: {angle_rotation_error: 3.112784305744292, euclidean_error: 0.5815711974536516}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.085045486335064, euclidean_error: 0.5786173578157356}
-    base_right_marker_pose: {angle_rotation_error: 3.135656626596693, euclidean_error: 0.576635997320864}
-    shoulder_marker_pose: {angle_rotation_error: 3.0945429447729857, euclidean_error: 0.5838476710056802}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1122268696502045, euclidean_error: 0.5807290208569755}
-    wrist_top_marker_pose: {angle_rotation_error: 3.08290896756319, euclidean_error: 0.5813192705548643}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0927417792030054, euclidean_error: 0.5785475223492142}
-    base_right_marker_pose: {angle_rotation_error: 3.1326514946894304, euclidean_error: 0.5767336273526709}
-    shoulder_marker_pose: {angle_rotation_error: 3.1022323080370415, euclidean_error: 0.5840648862310507}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0790533982468506, euclidean_error: 0.5805208227235051}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0972572160377223, euclidean_error: 0.5814155375713845}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.106968053032928, euclidean_error: 0.5787196829918573}
-    base_right_marker_pose: {angle_rotation_error: 3.1226497002619484, euclidean_error: 0.5766614669697022}
-    shoulder_marker_pose: {angle_rotation_error: 3.0779097430032056, euclidean_error: 0.5839284382272952}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1213491350582774, euclidean_error: 0.5804610563342323}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1372454328073096, euclidean_error: 0.5812122762717045}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091810555315857, euclidean_error: 0.5786184673080607}
-    base_right_marker_pose: {angle_rotation_error: 3.1210643988966233, euclidean_error: 0.5767225148117407}
-    shoulder_marker_pose: {angle_rotation_error: 3.079570988832456, euclidean_error: 0.5839113713102647}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090301980937724, euclidean_error: 0.5808196420676984}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1089629493944835, euclidean_error: 0.5819671719452963}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.099630837734866, euclidean_error: 0.5787594951738553}
-    base_right_marker_pose: {angle_rotation_error: 3.1352017686358176, euclidean_error: 0.5767645170107215}
-    shoulder_marker_pose: {angle_rotation_error: 3.0704349058880003, euclidean_error: 0.5838276567914241}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0739583355879754, euclidean_error: 0.5805311887365028}
-    wrist_top_marker_pose: {angle_rotation_error: 3.101329478980316, euclidean_error: 0.5813909362348131}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102406524506692, euclidean_error: 0.578589983812208}
-    base_right_marker_pose: {angle_rotation_error: 3.131032422847796, euclidean_error: 0.576853736068598}
-    shoulder_marker_pose: {angle_rotation_error: 3.0840582845534334, euclidean_error: 0.5839803226121566}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.089430473113856, euclidean_error: 0.5806107889281356}
-    wrist_top_marker_pose: {angle_rotation_error: 3.114990504239514, euclidean_error: 0.581228387413987}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0883149792040805, euclidean_error: 0.5785171459224455}
-    base_right_marker_pose: {angle_rotation_error: 3.1158528770922334, euclidean_error: 0.5766717976442838}
-    shoulder_marker_pose: {angle_rotation_error: 3.0758849037543845, euclidean_error: 0.5840291311217847}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0902964926214933, euclidean_error: 0.5803590330421456}
-    wrist_top_marker_pose: {angle_rotation_error: 3.091878351315965, euclidean_error: 0.5811439810633092}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.108910760185694, euclidean_error: 0.5786113214115041}
-    base_right_marker_pose: {angle_rotation_error: 3.1346487890167363, euclidean_error: 0.5768222592255731}
-    shoulder_marker_pose: {angle_rotation_error: 3.0736784691954955, euclidean_error: 0.5838157016429706}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1312842911304384, euclidean_error: 0.5807860468525929}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0931375611799385, euclidean_error: 0.5814704002955691}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084313594019655, euclidean_error: 0.5786823267566679}
-    base_right_marker_pose: {angle_rotation_error: 3.1390992182991364, euclidean_error: 0.5767227490482867}
-    shoulder_marker_pose: {angle_rotation_error: 3.0808218254905815, euclidean_error: 0.5840700473117159}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.098713203035862, euclidean_error: 0.5805445605752899}
-    wrist_top_marker_pose: {angle_rotation_error: 3.110185383130869, euclidean_error: 0.5813216072961207}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1099800361871712, euclidean_error: 0.578618317411031}
-    base_right_marker_pose: {angle_rotation_error: 3.13568194303367, euclidean_error: 0.5768970984265026}
-    shoulder_marker_pose: {angle_rotation_error: 3.0888693580615194, euclidean_error: 0.5839242760011916}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0880428679195346, euclidean_error: 0.5803155108911132}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0884380903364943, euclidean_error: 0.5815678730352181}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.099443429801089, euclidean_error: 0.5787088156319714}
-    base_right_marker_pose: {angle_rotation_error: 3.1304103389933853, euclidean_error: 0.5766430766160195}
-    shoulder_marker_pose: {angle_rotation_error: 3.06545939379521, euclidean_error: 0.5837494857837874}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088602436311131, euclidean_error: 0.5805135583265172}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0822766829325987, euclidean_error: 0.5817406258917482}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0857292654961954, euclidean_error: 0.578553726145739}
-    base_right_marker_pose: {angle_rotation_error: 3.1147738431220082, euclidean_error: 0.5768877884896968}
-    shoulder_marker_pose: {angle_rotation_error: 3.077406839506093, euclidean_error: 0.5838450802183264}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.101111255842225, euclidean_error: 0.5807713481329035}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1217198111404567, euclidean_error: 0.581629363910363}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093826944934446, euclidean_error: 0.5785119988362779}
-    base_right_marker_pose: {angle_rotation_error: 3.126265849570824, euclidean_error: 0.5766375756946497}
-    shoulder_marker_pose: {angle_rotation_error: 3.0767455997812863, euclidean_error: 0.5838625483092336}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.104271897671112, euclidean_error: 0.5805870195610869}
-    wrist_top_marker_pose: {angle_rotation_error: 3.116292513238484, euclidean_error: 0.5815422432497259}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0955763399879617, euclidean_error: 0.5787129514068073}
-    base_right_marker_pose: {angle_rotation_error: 3.1218595763368833, euclidean_error: 0.5767656454510425}
-    shoulder_marker_pose: {angle_rotation_error: 3.081391413577377, euclidean_error: 0.5839354512700625}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.075278395050286, euclidean_error: 0.5806836553971363}
-    wrist_top_marker_pose: {angle_rotation_error: 3.103899552789518, euclidean_error: 0.5817840461664869}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0869252401816416, euclidean_error: 0.5785342171720728}
-    base_right_marker_pose: {angle_rotation_error: 3.136549556028134, euclidean_error: 0.5768200974672151}
-    shoulder_marker_pose: {angle_rotation_error: 3.0822186675942085, euclidean_error: 0.5838773340365154}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0811239027173047, euclidean_error: 0.5806330269411578}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1084103822879476, euclidean_error: 0.5811875662644319}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0783739483466945, euclidean_error: 0.5785339910223389}
-    base_right_marker_pose: {angle_rotation_error: 3.139463444975294, euclidean_error: 0.5768566685490739}
-    shoulder_marker_pose: {angle_rotation_error: 3.076965619061343, euclidean_error: 0.5840550192886333}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1256221501563153, euclidean_error: 0.5806848267797925}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0804497357299985, euclidean_error: 0.581373872786141}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.097817425830069, euclidean_error: 0.5786366438891798}
-    base_right_marker_pose: {angle_rotation_error: 3.1294319036595017, euclidean_error: 0.577041728033947}
-    shoulder_marker_pose: {angle_rotation_error: 3.089347016648351, euclidean_error: 0.5839931590698735}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.109531929556924, euclidean_error: 0.5808320450567954}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0989489595486446, euclidean_error: 0.5817155778280179}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086452287185506, euclidean_error: 0.5786072742904053}
-    base_right_marker_pose: {angle_rotation_error: 3.138989066988175, euclidean_error: 0.5766273803814363}
-    shoulder_marker_pose: {angle_rotation_error: 3.066932266289539, euclidean_error: 0.5838482400599518}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1051976109559813, euclidean_error: 0.5806095781065918}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0897551916732984, euclidean_error: 0.5812685802084444}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088874165203375, euclidean_error: 0.578541251471494}
-    base_right_marker_pose: {angle_rotation_error: 3.1331541878614866, euclidean_error: 0.5768296895307569}
-    shoulder_marker_pose: {angle_rotation_error: 3.0789433021804125, euclidean_error: 0.5839582256710315}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0949552005257868, euclidean_error: 0.5807730701211218}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1178075725328305, euclidean_error: 0.5817103927130954}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095043117357927, euclidean_error: 0.5785149655538765}
-    base_right_marker_pose: {angle_rotation_error: 3.136887824758221, euclidean_error: 0.5768374677074276}
-    shoulder_marker_pose: {angle_rotation_error: 3.084461532960845, euclidean_error: 0.5838504128940963}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.084183295745944, euclidean_error: 0.5806898975035174}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1223121738435187, euclidean_error: 0.5815239261243876}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0795058524591834, euclidean_error: 0.5785887996620208}
-    base_right_marker_pose: {angle_rotation_error: 3.1251322977228524, euclidean_error: 0.576782492613552}
-    shoulder_marker_pose: {angle_rotation_error: 3.0999289063009487, euclidean_error: 0.5839251546168516}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.100160742605318, euclidean_error: 0.5803688390287406}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1036070143973182, euclidean_error: 0.5815899158740897}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081798530501798, euclidean_error: 0.5786304937115017}
-    base_right_marker_pose: {angle_rotation_error: 3.1354058025365705, euclidean_error: 0.5767490263262743}
-    shoulder_marker_pose: {angle_rotation_error: 3.0746059820833245, euclidean_error: 0.5839048369814966}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0915211783905847, euclidean_error: 0.5805007100513325}
-    wrist_top_marker_pose: {angle_rotation_error: 3.064581421050885, euclidean_error: 0.5819300928961035}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0925727826481206, euclidean_error: 0.5787236416962718}
-    base_right_marker_pose: {angle_rotation_error: 3.141237909834524, euclidean_error: 0.576841328255297}
-    shoulder_marker_pose: {angle_rotation_error: 3.0965473849544636, euclidean_error: 0.5839881005804121}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0709669780360764, euclidean_error: 0.5804200244532667}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1231854597626802, euclidean_error: 0.5812965091529865}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0850634824662317, euclidean_error: 0.5785396949235209}
-    base_right_marker_pose: {angle_rotation_error: 3.1345392960938674, euclidean_error: 0.5768978237000939}
-    shoulder_marker_pose: {angle_rotation_error: 3.069201749360264, euclidean_error: 0.5839508576646678}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0952043570418364, euclidean_error: 0.5806534908941267}
-    wrist_top_marker_pose: {angle_rotation_error: 3.098774067459092, euclidean_error: 0.5812279722492485}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095587554414357, euclidean_error: 0.5785800907276492}
-    base_right_marker_pose: {angle_rotation_error: 3.131420672441148, euclidean_error: 0.5768632952180517}
-    shoulder_marker_pose: {angle_rotation_error: 3.088507947084454, euclidean_error: 0.5840018272873293}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0960263981595837, euclidean_error: 0.5808062050682862}
-    wrist_top_marker_pose: {angle_rotation_error: 3.123643831747966, euclidean_error: 0.5808422946303934}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092178740787017, euclidean_error: 0.5786567287161347}
-    base_right_marker_pose: {angle_rotation_error: 3.138259892135605, euclidean_error: 0.5767972834953711}
-    shoulder_marker_pose: {angle_rotation_error: 3.0940205344387977, euclidean_error: 0.5839773069577836}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.099959118146797, euclidean_error: 0.5803413443088103}
-    wrist_top_marker_pose: {angle_rotation_error: 3.108912643875784, euclidean_error: 0.581201517834898}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.082417222648451, euclidean_error: 0.5785538004010111}
-    base_right_marker_pose: {angle_rotation_error: 3.14051848770656, euclidean_error: 0.5766575453512486}
-    shoulder_marker_pose: {angle_rotation_error: 3.0737186809599577, euclidean_error: 0.5837439095211846}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1032043048684725, euclidean_error: 0.5805108235755805}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0812905170917864, euclidean_error: 0.5813746017174486}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0825074759150453, euclidean_error: 0.578419036504085}
-    base_right_marker_pose: {angle_rotation_error: 3.126756077454906, euclidean_error: 0.5768726106870261}
-    shoulder_marker_pose: {angle_rotation_error: 3.1053283950294444, euclidean_error: 0.5840658165500837}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.074137204582872, euclidean_error: 0.5805308151978872}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0929368310955585, euclidean_error: 0.5813252922600542}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.082022060271723, euclidean_error: 0.5785130580566333}
-    base_right_marker_pose: {angle_rotation_error: 3.1369540379686556, euclidean_error: 0.5769469749747856}
-    shoulder_marker_pose: {angle_rotation_error: 3.0719669113904304, euclidean_error: 0.5837683000860576}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0875176411312006, euclidean_error: 0.5806686994702487}
-    wrist_top_marker_pose: {angle_rotation_error: 3.13567078649943, euclidean_error: 0.5817342784182146}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084908392565241, euclidean_error: 0.5785955247121469}
-    base_right_marker_pose: {angle_rotation_error: 3.1400033746085607, euclidean_error: 0.5767759955035004}
-    shoulder_marker_pose: {angle_rotation_error: 3.0687316501886146, euclidean_error: 0.5838377643694055}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0977326467743254, euclidean_error: 0.5807142608251101}
-    wrist_top_marker_pose: {angle_rotation_error: 3.090344681626085, euclidean_error: 0.5817474383093121}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1123834109624378, euclidean_error: 0.5786825535182636}
-    base_right_marker_pose: {angle_rotation_error: 3.110118937081019, euclidean_error: 0.5764369266836106}
-    shoulder_marker_pose: {angle_rotation_error: 3.088085805519851, euclidean_error: 0.5839497318744853}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1163221691309806, euclidean_error: 0.58065264151602}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0786556520702826, euclidean_error: 0.5817864075852465}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1047771917343874, euclidean_error: 0.578710965422387}
-    base_right_marker_pose: {angle_rotation_error: 3.1366286745075858, euclidean_error: 0.5769748465301922}
-    shoulder_marker_pose: {angle_rotation_error: 3.0838852845458846, euclidean_error: 0.5838338726893147}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.105976746212661, euclidean_error: 0.5806133408215625}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1269841493516055, euclidean_error: 0.5814667066791489}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0929514291092017, euclidean_error: 0.5785257807376275}
-    base_right_marker_pose: {angle_rotation_error: 3.133792234369322, euclidean_error: 0.5767673807688108}
-    shoulder_marker_pose: {angle_rotation_error: 3.081188525280149, euclidean_error: 0.5837310715681252}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.101167398566103, euclidean_error: 0.5804631334029713}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1343850835127145, euclidean_error: 0.5813288918470852}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0882933369251715, euclidean_error: 0.578594645761132}
-    base_right_marker_pose: {angle_rotation_error: 3.1325591373019557, euclidean_error: 0.5765543838613274}
-    shoulder_marker_pose: {angle_rotation_error: 3.0760684672215475, euclidean_error: 0.5838821332873173}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1016210456638005, euclidean_error: 0.5804594576872298}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1146310437411686, euclidean_error: 0.581598126895957}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0898898248997435, euclidean_error: 0.57854776697613}
-    base_right_marker_pose: {angle_rotation_error: 3.1326740775192543, euclidean_error: 0.576756477178168}
-    shoulder_marker_pose: {angle_rotation_error: 3.070867009134218, euclidean_error: 0.5840522725583079}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0819265703354715, euclidean_error: 0.5807281432383821}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1015366411296927, euclidean_error: 0.5816900783399999}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0918370717794468, euclidean_error: 0.5787245919436628}
-    base_right_marker_pose: {angle_rotation_error: 3.129988360150398, euclidean_error: 0.5767814767919641}
-    shoulder_marker_pose: {angle_rotation_error: 3.072777229055842, euclidean_error: 0.5837796031156662}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.105084526129484, euclidean_error: 0.5807939325186038}
-    wrist_top_marker_pose: {angle_rotation_error: 3.085162135292435, euclidean_error: 0.5816945483105564}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1258228069143574, euclidean_error: 0.5787055925745879}
-    base_right_marker_pose: {angle_rotation_error: 3.124641857110592, euclidean_error: 0.5767655842486504}
-    shoulder_marker_pose: {angle_rotation_error: 3.0645873537694652, euclidean_error: 0.5839684048420193}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.117088312862155, euclidean_error: 0.5807110338608554}
-    wrist_top_marker_pose: {angle_rotation_error: 3.121558915883366, euclidean_error: 0.5817529489857047}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.094032373029916, euclidean_error: 0.5786532738273726}
-    base_right_marker_pose: {angle_rotation_error: 3.1353061972225564, euclidean_error: 0.5767839290264275}
-    shoulder_marker_pose: {angle_rotation_error: 3.0663840824961826, euclidean_error: 0.5837254333396602}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0788744415811133, euclidean_error: 0.5805654368655792}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0778881387364403, euclidean_error: 0.5814661417493552}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092069820862848, euclidean_error: 0.5786408620020269}
-    base_right_marker_pose: {angle_rotation_error: 3.115847408035602, euclidean_error: 0.576633515938499}
-    shoulder_marker_pose: {angle_rotation_error: 3.0866255360459975, euclidean_error: 0.5838887436531338}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0921021396829125, euclidean_error: 0.5805487098538546}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0633337976971684, euclidean_error: 0.5815190266832932}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.108268627419916, euclidean_error: 0.5786494240251007}
-    base_right_marker_pose: {angle_rotation_error: 3.1413605171161705, euclidean_error: 0.5772321386566043}
-    shoulder_marker_pose: {angle_rotation_error: 3.0878964954333696, euclidean_error: 0.5839169108600964}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.104451682427609, euclidean_error: 0.5806960014607726}
-    wrist_top_marker_pose: {angle_rotation_error: 3.105086294734485, euclidean_error: 0.5816366226352412}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.097470347192633, euclidean_error: 0.5787187108244736}
-    base_right_marker_pose: {angle_rotation_error: 3.141154231853597, euclidean_error: 0.5768417474681861}
-    shoulder_marker_pose: {angle_rotation_error: 3.063066533749148, euclidean_error: 0.5838018716858017}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.114507874913693, euclidean_error: 0.5805725426248656}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1396504694373983, euclidean_error: 0.5811251900733064}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088137431962554, euclidean_error: 0.5785978902840692}
-    base_right_marker_pose: {angle_rotation_error: 3.128861131607312, euclidean_error: 0.5767115040292339}
-    shoulder_marker_pose: {angle_rotation_error: 3.071873440640702, euclidean_error: 0.5839697722417347}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.06885080791805, euclidean_error: 0.5805531854388147}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1170480202242485, euclidean_error: 0.5813755075645843}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081055589432816, euclidean_error: 0.5785711765927641}
-    base_right_marker_pose: {angle_rotation_error: 3.135208889742947, euclidean_error: 0.5768830466730616}
-    shoulder_marker_pose: {angle_rotation_error: 3.082909730849416, euclidean_error: 0.5839437776180268}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0590875651763794, euclidean_error: 0.5805574508219239}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0838589830607988, euclidean_error: 0.5816472842590337}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0992287014634194, euclidean_error: 0.578609304963243}
-    base_right_marker_pose: {angle_rotation_error: 3.137880873016416, euclidean_error: 0.5767030095081692}
-    shoulder_marker_pose: {angle_rotation_error: 3.0633966100951193, euclidean_error: 0.583935358519488}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0599623561077247, euclidean_error: 0.5805922338499274}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0910369322173645, euclidean_error: 0.5810766884268148}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1097732485210132, euclidean_error: 0.5785218088316159}
-    base_right_marker_pose: {angle_rotation_error: 3.12675373748048, euclidean_error: 0.5766944377958682}
-    shoulder_marker_pose: {angle_rotation_error: 3.0581330463308456, euclidean_error: 0.5837509819006419}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090938346073834, euclidean_error: 0.5805520049790297}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1145670189015666, euclidean_error: 0.5816085163711819}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0843961895044174, euclidean_error: 0.5785806025869895}
-    base_right_marker_pose: {angle_rotation_error: 3.1301464437038273, euclidean_error: 0.5766363904528115}
-    shoulder_marker_pose: {angle_rotation_error: 3.1043182529397173, euclidean_error: 0.5838939840548273}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0893350377218964, euclidean_error: 0.5806954447788919}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1318829040417837, euclidean_error: 0.5815162249651886}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0843431339303535, euclidean_error: 0.578563292392166}
-    base_right_marker_pose: {angle_rotation_error: 3.1345468079665766, euclidean_error: 0.5768611040192563}
-    shoulder_marker_pose: {angle_rotation_error: 3.0941339462718624, euclidean_error: 0.5839001191081127}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0806775443466687, euclidean_error: 0.5805385765219692}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1060469492543747, euclidean_error: 0.5815713114951202}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101149325009477, euclidean_error: 0.5786012281494766}
-    base_right_marker_pose: {angle_rotation_error: 3.127192041275312, euclidean_error: 0.5767891558694844}
-    shoulder_marker_pose: {angle_rotation_error: 3.068540183015321, euclidean_error: 0.5837557372602487}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0891988496006473, euclidean_error: 0.5806939998743268}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1368511070703695, euclidean_error: 0.5817843677979817}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1078245595631233, euclidean_error: 0.5787163976766745}
-    base_right_marker_pose: {angle_rotation_error: 3.1161994265611925, euclidean_error: 0.5769516193887765}
-    shoulder_marker_pose: {angle_rotation_error: 3.081151743303994, euclidean_error: 0.5839383672847795}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1056640319974194, euclidean_error: 0.5807158424904497}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1061574668499357, euclidean_error: 0.5814577780466692}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0996566656831925, euclidean_error: 0.5786709075805607}
-    base_right_marker_pose: {angle_rotation_error: 3.1402265766933497, euclidean_error: 0.5769201904200282}
-    shoulder_marker_pose: {angle_rotation_error: 3.058167988497118, euclidean_error: 0.58371878719428}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.082550733240588, euclidean_error: 0.5807492082637705}
-    wrist_top_marker_pose: {angle_rotation_error: 3.135205375883182, euclidean_error: 0.5814891921108616}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.094598406245467, euclidean_error: 0.5785609440636105}
-    base_right_marker_pose: {angle_rotation_error: 3.120204123694089, euclidean_error: 0.5767862853952962}
-    shoulder_marker_pose: {angle_rotation_error: 3.0776029310436566, euclidean_error: 0.58395190501566}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0869693005995953, euclidean_error: 0.5807626381154507}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0861849273971704, euclidean_error: 0.5812538440764938}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0867183290881806, euclidean_error: 0.5785904178706988}
-    base_right_marker_pose: {angle_rotation_error: 3.1322122493478535, euclidean_error: 0.5768137747765563}
-    shoulder_marker_pose: {angle_rotation_error: 3.0533226959919415, euclidean_error: 0.583806248318242}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0878955968063786, euclidean_error: 0.5804524257223319}
-    wrist_top_marker_pose: {angle_rotation_error: 3.090996778579786, euclidean_error: 0.5813307800375538}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.105462626806855, euclidean_error: 0.5786983297853583}
-    base_right_marker_pose: {angle_rotation_error: 3.1390429241166484, euclidean_error: 0.5769959332969802}
-    shoulder_marker_pose: {angle_rotation_error: 3.09126873197461, euclidean_error: 0.5840638742592408}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.089197681358694, euclidean_error: 0.5809248639389007}
-    wrist_top_marker_pose: {angle_rotation_error: 3.118501398730951, euclidean_error: 0.5817710503199451}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08745783296271, euclidean_error: 0.5785492813159704}
-    base_right_marker_pose: {angle_rotation_error: 3.130657550281816, euclidean_error: 0.5767687079076809}
-    shoulder_marker_pose: {angle_rotation_error: 3.086797737880838, euclidean_error: 0.5840120739298198}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.114280810595492, euclidean_error: 0.5806851483552206}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0836082995441587, euclidean_error: 0.5818424973532026}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090226137348477, euclidean_error: 0.5785107081000189}
-    base_right_marker_pose: {angle_rotation_error: 3.1277517177962837, euclidean_error: 0.5767127718879491}
-    shoulder_marker_pose: {angle_rotation_error: 3.0892642239346713, euclidean_error: 0.5838811827937462}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090688698279241, euclidean_error: 0.5805297318623587}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0792758806261915, euclidean_error: 0.5814497131772602}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0992661495511546, euclidean_error: 0.5786143052211163}
-    base_right_marker_pose: {angle_rotation_error: 3.1278554038080575, euclidean_error: 0.5766674077722869}
-    shoulder_marker_pose: {angle_rotation_error: 3.0975207192291196, euclidean_error: 0.5840020911348245}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0735626009381183, euclidean_error: 0.5802966976445351}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1060020615533226, euclidean_error: 0.5810012617598141}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0917576179292903, euclidean_error: 0.5785581782573286}
-    base_right_marker_pose: {angle_rotation_error: 3.1321536883325676, euclidean_error: 0.5767905247009965}
-    shoulder_marker_pose: {angle_rotation_error: 3.067859365170563, euclidean_error: 0.5838769396313441}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1119980973972496, euclidean_error: 0.5802682796477527}
-    wrist_top_marker_pose: {angle_rotation_error: 3.107030344779776, euclidean_error: 0.5813767461796775}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.085011791457831, euclidean_error: 0.5786635202821228}
-    base_right_marker_pose: {angle_rotation_error: 3.141093029187523, euclidean_error: 0.5767978420407133}
-    shoulder_marker_pose: {angle_rotation_error: 3.0589172029628875, euclidean_error: 0.5836953249448683}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.089451062814065, euclidean_error: 0.5808243190026444}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0778806010807154, euclidean_error: 0.581647999070376}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087875087363708, euclidean_error: 0.5786864156243026}
-    base_right_marker_pose: {angle_rotation_error: 3.136559770332793, euclidean_error: 0.576891343926694}
-    shoulder_marker_pose: {angle_rotation_error: 3.074511200018577, euclidean_error: 0.5838547102898811}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0890324786109438, euclidean_error: 0.5807128565651619}
-    wrist_top_marker_pose: {angle_rotation_error: 3.085187830484856, euclidean_error: 0.5819706243749015}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0994786716722436, euclidean_error: 0.5785928575683366}
-    base_right_marker_pose: {angle_rotation_error: 3.1329197933109847, euclidean_error: 0.5765520340584217}
-    shoulder_marker_pose: {angle_rotation_error: 3.0891528125934777, euclidean_error: 0.5839354210004061}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1085875892926276, euclidean_error: 0.5806439510025895}
-    wrist_top_marker_pose: {angle_rotation_error: 3.113010742960897, euclidean_error: 0.5812588763216096}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0913329059181653, euclidean_error: 0.5785405903238816}
-    base_right_marker_pose: {angle_rotation_error: 3.138008110546905, euclidean_error: 0.5768310729456863}
-    shoulder_marker_pose: {angle_rotation_error: 3.0826178492552305, euclidean_error: 0.5839768002304748}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.117184584726273, euclidean_error: 0.580617979989029}
-    wrist_top_marker_pose: {angle_rotation_error: 3.095895771605853, euclidean_error: 0.5811397085359018}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096910285265183, euclidean_error: 0.5785790194444755}
-    base_right_marker_pose: {angle_rotation_error: 3.1337106817848603, euclidean_error: 0.5768721798300857}
-    shoulder_marker_pose: {angle_rotation_error: 3.094790579790315, euclidean_error: 0.5838882399324677}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.068752839938713, euclidean_error: 0.5805756354652098}
-    wrist_top_marker_pose: {angle_rotation_error: 3.102972090130312, euclidean_error: 0.5816565135144414}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095467032936894, euclidean_error: 0.578609860087986}
-    base_right_marker_pose: {angle_rotation_error: 3.125036172615997, euclidean_error: 0.5769187885356473}
-    shoulder_marker_pose: {angle_rotation_error: 3.06993316169375, euclidean_error: 0.5838139771918855}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0725407690725604, euclidean_error: 0.5804435374122744}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0951745818839886, euclidean_error: 0.5817029814297373}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08311584161729, euclidean_error: 0.5785167170636882}
-    base_right_marker_pose: {angle_rotation_error: 3.1374012133177738, euclidean_error: 0.5767147695475637}
-    shoulder_marker_pose: {angle_rotation_error: 3.073204215660014, euclidean_error: 0.5838281023985263}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1279105499063724, euclidean_error: 0.5805178694954789}
-    wrist_top_marker_pose: {angle_rotation_error: 3.096337304695511, euclidean_error: 0.5817193159888167}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1018949132879228, euclidean_error: 0.5787275542417533}
-    base_right_marker_pose: {angle_rotation_error: 3.1325668334968304, euclidean_error: 0.5764951228849455}
-    shoulder_marker_pose: {angle_rotation_error: 3.071691917099051, euclidean_error: 0.5839897807070568}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.107412148853921, euclidean_error: 0.5806298082858434}
-    wrist_top_marker_pose: {angle_rotation_error: 3.086904370312345, euclidean_error: 0.5816972037477668}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0993443181103193, euclidean_error: 0.5787343279959444}
-    base_right_marker_pose: {angle_rotation_error: 3.1413379753439328, euclidean_error: 0.5768603072396165}
-    shoulder_marker_pose: {angle_rotation_error: 3.0912173613353517, euclidean_error: 0.5839067018411498}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.075338886171451, euclidean_error: 0.5806363196887475}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1242694677275895, euclidean_error: 0.5817254168873063}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0971258563182404, euclidean_error: 0.578566676716196}
-    base_right_marker_pose: {angle_rotation_error: 3.137114663326191, euclidean_error: 0.5767780904267529}
-    shoulder_marker_pose: {angle_rotation_error: 3.088974515997056, euclidean_error: 0.5838727273871926}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.120216057941968, euclidean_error: 0.5806943400333333}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1082647724632606, euclidean_error: 0.5817542922409856}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088075534366012, euclidean_error: 0.5786038778725918}
-    base_right_marker_pose: {angle_rotation_error: 3.118973821618346, euclidean_error: 0.5768779550388102}
-    shoulder_marker_pose: {angle_rotation_error: 3.07753870171533, euclidean_error: 0.5838762405074358}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0550030174483944, euclidean_error: 0.5806840886184703}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1413686685450752, euclidean_error: 0.5810532623133668}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0944623956649115, euclidean_error: 0.5786775837303741}
-    base_right_marker_pose: {angle_rotation_error: 3.139937803816816, euclidean_error: 0.5767980852112317}
-    shoulder_marker_pose: {angle_rotation_error: 3.1005609911970775, euclidean_error: 0.5840239291784053}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0843477695251917, euclidean_error: 0.5805312603596371}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1101377094736122, euclidean_error: 0.5816006136531273}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081874229995821, euclidean_error: 0.5786086582912607}
-    base_right_marker_pose: {angle_rotation_error: 3.1413692734910468, euclidean_error: 0.5767372726791996}
-    shoulder_marker_pose: {angle_rotation_error: 3.0820911238796453, euclidean_error: 0.583826631669448}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1240793387996724, euclidean_error: 0.5808045349539531}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1139025365349413, euclidean_error: 0.5814720093553595}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1035043673232514, euclidean_error: 0.5786311966737026}
-    base_right_marker_pose: {angle_rotation_error: 3.1175809270189934, euclidean_error: 0.5770039326149318}
-    shoulder_marker_pose: {angle_rotation_error: 3.09691600380537, euclidean_error: 0.5838909714429055}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.114733062102119, euclidean_error: 0.5807728988524274}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1122571513170345, euclidean_error: 0.581763482825497}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0993014824217906, euclidean_error: 0.5787126196137158}
-    base_right_marker_pose: {angle_rotation_error: 3.132107505495341, euclidean_error: 0.5768576871295217}
-    shoulder_marker_pose: {angle_rotation_error: 3.0786640164241734, euclidean_error: 0.5839401191918593}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088759600559053, euclidean_error: 0.5804196085865018}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1152629835144316, euclidean_error: 0.5811257327102787}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1048680705615244, euclidean_error: 0.5787038920865578}
-    base_right_marker_pose: {angle_rotation_error: 3.1166854288152908, euclidean_error: 0.5768236066522645}
-    shoulder_marker_pose: {angle_rotation_error: 3.0624620734042547, euclidean_error: 0.583688829514866}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083854596865581, euclidean_error: 0.5804943188411915}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0915799616443773, euclidean_error: 0.5816691591488541}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0964647795396028, euclidean_error: 0.5786540345339071}
-    base_right_marker_pose: {angle_rotation_error: 3.1342134410328892, euclidean_error: 0.5767759054302468}
-    shoulder_marker_pose: {angle_rotation_error: 3.094236817151378, euclidean_error: 0.5840225561893085}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0995869676500583, euclidean_error: 0.5805688082652257}
-    wrist_top_marker_pose: {angle_rotation_error: 3.106403582243798, euclidean_error: 0.5814531492764895}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0785888056873874, euclidean_error: 0.5786176446079184}
-    base_right_marker_pose: {angle_rotation_error: 3.1311281988407247, euclidean_error: 0.5766099850331387}
-    shoulder_marker_pose: {angle_rotation_error: 3.0746804720350327, euclidean_error: 0.5838061102681009}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.114054006530926, euclidean_error: 0.5803450376715495}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1226260158318033, euclidean_error: 0.5815292467700752}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0972722888197803, euclidean_error: 0.5786097988953863}
-    base_right_marker_pose: {angle_rotation_error: 3.134234958994925, euclidean_error: 0.5767691563359829}
-    shoulder_marker_pose: {angle_rotation_error: 3.093912523701674, euclidean_error: 0.5837761767426938}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0910685626433456, euclidean_error: 0.5807458826627863}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0648777926317874, euclidean_error: 0.5818866654034445}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096554296589613, euclidean_error: 0.578545437837856}
-    base_right_marker_pose: {angle_rotation_error: 3.1341391765108613, euclidean_error: 0.5769301820865168}
-    shoulder_marker_pose: {angle_rotation_error: 3.0952868467403003, euclidean_error: 0.5839992772870302}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0787016439367187, euclidean_error: 0.5802908415283082}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0825311264113617, euclidean_error: 0.5817979143739529}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0912849062872914, euclidean_error: 0.5786182428301461}
-    base_right_marker_pose: {angle_rotation_error: 3.136020183402595, euclidean_error: 0.5766673465233173}
-    shoulder_marker_pose: {angle_rotation_error: 3.1025328990660586, euclidean_error: 0.5839460928866003}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0868354946630787, euclidean_error: 0.5805530562467471}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1223449288636766, euclidean_error: 0.5817869326899223}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095894802458959, euclidean_error: 0.5786256858847745}
-    base_right_marker_pose: {angle_rotation_error: 3.1378388704156133, euclidean_error: 0.5768611940696602}
-    shoulder_marker_pose: {angle_rotation_error: 3.093905902450059, euclidean_error: 0.5839923391168717}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1033965462682302, euclidean_error: 0.5806863606268435}
-    wrist_top_marker_pose: {angle_rotation_error: 3.114150159149017, euclidean_error: 0.5813910559350742}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091697708948393, euclidean_error: 0.5784967081922096}
-    base_right_marker_pose: {angle_rotation_error: 3.13239973692642, euclidean_error: 0.576813111999214}
-    shoulder_marker_pose: {angle_rotation_error: 3.072375982317857, euclidean_error: 0.583911231516703}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1058514147408904, euclidean_error: 0.5806706843076552}
-    wrist_top_marker_pose: {angle_rotation_error: 3.136905252505594, euclidean_error: 0.5812177502712877}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0862938630694057, euclidean_error: 0.5786801992739355}
-    base_right_marker_pose: {angle_rotation_error: 3.1333674540521206, euclidean_error: 0.5768280718315536}
-    shoulder_marker_pose: {angle_rotation_error: 3.083731393320369, euclidean_error: 0.5838751401239003}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.07226662377584, euclidean_error: 0.5806958452798449}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0914097340657545, euclidean_error: 0.5815650544410665}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087420999638794, euclidean_error: 0.5784588562429452}
-    base_right_marker_pose: {angle_rotation_error: 3.1407135748780712, euclidean_error: 0.5766484210546942}
-    shoulder_marker_pose: {angle_rotation_error: 3.0901726267697924, euclidean_error: 0.5839534996460111}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1100710628240855, euclidean_error: 0.5803870418664702}
-    wrist_top_marker_pose: {angle_rotation_error: 3.111473958793539, euclidean_error: 0.5815964586199192}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08959368845468, euclidean_error: 0.5786100568179543}
-    base_right_marker_pose: {angle_rotation_error: 3.134242684686485, euclidean_error: 0.5767433913457148}
-    shoulder_marker_pose: {angle_rotation_error: 3.0821455219957046, euclidean_error: 0.583771149621195}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1021664940229163, euclidean_error: 0.5807291853152314}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0788188889119286, euclidean_error: 0.5814057058900207}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092613315987773, euclidean_error: 0.5787195713174565}
-    base_right_marker_pose: {angle_rotation_error: 3.1315080164260984, euclidean_error: 0.5768170488228638}
-    shoulder_marker_pose: {angle_rotation_error: 3.086816264136277, euclidean_error: 0.5838378560694429}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.11700567584, euclidean_error: 0.5806243864616402}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1159231671703127, euclidean_error: 0.5813281384645826}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0885864440075768, euclidean_error: 0.5786244247842814}
-    base_right_marker_pose: {angle_rotation_error: 3.1169245871213094, euclidean_error: 0.5770828394675369}
-    shoulder_marker_pose: {angle_rotation_error: 3.102439662463582, euclidean_error: 0.5841054573411685}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1173089242507115, euclidean_error: 0.5804825258790279}
-    wrist_top_marker_pose: {angle_rotation_error: 3.044996368056436, euclidean_error: 0.5815870652383935}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0836444173611874, euclidean_error: 0.5785553774751365}
-    base_right_marker_pose: {angle_rotation_error: 3.1314911718282668, euclidean_error: 0.5769502852446312}
-    shoulder_marker_pose: {angle_rotation_error: 3.1014012351236735, euclidean_error: 0.5840469929271465}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.118141954391535, euclidean_error: 0.5804100510493073}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1175367605564874, euclidean_error: 0.5814360237884657}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0977370841423157, euclidean_error: 0.5787903742684635}
-    base_right_marker_pose: {angle_rotation_error: 3.1257936458499254, euclidean_error: 0.5769055522502409}
-    shoulder_marker_pose: {angle_rotation_error: 3.074154759838136, euclidean_error: 0.5838669741710502}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.08980211577935, euclidean_error: 0.5805353652949686}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1047463900161287, euclidean_error: 0.5815803640765971}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0911672496324556, euclidean_error: 0.5785986152333134}
-    base_right_marker_pose: {angle_rotation_error: 3.1319462968011083, euclidean_error: 0.5768297132208349}
-    shoulder_marker_pose: {angle_rotation_error: 3.0780985663022964, euclidean_error: 0.5838415726520685}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.072303085210017, euclidean_error: 0.5805067504782784}
-    wrist_top_marker_pose: {angle_rotation_error: 3.091410025100273, euclidean_error: 0.5811745448298219}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0953878783396345, euclidean_error: 0.5785068390125456}
-    base_right_marker_pose: {angle_rotation_error: 3.1307833580419633, euclidean_error: 0.5769235699063407}
-    shoulder_marker_pose: {angle_rotation_error: 3.0935098379623924, euclidean_error: 0.5839692677704962}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0894133210681995, euclidean_error: 0.5804311130062431}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1304829329806485, euclidean_error: 0.5819464821252249}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0883176931634924, euclidean_error: 0.5785194583429674}
-    base_right_marker_pose: {angle_rotation_error: 3.139032327806457, euclidean_error: 0.5768178572610346}
-    shoulder_marker_pose: {angle_rotation_error: 3.0907394706663798, euclidean_error: 0.584011343909709}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.076665105708577, euclidean_error: 0.5804370833652435}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0994819469959136, euclidean_error: 0.5805480282716646}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091255119971643, euclidean_error: 0.5785136624739681}
-    base_right_marker_pose: {angle_rotation_error: 3.1218410907623344, euclidean_error: 0.5767538466609159}
-    shoulder_marker_pose: {angle_rotation_error: 3.05983583365826, euclidean_error: 0.5838441100697301}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.096245276671579, euclidean_error: 0.5806929446898047}
-    wrist_top_marker_pose: {angle_rotation_error: 3.12757297825424, euclidean_error: 0.5811567766462394}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0885691276914478, euclidean_error: 0.578744005481891}
-    base_right_marker_pose: {angle_rotation_error: 3.1347412773519583, euclidean_error: 0.5767227656097321}
-    shoulder_marker_pose: {angle_rotation_error: 3.0827116676833874, euclidean_error: 0.5836166616458959}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1197093470923756, euclidean_error: 0.5804087160025684}
-    wrist_top_marker_pose: {angle_rotation_error: 3.114574694757061, euclidean_error: 0.5814827921237912}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090041564652532, euclidean_error: 0.5785774838226393}
-    base_right_marker_pose: {angle_rotation_error: 3.1410371016170315, euclidean_error: 0.5767667744522091}
-    shoulder_marker_pose: {angle_rotation_error: 3.1028099275220606, euclidean_error: 0.5838349149526205}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1000656841193783, euclidean_error: 0.5805855098289461}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0803817322734983, euclidean_error: 0.5816329384164965}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0922045161884375, euclidean_error: 0.5785950801472689}
-    base_right_marker_pose: {angle_rotation_error: 3.134156814828144, euclidean_error: 0.5770003559618533}
-    shoulder_marker_pose: {angle_rotation_error: 3.075876299703984, euclidean_error: 0.5839523621528767}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083701524318887, euclidean_error: 0.5806181639420572}
-    wrist_top_marker_pose: {angle_rotation_error: 3.128687009240653, euclidean_error: 0.5813346065386099}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0791419820307064, euclidean_error: 0.5785327319570477}
-    base_right_marker_pose: {angle_rotation_error: 3.1305370433629514, euclidean_error: 0.5769717257052349}
-    shoulder_marker_pose: {angle_rotation_error: 3.090642958380877, euclidean_error: 0.5839936044108075}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.085123471594443, euclidean_error: 0.5806850529935371}
-    wrist_top_marker_pose: {angle_rotation_error: 3.139859576295687, euclidean_error: 0.5818091901571566}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0912590954872585, euclidean_error: 0.5787131299542065}
-    base_right_marker_pose: {angle_rotation_error: 3.1186992493102608, euclidean_error: 0.5767168589117899}
-    shoulder_marker_pose: {angle_rotation_error: 3.0938642320372796, euclidean_error: 0.5839088661836774}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0925312081325407, euclidean_error: 0.5807230721814061}
-    wrist_top_marker_pose: {angle_rotation_error: 3.074587002337402, euclidean_error: 0.5815843207287044}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101623571067344, euclidean_error: 0.5786105766249384}
-    base_right_marker_pose: {angle_rotation_error: 3.129467848782532, euclidean_error: 0.577042863403889}
-    shoulder_marker_pose: {angle_rotation_error: 3.069382429101615, euclidean_error: 0.5838915390159812}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090703335575796, euclidean_error: 0.5806410725359359}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1145915413769085, euclidean_error: 0.5815850608515366}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1023376398216396, euclidean_error: 0.5786921096944347}
-    base_right_marker_pose: {angle_rotation_error: 3.127112913186808, euclidean_error: 0.5768895125872563}
-    shoulder_marker_pose: {angle_rotation_error: 3.099875481699012, euclidean_error: 0.584076699108797}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1217903887617027, euclidean_error: 0.580382484873413}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1365411837226462, euclidean_error: 0.5817102768487702}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087591281475697, euclidean_error: 0.5785772420135393}
-    base_right_marker_pose: {angle_rotation_error: 3.1366435520060767, euclidean_error: 0.5770083376851215}
-    shoulder_marker_pose: {angle_rotation_error: 3.0809313319840923, euclidean_error: 0.5838847558092038}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.11902866192646, euclidean_error: 0.5807530776443072}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1090117565839823, euclidean_error: 0.5817586314377887}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0790214498173962, euclidean_error: 0.5786365679357094}
-    base_right_marker_pose: {angle_rotation_error: 3.119683319799598, euclidean_error: 0.5770129076082622}
-    shoulder_marker_pose: {angle_rotation_error: 3.0854894936512616, euclidean_error: 0.5839655479733759}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1251435357779163, euclidean_error: 0.5804371046412482}
-    wrist_top_marker_pose: {angle_rotation_error: 3.13828407477624, euclidean_error: 0.5810940879090604}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0933884263892266, euclidean_error: 0.5786252650760698}
-    base_right_marker_pose: {angle_rotation_error: 3.126229573979937, euclidean_error: 0.5767499740326895}
-    shoulder_marker_pose: {angle_rotation_error: 3.0985006274719655, euclidean_error: 0.5840973096215297}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1120071691518496, euclidean_error: 0.5805560928898948}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0431310523949793, euclidean_error: 0.5817151171167174}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0832397155087428, euclidean_error: 0.5785169596928373}
-    base_right_marker_pose: {angle_rotation_error: 3.1222974621490915, euclidean_error: 0.5768101951862205}
-    shoulder_marker_pose: {angle_rotation_error: 3.0688219533545227, euclidean_error: 0.5838064846079829}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0965994103777574, euclidean_error: 0.5804459718659165}
-    wrist_top_marker_pose: {angle_rotation_error: 3.133437457854578, euclidean_error: 0.5806807049618545}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0992042931470944, euclidean_error: 0.5786301278554572}
-    base_right_marker_pose: {angle_rotation_error: 3.1396318679396664, euclidean_error: 0.5768395084898018}
-    shoulder_marker_pose: {angle_rotation_error: 3.0832903800484215, euclidean_error: 0.5838433531555816}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0843202745773453, euclidean_error: 0.5806162877917463}
-    wrist_top_marker_pose: {angle_rotation_error: 3.108430107561089, euclidean_error: 0.5814797876353995}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0999039040052225, euclidean_error: 0.578551151973715}
-    base_right_marker_pose: {angle_rotation_error: 3.141119941945875, euclidean_error: 0.5770355458364476}
-    shoulder_marker_pose: {angle_rotation_error: 3.0888874658934897, euclidean_error: 0.5839313628699797}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1195752735311406, euclidean_error: 0.580455242885651}
-    wrist_top_marker_pose: {angle_rotation_error: 3.108566150180914, euclidean_error: 0.5815285107623637}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084804211294637, euclidean_error: 0.5783989939080123}
-    base_right_marker_pose: {angle_rotation_error: 3.1358534671300475, euclidean_error: 0.5770700540381044}
-    shoulder_marker_pose: {angle_rotation_error: 3.0933489009351085, euclidean_error: 0.5840217510812267}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1181604261145686, euclidean_error: 0.5804289883345806}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1226272504216315, euclidean_error: 0.5815312576849035}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1004940046492857, euclidean_error: 0.5784771525433893}
-    base_right_marker_pose: {angle_rotation_error: 3.1328174245818476, euclidean_error: 0.5769574151027025}
-    shoulder_marker_pose: {angle_rotation_error: 3.080752375638212, euclidean_error: 0.5839106568020636}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.112195608834734, euclidean_error: 0.5806799119940124}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1268897174301857, euclidean_error: 0.5816049863361834}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0809414826608044, euclidean_error: 0.5786447992016635}
-    base_right_marker_pose: {angle_rotation_error: 3.126054999578633, euclidean_error: 0.5768515449121052}
-    shoulder_marker_pose: {angle_rotation_error: 3.0880536796826945, euclidean_error: 0.5840107686963777}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0714741246780877, euclidean_error: 0.5805242751039561}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1161264672628737, euclidean_error: 0.5814779954908582}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0901345982298802, euclidean_error: 0.578623616696411}
-    base_right_marker_pose: {angle_rotation_error: 3.13434484729343, euclidean_error: 0.576968067998737}
-    shoulder_marker_pose: {angle_rotation_error: 3.0795231631287954, euclidean_error: 0.5838936225548481}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.108833016159972, euclidean_error: 0.5806482648255568}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1090235810436293, euclidean_error: 0.5816062398808189}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0827776123073014, euclidean_error: 0.5785268496445495}
-    base_right_marker_pose: {angle_rotation_error: 3.1192077346375546, euclidean_error: 0.5768923914331826}
-    shoulder_marker_pose: {angle_rotation_error: 3.089095812791612, euclidean_error: 0.583782734017059}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.089885494068228, euclidean_error: 0.5807471944722102}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0644530702917216, euclidean_error: 0.5815274487029743}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0901619628287995, euclidean_error: 0.5785301983424648}
-    base_right_marker_pose: {angle_rotation_error: 3.1330160439028623, euclidean_error: 0.5768859659488181}
-    shoulder_marker_pose: {angle_rotation_error: 3.0684355382362383, euclidean_error: 0.583781074097683}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090044934081375, euclidean_error: 0.5802946025687936}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1214558325678827, euclidean_error: 0.5814611065075568}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0878747988773196, euclidean_error: 0.578714340038902}
-    base_right_marker_pose: {angle_rotation_error: 3.139429362072707, euclidean_error: 0.5769840074080336}
-    shoulder_marker_pose: {angle_rotation_error: 3.0644148850315087, euclidean_error: 0.583593023577392}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0813058697303015, euclidean_error: 0.58047549081761}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1343711757700907, euclidean_error: 0.5813976957153335}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.100799654204749, euclidean_error: 0.578569321524033}
-    base_right_marker_pose: {angle_rotation_error: 3.137311735935767, euclidean_error: 0.5768119579988278}
-    shoulder_marker_pose: {angle_rotation_error: 3.0791678715197275, euclidean_error: 0.5837354581980714}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0784998856645513, euclidean_error: 0.5805196751328207}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1058064335456024, euclidean_error: 0.5816733932945999}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0939450039371654, euclidean_error: 0.5786569461763926}
-    base_right_marker_pose: {angle_rotation_error: 3.1343799368739735, euclidean_error: 0.5768718064240028}
-    shoulder_marker_pose: {angle_rotation_error: 3.0938945455134217, euclidean_error: 0.584002584334347}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0820448478011535, euclidean_error: 0.5804161591082148}
-    wrist_top_marker_pose: {angle_rotation_error: 3.083802703877391, euclidean_error: 0.5812920767629165}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086978456742161, euclidean_error: 0.5785773784675158}
-    base_right_marker_pose: {angle_rotation_error: 3.132877704976923, euclidean_error: 0.576527765549003}
-    shoulder_marker_pose: {angle_rotation_error: 3.0884481739873433, euclidean_error: 0.5839499377095649}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.120482081428937, euclidean_error: 0.5805383726384191}
-    wrist_top_marker_pose: {angle_rotation_error: 3.116352384746232, euclidean_error: 0.5816047575876326}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0943323480344995, euclidean_error: 0.5785380707394975}
-    base_right_marker_pose: {angle_rotation_error: 3.1322300436407353, euclidean_error: 0.5767910930124845}
-    shoulder_marker_pose: {angle_rotation_error: 3.0781270997867924, euclidean_error: 0.5839134535953813}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.093319460342669, euclidean_error: 0.5803128889749508}
-    wrist_top_marker_pose: {angle_rotation_error: 3.116192270343634, euclidean_error: 0.5806450144292656}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0825648748210495, euclidean_error: 0.57862916593771}
-    base_right_marker_pose: {angle_rotation_error: 3.128282973245364, euclidean_error: 0.5769276917975894}
-    shoulder_marker_pose: {angle_rotation_error: 3.081160760774237, euclidean_error: 0.5838847209816536}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0775307255191606, euclidean_error: 0.5804888409565613}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1102996949474946, euclidean_error: 0.5815556861040311}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0824443415143183, euclidean_error: 0.5786294225751328}
-    base_right_marker_pose: {angle_rotation_error: 3.1410079475846064, euclidean_error: 0.5768817218875154}
-    shoulder_marker_pose: {angle_rotation_error: 3.0879102927910895, euclidean_error: 0.5838993595862226}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0845021436049938, euclidean_error: 0.5805389076586058}
-    wrist_top_marker_pose: {angle_rotation_error: 3.073162645815764, euclidean_error: 0.5814728750727175}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095971886687654, euclidean_error: 0.5787436568500658}
-    base_right_marker_pose: {angle_rotation_error: 3.140731079876038, euclidean_error: 0.5769088996827569}
-    shoulder_marker_pose: {angle_rotation_error: 3.068532562379129, euclidean_error: 0.5836717677415773}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.097150043016312, euclidean_error: 0.5802698257533466}
-    wrist_top_marker_pose: {angle_rotation_error: 3.13483890533246, euclidean_error: 0.5815257446313992}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1039314558076034, euclidean_error: 0.5787643050434698}
-    base_right_marker_pose: {angle_rotation_error: 3.120266574493799, euclidean_error: 0.5767464323853917}
-    shoulder_marker_pose: {angle_rotation_error: 3.0965708726258248, euclidean_error: 0.58389319037615}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0742010534456017, euclidean_error: 0.5805830972248982}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1151202518253434, euclidean_error: 0.581170907933675}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.089617589797581, euclidean_error: 0.5786387340417403}
-    base_right_marker_pose: {angle_rotation_error: 3.136812866146041, euclidean_error: 0.5770012313825016}
-    shoulder_marker_pose: {angle_rotation_error: 3.0707657746864716, euclidean_error: 0.5837909606964071}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.092780473136354, euclidean_error: 0.5807004881292492}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1240751625029524, euclidean_error: 0.5820281538397359}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0840931517129975, euclidean_error: 0.5785634690072459}
-    base_right_marker_pose: {angle_rotation_error: 3.1353128894127105, euclidean_error: 0.5767631869456329}
-    shoulder_marker_pose: {angle_rotation_error: 3.0885334611043964, euclidean_error: 0.5839058727007067}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.100866580417842, euclidean_error: 0.5803990468518178}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0952672764882565, euclidean_error: 0.581828336383891}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087976931781909, euclidean_error: 0.5785651142035864}
-    base_right_marker_pose: {angle_rotation_error: 3.1201372877083906, euclidean_error: 0.5768835707933017}
-    shoulder_marker_pose: {angle_rotation_error: 3.0878214082184265, euclidean_error: 0.5837584765345765}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1076457802032507, euclidean_error: 0.580489580245589}
-    wrist_top_marker_pose: {angle_rotation_error: 3.133520056565886, euclidean_error: 0.5817145382848289}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0899433699299736, euclidean_error: 0.5786961656162969}
-    base_right_marker_pose: {angle_rotation_error: 3.1312237646674146, euclidean_error: 0.5769593114640876}
-    shoulder_marker_pose: {angle_rotation_error: 3.0824749165604937, euclidean_error: 0.5837041835937782}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.106199489900262, euclidean_error: 0.5806784464747723}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1262955944789677, euclidean_error: 0.5818784822992319}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0915365365599916, euclidean_error: 0.5785933812000265}
-    base_right_marker_pose: {angle_rotation_error: 3.127503268675457, euclidean_error: 0.5770092266436383}
-    shoulder_marker_pose: {angle_rotation_error: 3.0943843433631284, euclidean_error: 0.5839028676360348}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0884475221742487, euclidean_error: 0.580362028586405}
-    wrist_top_marker_pose: {angle_rotation_error: 3.118933566332485, euclidean_error: 0.5814243180731871}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0826488865050545, euclidean_error: 0.5787024761747906}
-    base_right_marker_pose: {angle_rotation_error: 3.124289846884014, euclidean_error: 0.5768323254122474}
-    shoulder_marker_pose: {angle_rotation_error: 3.0810406787422604, euclidean_error: 0.5838213477778136}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1326354390808007, euclidean_error: 0.5805273781170539}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1210114975220886, euclidean_error: 0.581528631673562}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.094675510527124, euclidean_error: 0.578709347236918}
-    base_right_marker_pose: {angle_rotation_error: 3.1388110843844053, euclidean_error: 0.5767628626688496}
-    shoulder_marker_pose: {angle_rotation_error: 3.117145749446174, euclidean_error: 0.5839075432999036}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0818560968866526, euclidean_error: 0.5804304151850518}
-    wrist_top_marker_pose: {angle_rotation_error: 3.127382410856755, euclidean_error: 0.5813173650826646}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0913480947525787, euclidean_error: 0.5787695209069191}
-    base_right_marker_pose: {angle_rotation_error: 3.1134839213297725, euclidean_error: 0.5768513562577101}
-    shoulder_marker_pose: {angle_rotation_error: 3.0944634175033667, euclidean_error: 0.5839943240130707}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.089839762068361, euclidean_error: 0.5805610544850391}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1029093575230795, euclidean_error: 0.5816935518021975}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1004989562129044, euclidean_error: 0.5786825748802303}
-    base_right_marker_pose: {angle_rotation_error: 3.129473983695868, euclidean_error: 0.5770971583474075}
-    shoulder_marker_pose: {angle_rotation_error: 3.0602251566510073, euclidean_error: 0.5837724806888762}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0892628094470385, euclidean_error: 0.5803162646254116}
-    wrist_top_marker_pose: {angle_rotation_error: 3.112301223746177, euclidean_error: 0.581504996537812}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.089131448922081, euclidean_error: 0.5786531166971584}
-    base_right_marker_pose: {angle_rotation_error: 3.132385726681003, euclidean_error: 0.5769438103307829}
-    shoulder_marker_pose: {angle_rotation_error: 3.086077829284979, euclidean_error: 0.5838457187788059}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.093582039682296, euclidean_error: 0.5806029425360727}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1025909498722495, euclidean_error: 0.5812436235731776}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0895790642918937, euclidean_error: 0.5786296556815455}
-    base_right_marker_pose: {angle_rotation_error: 3.141278988389936, euclidean_error: 0.5768176875149299}
-    shoulder_marker_pose: {angle_rotation_error: 3.0681618469703267, euclidean_error: 0.583785631533739}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1325058963985613, euclidean_error: 0.5805673827110251}
-    wrist_top_marker_pose: {angle_rotation_error: 3.063516503231499, euclidean_error: 0.5814469705259901}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0929130962473574, euclidean_error: 0.5786563889348981}
-    base_right_marker_pose: {angle_rotation_error: 3.13925826778022, euclidean_error: 0.5769172224232892}
-    shoulder_marker_pose: {angle_rotation_error: 3.078933764557193, euclidean_error: 0.5838843614063826}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.133569713474895, euclidean_error: 0.5804267922491904}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0670295059569774, euclidean_error: 0.5818146006058771}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091442055270421, euclidean_error: 0.5785720538286835}
-    base_right_marker_pose: {angle_rotation_error: 3.141066557144053, euclidean_error: 0.5769112598014912}
-    shoulder_marker_pose: {angle_rotation_error: 3.09265449773807, euclidean_error: 0.5838690585623182}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.105231214189016, euclidean_error: 0.580340889887641}
-    wrist_top_marker_pose: {angle_rotation_error: 3.106095095185775, euclidean_error: 0.5816351086107685}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.076617243608911, euclidean_error: 0.578552783812503}
-    base_right_marker_pose: {angle_rotation_error: 3.140981138460315, euclidean_error: 0.5766657005921538}
-    shoulder_marker_pose: {angle_rotation_error: 3.0785417719154653, euclidean_error: 0.5837409818508348}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1157375599731223, euclidean_error: 0.5804406463062651}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0583966596685697, euclidean_error: 0.5814145583205872}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.095028340150963, euclidean_error: 0.5786486491614603}
-    base_right_marker_pose: {angle_rotation_error: 3.128198494997229, euclidean_error: 0.5767731999523625}
-    shoulder_marker_pose: {angle_rotation_error: 3.082306787691165, euclidean_error: 0.5837987238462992}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1081519641905575, euclidean_error: 0.5804839605034777}
-    wrist_top_marker_pose: {angle_rotation_error: 3.11589654674057, euclidean_error: 0.5816767749835032}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0844968722083865, euclidean_error: 0.5785903351786883}
-    base_right_marker_pose: {angle_rotation_error: 3.1376369268198885, euclidean_error: 0.5769286498043864}
-    shoulder_marker_pose: {angle_rotation_error: 3.0800148607606994, euclidean_error: 0.5839090837318385}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1065052471625534, euclidean_error: 0.5804655541269541}
-    wrist_top_marker_pose: {angle_rotation_error: 3.086685505490669, euclidean_error: 0.5814904690413538}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.065665532512567, euclidean_error: 0.5785781359327324}
-    base_right_marker_pose: {angle_rotation_error: 3.1407347414342532, euclidean_error: 0.577043208463028}
-    shoulder_marker_pose: {angle_rotation_error: 3.0653996123458636, euclidean_error: 0.5837378044374626}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.092826852169886, euclidean_error: 0.5805399323002107}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1176431617775155, euclidean_error: 0.5814405193522265}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0878718684377455, euclidean_error: 0.5787433473980703}
-    base_right_marker_pose: {angle_rotation_error: 3.13157185655523, euclidean_error: 0.5767283688794628}
-    shoulder_marker_pose: {angle_rotation_error: 3.060020042375995, euclidean_error: 0.5836863976348271}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083898640132552, euclidean_error: 0.5804522587613835}
-    wrist_top_marker_pose: {angle_rotation_error: 3.126803768432873, euclidean_error: 0.5817245903557201}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091263959071681, euclidean_error: 0.5787170570285814}
-    base_right_marker_pose: {angle_rotation_error: 3.135437929921045, euclidean_error: 0.5770077892341591}
-    shoulder_marker_pose: {angle_rotation_error: 3.0580059231119545, euclidean_error: 0.5837724006909074}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0990071327387883, euclidean_error: 0.5807156818161432}
-    wrist_top_marker_pose: {angle_rotation_error: 3.097572961654408, euclidean_error: 0.581688295560517}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088688088942755, euclidean_error: 0.5786532343140558}
-    base_right_marker_pose: {angle_rotation_error: 3.1321492332237213, euclidean_error: 0.5766099574059951}
-    shoulder_marker_pose: {angle_rotation_error: 3.0615534042013732, euclidean_error: 0.5837531544128008}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0872047370850635, euclidean_error: 0.5803092226754261}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1260992871601485, euclidean_error: 0.5818025509007043}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093891109954975, euclidean_error: 0.578620397404109}
-    base_right_marker_pose: {angle_rotation_error: 3.135835866502824, euclidean_error: 0.5767803281906089}
-    shoulder_marker_pose: {angle_rotation_error: 3.070812382638209, euclidean_error: 0.5836227756520379}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.082589885796229, euclidean_error: 0.580631254039476}
-    wrist_top_marker_pose: {angle_rotation_error: 3.102041529976148, euclidean_error: 0.5816274573912588}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0893933916251877, euclidean_error: 0.5786479886385675}
-    base_right_marker_pose: {angle_rotation_error: 3.128438704512102, euclidean_error: 0.5770089085300424}
-    shoulder_marker_pose: {angle_rotation_error: 3.0998000715159972, euclidean_error: 0.5837880747685036}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0935558164355137, euclidean_error: 0.5804624312459687}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1012473218321346, euclidean_error: 0.5816882446974887}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0827754371520113, euclidean_error: 0.5787906060378423}
-    base_right_marker_pose: {angle_rotation_error: 3.1296166066387086, euclidean_error: 0.5768719146658371}
-    shoulder_marker_pose: {angle_rotation_error: 3.0770532339283645, euclidean_error: 0.5838697379790151}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.085143351645482, euclidean_error: 0.5802582549340896}
-    wrist_top_marker_pose: {angle_rotation_error: 3.100423136886305, euclidean_error: 0.5813094966773845}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0865365649719605, euclidean_error: 0.5786622383517589}
-    base_right_marker_pose: {angle_rotation_error: 3.125866110845041, euclidean_error: 0.5772514659682363}
-    shoulder_marker_pose: {angle_rotation_error: 3.07453667020602, euclidean_error: 0.5838820070070357}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.109597365085219, euclidean_error: 0.5805918450793888}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0689748914160817, euclidean_error: 0.5815175391458574}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088966490209778, euclidean_error: 0.5786507068225234}
-    base_right_marker_pose: {angle_rotation_error: 3.1359203810763328, euclidean_error: 0.576944787571702}
-    shoulder_marker_pose: {angle_rotation_error: 3.0851226915626344, euclidean_error: 0.5839377228178617}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0889805602087637, euclidean_error: 0.580464721084104}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1019425406770775, euclidean_error: 0.5814944284790396}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0808411771087774, euclidean_error: 0.5786268493401169}
-    base_right_marker_pose: {angle_rotation_error: 3.1400599849632855, euclidean_error: 0.5770298251990701}
-    shoulder_marker_pose: {angle_rotation_error: 3.0893442547757144, euclidean_error: 0.5837849124067652}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0741593134544556, euclidean_error: 0.5804820385657881}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1238473459115483, euclidean_error: 0.5814167448252519}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0988056720405095, euclidean_error: 0.5786567413683141}
-    base_right_marker_pose: {angle_rotation_error: 3.1348840906485487, euclidean_error: 0.576861538019269}
-    shoulder_marker_pose: {angle_rotation_error: 3.079301052427536, euclidean_error: 0.5837540395927202}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0928244031062704, euclidean_error: 0.5804726272099677}
-    wrist_top_marker_pose: {angle_rotation_error: 3.115439410529544, euclidean_error: 0.5814404459337315}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0862961194395973, euclidean_error: 0.5786705179820327}
-    base_right_marker_pose: {angle_rotation_error: 3.138365432378393, euclidean_error: 0.5767967516010664}
-    shoulder_marker_pose: {angle_rotation_error: 3.0630686608459428, euclidean_error: 0.5836479201454498}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1063273552365076, euclidean_error: 0.5805014869805807}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1238735532727677, euclidean_error: 0.5815015583510648}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.097757406324004, euclidean_error: 0.5786825887803031}
-    base_right_marker_pose: {angle_rotation_error: 3.1382979347544655, euclidean_error: 0.5769196149505624}
-    shoulder_marker_pose: {angle_rotation_error: 3.063178408287783, euclidean_error: 0.5837479760602347}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.078256769954123, euclidean_error: 0.5805741693312972}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1005028540462773, euclidean_error: 0.5818653378117282}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0965763389691263, euclidean_error: 0.5788615831953106}
-    base_right_marker_pose: {angle_rotation_error: 3.1389029676801807, euclidean_error: 0.5769951324689481}
-    shoulder_marker_pose: {angle_rotation_error: 3.07103332673221, euclidean_error: 0.5838990754888217}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.112180436649513, euclidean_error: 0.580452341968336}
-    wrist_top_marker_pose: {angle_rotation_error: 3.094226673507466, euclidean_error: 0.5817444914838756}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0821044755921325, euclidean_error: 0.578731195420618}
-    base_right_marker_pose: {angle_rotation_error: 3.1339282097605055, euclidean_error: 0.5767968168416976}
-    shoulder_marker_pose: {angle_rotation_error: 3.0782314625497156, euclidean_error: 0.5838356479097668}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0947776108802714, euclidean_error: 0.5805221505831364}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1230036556917815, euclidean_error: 0.5812627053823475}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0972390803278755, euclidean_error: 0.5786827276647235}
-    base_right_marker_pose: {angle_rotation_error: 3.132316986365554, euclidean_error: 0.5769401479293541}
-    shoulder_marker_pose: {angle_rotation_error: 3.080572022991068, euclidean_error: 0.5837746878642786}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0846300856867126, euclidean_error: 0.5803368095311008}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1072549914291154, euclidean_error: 0.581777524573939}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0894919115388504, euclidean_error: 0.5785587195167474}
-    base_right_marker_pose: {angle_rotation_error: 3.1386879477311753, euclidean_error: 0.5768999987038834}
-    shoulder_marker_pose: {angle_rotation_error: 3.0825958703168133, euclidean_error: 0.5839082566152939}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.098970240995103, euclidean_error: 0.5806193014471703}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0980983858046782, euclidean_error: 0.5816013181279284}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0995437486747273, euclidean_error: 0.5786853343813833}
-    base_right_marker_pose: {angle_rotation_error: 3.1188056957818246, euclidean_error: 0.5769628047627999}
-    shoulder_marker_pose: {angle_rotation_error: 3.086423672693669, euclidean_error: 0.5838684966735408}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0770539993941166, euclidean_error: 0.5806177408160363}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1379664615338205, euclidean_error: 0.5816317209492633}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0918005616910906, euclidean_error: 0.5786940211853215}
-    base_right_marker_pose: {angle_rotation_error: 3.1380612716541765, euclidean_error: 0.5770389431748812}
-    shoulder_marker_pose: {angle_rotation_error: 3.093566265308787, euclidean_error: 0.5839439298093607}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.078653912645412, euclidean_error: 0.5804362322175207}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1307869545572324, euclidean_error: 0.5817155886923823}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086499098429998, euclidean_error: 0.5786272628465524}
-    base_right_marker_pose: {angle_rotation_error: 3.1241791386844926, euclidean_error: 0.576615707802184}
-    shoulder_marker_pose: {angle_rotation_error: 3.0591808880386844, euclidean_error: 0.5835236171501756}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.096060717073132, euclidean_error: 0.580661027242993}
-    wrist_top_marker_pose: {angle_rotation_error: 3.085518019684486, euclidean_error: 0.5817776540090225}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0887163669714957, euclidean_error: 0.5787807091834051}
-    base_right_marker_pose: {angle_rotation_error: 3.1279233117380234, euclidean_error: 0.577006663812878}
-    shoulder_marker_pose: {angle_rotation_error: 3.0883868958913494, euclidean_error: 0.5837567357979286}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0920544593722354, euclidean_error: 0.5805042498029362}
-    wrist_top_marker_pose: {angle_rotation_error: 3.140486468463837, euclidean_error: 0.581735455905528}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0843334414489076, euclidean_error: 0.5786801288112012}
-    base_right_marker_pose: {angle_rotation_error: 3.1405015835144017, euclidean_error: 0.5768091234095789}
-    shoulder_marker_pose: {angle_rotation_error: 3.070253662710038, euclidean_error: 0.5837536073568312}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0685274330288546, euclidean_error: 0.5804455017813578}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1137448326229853, euclidean_error: 0.5814265502480485}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.085621004022091, euclidean_error: 0.5786304521789051}
-    base_right_marker_pose: {angle_rotation_error: 3.135798097692286, euclidean_error: 0.5767445443760068}
-    shoulder_marker_pose: {angle_rotation_error: 3.0750602858430938, euclidean_error: 0.5836730237722363}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.085253344114448, euclidean_error: 0.5804343881465202}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1216178704618662, euclidean_error: 0.58156612159019}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0837238919236163, euclidean_error: 0.5787393499684437}
-    base_right_marker_pose: {angle_rotation_error: 3.137726752021242, euclidean_error: 0.5768301478263169}
-    shoulder_marker_pose: {angle_rotation_error: 3.089008846180416, euclidean_error: 0.5836845922931955}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0923658863961196, euclidean_error: 0.5803843843699108}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0821298426474173, euclidean_error: 0.5816954763171441}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0974351782944503, euclidean_error: 0.5786591297469823}
-    base_right_marker_pose: {angle_rotation_error: 3.1276208622362764, euclidean_error: 0.5771045184061364}
-    shoulder_marker_pose: {angle_rotation_error: 3.0642325916332327, euclidean_error: 0.5836371542234178}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.108238781321797, euclidean_error: 0.5803065050084135}
-    wrist_top_marker_pose: {angle_rotation_error: 3.099421262325219, euclidean_error: 0.5817312129000343}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090389906045077, euclidean_error: 0.5785476506285505}
-    base_right_marker_pose: {angle_rotation_error: 3.1289953591152337, euclidean_error: 0.5770435332789585}
-    shoulder_marker_pose: {angle_rotation_error: 3.088808229987158, euclidean_error: 0.5838229012030371}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1032982708011816, euclidean_error: 0.5804553953327991}
-    wrist_top_marker_pose: {angle_rotation_error: 3.14118880037827, euclidean_error: 0.5813997259824718}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081780769432529, euclidean_error: 0.5786190807986363}
-    base_right_marker_pose: {angle_rotation_error: 3.1280246829460348, euclidean_error: 0.5767050038684592}
-    shoulder_marker_pose: {angle_rotation_error: 3.0863536028884453, euclidean_error: 0.583648044978572}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1093168572472663, euclidean_error: 0.5802757636526865}
-    wrist_top_marker_pose: {angle_rotation_error: 3.126140659244634, euclidean_error: 0.5819380567880172}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.104487818220772, euclidean_error: 0.5786355703992806}
-    base_right_marker_pose: {angle_rotation_error: 3.1358569180827103, euclidean_error: 0.5769005636894311}
-    shoulder_marker_pose: {angle_rotation_error: 3.0758154211272926, euclidean_error: 0.5838374938324232}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0650600655318, euclidean_error: 0.5803896429704202}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1306998453698185, euclidean_error: 0.5815115779598098}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102553332718414, euclidean_error: 0.5787540658536731}
-    base_right_marker_pose: {angle_rotation_error: 3.1404581122628956, euclidean_error: 0.5767297100721076}
-    shoulder_marker_pose: {angle_rotation_error: 3.0750328350792726, euclidean_error: 0.5839000557914373}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0732687307901734, euclidean_error: 0.580446346064142}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1349655518930692, euclidean_error: 0.5816505807513316}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0997164050169665, euclidean_error: 0.578478721947115}
-    base_right_marker_pose: {angle_rotation_error: 3.1280144389408564, euclidean_error: 0.5768523621220311}
-    shoulder_marker_pose: {angle_rotation_error: 3.0685246634404, euclidean_error: 0.5836739628805304}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1065655904230107, euclidean_error: 0.580617630265254}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0883629721466996, euclidean_error: 0.5815715659974453}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0953038097403236, euclidean_error: 0.5786120425826472}
-    base_right_marker_pose: {angle_rotation_error: 3.1241993787840867, euclidean_error: 0.5770676119069815}
-    shoulder_marker_pose: {angle_rotation_error: 3.0883605747028757, euclidean_error: 0.5837841842894536}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.081100643306326, euclidean_error: 0.5804988061622149}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1016999962360976, euclidean_error: 0.5814769997807238}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088034666584738, euclidean_error: 0.5785642644496084}
-    base_right_marker_pose: {angle_rotation_error: 3.127639093126607, euclidean_error: 0.5768722549281963}
-    shoulder_marker_pose: {angle_rotation_error: 3.0682257452735153, euclidean_error: 0.5836311553719801}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0898300070956206, euclidean_error: 0.5804724201641939}
-    wrist_top_marker_pose: {angle_rotation_error: 3.077579200650768, euclidean_error: 0.5815208321493673}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.098291389655388, euclidean_error: 0.5787194695912574}
-    base_right_marker_pose: {angle_rotation_error: 3.1277805577893782, euclidean_error: 0.5770782952841675}
-    shoulder_marker_pose: {angle_rotation_error: 3.102329702041932, euclidean_error: 0.583958125583935}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0617962846826225, euclidean_error: 0.5805033326418731}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1175810036137195, euclidean_error: 0.5819137720233309}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0751500477302462, euclidean_error: 0.578611621949738}
-    base_right_marker_pose: {angle_rotation_error: 3.1361259768604155, euclidean_error: 0.5768284065481563}
-    shoulder_marker_pose: {angle_rotation_error: 3.0736514446008383, euclidean_error: 0.5837907739518633}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.082913610509166, euclidean_error: 0.5804970384277276}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1412308026590745, euclidean_error: 0.5819531434005076}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0876681757204016, euclidean_error: 0.5786414065434822}
-    base_right_marker_pose: {angle_rotation_error: 3.1403948214806228, euclidean_error: 0.5769782707465588}
-    shoulder_marker_pose: {angle_rotation_error: 3.0463274294550136, euclidean_error: 0.5835416358697565}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0621380336421526, euclidean_error: 0.5804993837915611}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1349547403931104, euclidean_error: 0.5817451197948671}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0887198341851207, euclidean_error: 0.5787480148397649}
-    base_right_marker_pose: {angle_rotation_error: 3.1327449099450813, euclidean_error: 0.5769403204377924}
-    shoulder_marker_pose: {angle_rotation_error: 3.0807632748822193, euclidean_error: 0.583680893379772}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1112857368684192, euclidean_error: 0.5805856641724236}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1043392536823022, euclidean_error: 0.5816797295130534}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0902458222123648, euclidean_error: 0.5787584868956905}
-    base_right_marker_pose: {angle_rotation_error: 3.130447186491284, euclidean_error: 0.5768034381022125}
-    shoulder_marker_pose: {angle_rotation_error: 3.078979585851974, euclidean_error: 0.583965943836491}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0945283225916618, euclidean_error: 0.580247168355846}
-    wrist_top_marker_pose: {angle_rotation_error: 3.125436683021267, euclidean_error: 0.581319887817415}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0808548957629824, euclidean_error: 0.5787208082192776}
-    base_right_marker_pose: {angle_rotation_error: 3.1315457437009164, euclidean_error: 0.5768347746525738}
-    shoulder_marker_pose: {angle_rotation_error: 3.086547482864932, euclidean_error: 0.5838276226339421}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1025937121852576, euclidean_error: 0.5806349428420174}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1185870131262514, euclidean_error: 0.5819604771921822}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081381274658307, euclidean_error: 0.578567919408267}
-    base_right_marker_pose: {angle_rotation_error: 3.1362756712044866, euclidean_error: 0.5770021899115371}
-    shoulder_marker_pose: {angle_rotation_error: 3.0698882984903877, euclidean_error: 0.583769719284961}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.064825094677262, euclidean_error: 0.5804639139717556}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0586229924945068, euclidean_error: 0.5809794905106562}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0854412288943753, euclidean_error: 0.5786745038299845}
-    base_right_marker_pose: {angle_rotation_error: 3.1206895709733047, euclidean_error: 0.5769963089281588}
-    shoulder_marker_pose: {angle_rotation_error: 3.063852135778508, euclidean_error: 0.5836434692544936}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.106254595184063, euclidean_error: 0.5805816208118589}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1184922199090197, euclidean_error: 0.5819364652972295}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0959053322820442, euclidean_error: 0.5787613685069077}
-    base_right_marker_pose: {angle_rotation_error: 3.127645523808834, euclidean_error: 0.5767285412163329}
-    shoulder_marker_pose: {angle_rotation_error: 3.0565927387876797, euclidean_error: 0.5835258581203493}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.095108905743628, euclidean_error: 0.5803207179648108}
-    wrist_top_marker_pose: {angle_rotation_error: 3.138338360604669, euclidean_error: 0.581671026394818}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0845888527601444, euclidean_error: 0.578750778015963}
-    base_right_marker_pose: {angle_rotation_error: 3.1291273398196773, euclidean_error: 0.5767217377240818}
-    shoulder_marker_pose: {angle_rotation_error: 3.0629921779567693, euclidean_error: 0.5837226882807512}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1303399996141503, euclidean_error: 0.5803022371462252}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1147521938068743, euclidean_error: 0.5814293652489151}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0781334643357265, euclidean_error: 0.5787042229258249}
-    base_right_marker_pose: {angle_rotation_error: 3.134338385761925, euclidean_error: 0.5771073826712907}
-    shoulder_marker_pose: {angle_rotation_error: 3.0723190378775476, euclidean_error: 0.5836734197629955}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0996669079899593, euclidean_error: 0.580558543892192}
-    wrist_top_marker_pose: {angle_rotation_error: 3.131206096803062, euclidean_error: 0.5814852125013311}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0856578683511966, euclidean_error: 0.57865072735956}
-    base_right_marker_pose: {angle_rotation_error: 3.1237307701012824, euclidean_error: 0.5767513585020977}
-    shoulder_marker_pose: {angle_rotation_error: 3.0886119694706298, euclidean_error: 0.5837923186851729}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090328187058423, euclidean_error: 0.5806293438146264}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1214401699564243, euclidean_error: 0.5819114399862723}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0716302455659656, euclidean_error: 0.5785457614765572}
-    base_right_marker_pose: {angle_rotation_error: 3.1294523041341824, euclidean_error: 0.5768149238209463}
-    shoulder_marker_pose: {angle_rotation_error: 3.080719538262386, euclidean_error: 0.5836885710867908}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1184633501127843, euclidean_error: 0.5804447130959984}
-    wrist_top_marker_pose: {angle_rotation_error: 3.111776423741309, euclidean_error: 0.5817747792396866}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0773747222390386, euclidean_error: 0.5786874030149791}
-    base_right_marker_pose: {angle_rotation_error: 3.137074329393222, euclidean_error: 0.5769487833113045}
-    shoulder_marker_pose: {angle_rotation_error: 3.0843912908921887, euclidean_error: 0.5836804484213779}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083401324171031, euclidean_error: 0.5805113188291808}
-    wrist_top_marker_pose: {angle_rotation_error: 3.098604070185158, euclidean_error: 0.5817675071135354}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08739779798542, euclidean_error: 0.5786160974405408}
-    base_right_marker_pose: {angle_rotation_error: 3.134295479294962, euclidean_error: 0.577108165205539}
-    shoulder_marker_pose: {angle_rotation_error: 3.072242062784947, euclidean_error: 0.5839170725580027}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0806659788561954, euclidean_error: 0.5803779578716426}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1375360805120747, euclidean_error: 0.5820456613918527}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084693876234096, euclidean_error: 0.5786088783165648}
-    base_right_marker_pose: {angle_rotation_error: 3.13219521102807, euclidean_error: 0.5769120776082325}
-    shoulder_marker_pose: {angle_rotation_error: 3.073940216983608, euclidean_error: 0.5838561925340827}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.063275001791927, euclidean_error: 0.5803841177040109}
-    wrist_top_marker_pose: {angle_rotation_error: 3.123079491453665, euclidean_error: 0.5819988982102925}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.101138088741752, euclidean_error: 0.5788101997721894}
-    base_right_marker_pose: {angle_rotation_error: 3.126439119664747, euclidean_error: 0.5771367545662162}
-    shoulder_marker_pose: {angle_rotation_error: 3.0920570724869383, euclidean_error: 0.5839498389872406}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0624770655589093, euclidean_error: 0.5804418358667699}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0962725433576668, euclidean_error: 0.5817685422801601}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0911631320339907, euclidean_error: 0.5787124655611398}
-    base_right_marker_pose: {angle_rotation_error: 3.1321922728709626, euclidean_error: 0.5769253542292704}
-    shoulder_marker_pose: {angle_rotation_error: 3.083743792698141, euclidean_error: 0.5838911274910517}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0928852004087988, euclidean_error: 0.5803703109921791}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1383255959843517, euclidean_error: 0.5823132556601421}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092702785690242, euclidean_error: 0.5788421299645814}
-    base_right_marker_pose: {angle_rotation_error: 3.1293948074602707, euclidean_error: 0.5767453638500086}
-    shoulder_marker_pose: {angle_rotation_error: 3.0853463700410897, euclidean_error: 0.5838903449466484}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1038314360112937, euclidean_error: 0.5803117958492502}
-    wrist_top_marker_pose: {angle_rotation_error: 3.120448113450371, euclidean_error: 0.5820727503901977}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096683759501352, euclidean_error: 0.5787762575054407}
-    base_right_marker_pose: {angle_rotation_error: 3.133564314561348, euclidean_error: 0.5769469327142552}
-    shoulder_marker_pose: {angle_rotation_error: 3.059879264153858, euclidean_error: 0.5837942322936033}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0881961654888053, euclidean_error: 0.5806369044067482}
-    wrist_top_marker_pose: {angle_rotation_error: 3.133211819025856, euclidean_error: 0.5817938539738573}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.074272929930213, euclidean_error: 0.5786955635550716}
-    base_right_marker_pose: {angle_rotation_error: 3.1407183788461333, euclidean_error: 0.5769403293000855}
-    shoulder_marker_pose: {angle_rotation_error: 3.084575213685052, euclidean_error: 0.5837999087063364}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.09932093667532, euclidean_error: 0.5804637752692049}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1347359201508547, euclidean_error: 0.5819506995684289}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090546450042854, euclidean_error: 0.5787968589766574}
-    base_right_marker_pose: {angle_rotation_error: 3.1379942457711807, euclidean_error: 0.5768787146719756}
-    shoulder_marker_pose: {angle_rotation_error: 3.090904072702499, euclidean_error: 0.5837590247633403}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1331778369736996, euclidean_error: 0.5801448062030655}
-    wrist_top_marker_pose: {angle_rotation_error: 3.118352863054782, euclidean_error: 0.5820595740009696}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0905342291851365, euclidean_error: 0.5786536161051361}
-    base_right_marker_pose: {angle_rotation_error: 3.1379575102092474, euclidean_error: 0.5771208134687529}
-    shoulder_marker_pose: {angle_rotation_error: 3.0533101218487526, euclidean_error: 0.583662561168269}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.117734996029609, euclidean_error: 0.5804808524860804}
-    wrist_top_marker_pose: {angle_rotation_error: 3.131803162212494, euclidean_error: 0.5820648847911916}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087167671647367, euclidean_error: 0.5786682250931815}
-    base_right_marker_pose: {angle_rotation_error: 3.1290074225260285, euclidean_error: 0.5768178082808526}
-    shoulder_marker_pose: {angle_rotation_error: 3.0782575307531403, euclidean_error: 0.5839511297308275}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.101361337798502, euclidean_error: 0.5805575929204173}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1059369927659786, euclidean_error: 0.5820298714677636}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086229654987122, euclidean_error: 0.5787170291992395}
-    base_right_marker_pose: {angle_rotation_error: 3.1299197063969033, euclidean_error: 0.5770405020167124}
-    shoulder_marker_pose: {angle_rotation_error: 3.0687426601504626, euclidean_error: 0.583730009379828}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0893026345747017, euclidean_error: 0.5805280092349666}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0981765998676014, euclidean_error: 0.581767322192221}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0817552109021276, euclidean_error: 0.5787474033869886}
-    base_right_marker_pose: {angle_rotation_error: 3.12453672302703, euclidean_error: 0.5769033362491767}
-    shoulder_marker_pose: {angle_rotation_error: 3.081479569121949, euclidean_error: 0.5838184246666632}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.092607386891266, euclidean_error: 0.5805076572073041}
-    wrist_top_marker_pose: {angle_rotation_error: 3.121772020615116, euclidean_error: 0.582075633660241}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0783211285212495, euclidean_error: 0.5787394174303826}
-    base_right_marker_pose: {angle_rotation_error: 3.13792578248338, euclidean_error: 0.5767950732018574}
-    shoulder_marker_pose: {angle_rotation_error: 3.078169565105981, euclidean_error: 0.5838964483552597}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0962325877165715, euclidean_error: 0.5803054377326463}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1257019637925634, euclidean_error: 0.5821362719002815}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.074971293394375, euclidean_error: 0.5786910817462575}
-    base_right_marker_pose: {angle_rotation_error: 3.136758932370419, euclidean_error: 0.5769377336043523}
-    shoulder_marker_pose: {angle_rotation_error: 3.0787004493768886, euclidean_error: 0.5837484368097103}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.092427075746226, euclidean_error: 0.5803327481542563}
-    wrist_top_marker_pose: {angle_rotation_error: 3.089176152700622, euclidean_error: 0.581412677447537}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0925943551928166, euclidean_error: 0.5787661751323457}
-    base_right_marker_pose: {angle_rotation_error: 3.13812596057958, euclidean_error: 0.576965993868136}
-    shoulder_marker_pose: {angle_rotation_error: 3.066425063695813, euclidean_error: 0.5838370430046271}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0767666367295936, euclidean_error: 0.5803259951720819}
-    wrist_top_marker_pose: {angle_rotation_error: 3.121513587765681, euclidean_error: 0.5821997201408018}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078684898273501, euclidean_error: 0.5786643896624292}
-    base_right_marker_pose: {angle_rotation_error: 3.134709238987902, euclidean_error: 0.576929462865391}
-    shoulder_marker_pose: {angle_rotation_error: 3.0891249832584196, euclidean_error: 0.5838486197748851}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.116115955754697, euclidean_error: 0.5804041703606095}
-    wrist_top_marker_pose: {angle_rotation_error: 3.137600569419692, euclidean_error: 0.5822485641494192}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0831442455626625, euclidean_error: 0.5787858700268407}
-    base_right_marker_pose: {angle_rotation_error: 3.135555458378669, euclidean_error: 0.5768498709728229}
-    shoulder_marker_pose: {angle_rotation_error: 3.069883799809138, euclidean_error: 0.5836657886472362}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0939850832601055, euclidean_error: 0.5806073662121511}
-    wrist_top_marker_pose: {angle_rotation_error: 3.100986252580552, euclidean_error: 0.5821155272591659}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081185743074609, euclidean_error: 0.5787505845794662}
-    base_right_marker_pose: {angle_rotation_error: 3.128092997604138, euclidean_error: 0.5770072616459946}
-    shoulder_marker_pose: {angle_rotation_error: 3.066221683399093, euclidean_error: 0.5835563170985745}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.108537413346048, euclidean_error: 0.5802112387603593}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1102624818917786, euclidean_error: 0.5814252242010387}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0807002660659255, euclidean_error: 0.5788118537680744}
-    base_right_marker_pose: {angle_rotation_error: 3.136911649810819, euclidean_error: 0.5771090451324944}
-    shoulder_marker_pose: {angle_rotation_error: 3.0825217109377463, euclidean_error: 0.583835987739003}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1389289732033268, euclidean_error: 0.5804957493529848}
-    wrist_top_marker_pose: {angle_rotation_error: 3.128970857485696, euclidean_error: 0.5813674840472216}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.097576066895968, euclidean_error: 0.578891771770527}
-    base_right_marker_pose: {angle_rotation_error: 3.1363631846060342, euclidean_error: 0.5767920344918843}
-    shoulder_marker_pose: {angle_rotation_error: 3.0848833206014223, euclidean_error: 0.5840030966520962}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.073453323278865, euclidean_error: 0.5805353304836809}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1342365914626105, euclidean_error: 0.5818986728533531}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.076522788310854, euclidean_error: 0.5785028341998011}
-    base_right_marker_pose: {angle_rotation_error: 3.140021917922596, euclidean_error: 0.5769633873986796}
-    shoulder_marker_pose: {angle_rotation_error: 3.079614488793585, euclidean_error: 0.5838091819071423}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.073389940133988, euclidean_error: 0.5803742204718219}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130865761808879, euclidean_error: 0.5820470830238147}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086598654873766, euclidean_error: 0.5786354409120016}
-    base_right_marker_pose: {angle_rotation_error: 3.1411037709867116, euclidean_error: 0.5771042452855489}
-    shoulder_marker_pose: {angle_rotation_error: 3.0835411052506587, euclidean_error: 0.5836644169594071}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.100744643796623, euclidean_error: 0.5804411750216706}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1407376550881465, euclidean_error: 0.5818525798504507}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0959878076211997, euclidean_error: 0.5786481456092405}
-    base_right_marker_pose: {angle_rotation_error: 3.139843967874903, euclidean_error: 0.5769006250359011}
-    shoulder_marker_pose: {angle_rotation_error: 3.073185881064614, euclidean_error: 0.5837464803884355}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.08513757595592, euclidean_error: 0.5804746073658245}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1284937874868213, euclidean_error: 0.581991531298598}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0859053559850325, euclidean_error: 0.5786217645734918}
-    base_right_marker_pose: {angle_rotation_error: 3.1411311906031343, euclidean_error: 0.5771173158060453}
-    shoulder_marker_pose: {angle_rotation_error: 3.0652400874821124, euclidean_error: 0.5838096138219039}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1104172514609227, euclidean_error: 0.5806086526852478}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1256378457293112, euclidean_error: 0.5815287239939133}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0817234860565303, euclidean_error: 0.5786960945213189}
-    base_right_marker_pose: {angle_rotation_error: 3.130884520510816, euclidean_error: 0.5768661815079343}
-    shoulder_marker_pose: {angle_rotation_error: 3.0817877534282045, euclidean_error: 0.5836929389947964}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0562859513490324, euclidean_error: 0.5802137522125435}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1075497248572277, euclidean_error: 0.5814602298055996}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093461291912456, euclidean_error: 0.5786091082428126}
-    base_right_marker_pose: {angle_rotation_error: 3.1415765972238607, euclidean_error: 0.5770919147555785}
-    shoulder_marker_pose: {angle_rotation_error: 3.04981277328488, euclidean_error: 0.5836031854555912}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0950206134868594, euclidean_error: 0.5805213374467848}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1220383741168836, euclidean_error: 0.5815019493404382}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081720225419193, euclidean_error: 0.5786742021703087}
-    base_right_marker_pose: {angle_rotation_error: 3.136576040392993, euclidean_error: 0.5769265844527165}
-    shoulder_marker_pose: {angle_rotation_error: 3.0767936791790613, euclidean_error: 0.5837953537243907}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.08113553156037, euclidean_error: 0.5804561744674904}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0913688449683328, euclidean_error: 0.5817383970495061}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0778165729888176, euclidean_error: 0.578648733122121}
-    base_right_marker_pose: {angle_rotation_error: 3.140361188430722, euclidean_error: 0.5770382573029958}
-    shoulder_marker_pose: {angle_rotation_error: 3.07607430263179, euclidean_error: 0.5837181144653032}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0840164025655743, euclidean_error: 0.5804497594618762}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1132256042997155, euclidean_error: 0.5817261557004701}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.067895799886971, euclidean_error: 0.5786109696062703}
-    base_right_marker_pose: {angle_rotation_error: 3.133927628883983, euclidean_error: 0.5769066657904071}
-    shoulder_marker_pose: {angle_rotation_error: 3.077244900777548, euclidean_error: 0.5836932807535592}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1393363639914766, euclidean_error: 0.5802778992990274}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1089784509161063, euclidean_error: 0.5818528525594506}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081167784541127, euclidean_error: 0.5787181167960206}
-    base_right_marker_pose: {angle_rotation_error: 3.130579795779895, euclidean_error: 0.5768833573278388}
-    shoulder_marker_pose: {angle_rotation_error: 3.0660764306788804, euclidean_error: 0.5836680866035098}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.106600202726081, euclidean_error: 0.5801978059482128}
-    wrist_top_marker_pose: {angle_rotation_error: 3.139679849883268, euclidean_error: 0.581576121543922}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0612741151106944, euclidean_error: 0.5785665867618991}
-    base_right_marker_pose: {angle_rotation_error: 3.1278848306633162, euclidean_error: 0.5769605030847528}
-    shoulder_marker_pose: {angle_rotation_error: 3.0613751406444623, euclidean_error: 0.5834499393552927}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1239438443968908, euclidean_error: 0.5804004446888009}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1277391368271545, euclidean_error: 0.5819938651775002}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0662979665050143, euclidean_error: 0.5785630580406298}
-    base_right_marker_pose: {angle_rotation_error: 3.1386436309757726, euclidean_error: 0.5767648415396368}
-    shoulder_marker_pose: {angle_rotation_error: 3.0598243607289732, euclidean_error: 0.5834605697423515}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.128322799246065, euclidean_error: 0.5802279185695459}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0939676225471016, euclidean_error: 0.5818822062347797}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0788214609933973, euclidean_error: 0.5787386817803079}
-    base_right_marker_pose: {angle_rotation_error: 3.1274471691169414, euclidean_error: 0.5769745345355402}
-    shoulder_marker_pose: {angle_rotation_error: 3.0702123640416175, euclidean_error: 0.5836704394599008}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088753003646135, euclidean_error: 0.5803850332410999}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1321283768800865, euclidean_error: 0.5812418909628323}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.082209627330188, euclidean_error: 0.5788064419304793}
-    base_right_marker_pose: {angle_rotation_error: 3.133207536151174, euclidean_error: 0.5770048659749321}
-    shoulder_marker_pose: {angle_rotation_error: 3.0730866968877675, euclidean_error: 0.5835098779630831}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1101224718222222, euclidean_error: 0.5803340558864524}
-    wrist_top_marker_pose: {angle_rotation_error: 3.13549871056903, euclidean_error: 0.5816424445560447}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0891563635342734, euclidean_error: 0.5787067911710054}
-    base_right_marker_pose: {angle_rotation_error: 3.128193076626456, euclidean_error: 0.5770895869863838}
-    shoulder_marker_pose: {angle_rotation_error: 3.0686610181578593, euclidean_error: 0.583742073049736}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.081259243536417, euclidean_error: 0.5804630823211832}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1052600509830675, euclidean_error: 0.5819780840727423}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.072752248570587, euclidean_error: 0.5786505534622467}
-    base_right_marker_pose: {angle_rotation_error: 3.123358565411307, euclidean_error: 0.5770353290311341}
-    shoulder_marker_pose: {angle_rotation_error: 3.080492916203393, euclidean_error: 0.5837937689116743}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0692611152617415, euclidean_error: 0.5803112437615374}
-    wrist_top_marker_pose: {angle_rotation_error: 3.105613715539709, euclidean_error: 0.5820246516342945}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0795031443214125, euclidean_error: 0.5787868194880341}
-    base_right_marker_pose: {angle_rotation_error: 3.1362257566175953, euclidean_error: 0.5769841568421912}
-    shoulder_marker_pose: {angle_rotation_error: 3.0660774267170514, euclidean_error: 0.5837077393571596}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088580752036906, euclidean_error: 0.5805162256955227}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0949031888249574, euclidean_error: 0.5818903248851773}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0871188820714646, euclidean_error: 0.5786897345761407}
-    base_right_marker_pose: {angle_rotation_error: 3.1280889060708645, euclidean_error: 0.5770164786800447}
-    shoulder_marker_pose: {angle_rotation_error: 3.059477542581038, euclidean_error: 0.5835700303774121}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0914277112566673, euclidean_error: 0.5801833650106272}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1200542497141215, euclidean_error: 0.5819707055770591}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.092471142874998, euclidean_error: 0.5787979979863845}
-    base_right_marker_pose: {angle_rotation_error: 3.1334551183321513, euclidean_error: 0.5770646386953373}
-    shoulder_marker_pose: {angle_rotation_error: 3.090283388326796, euclidean_error: 0.5835592641469142}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1115048687658073, euclidean_error: 0.5801501567656726}
-    wrist_top_marker_pose: {angle_rotation_error: 3.078304744181881, euclidean_error: 0.5813304845363922}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078469784966763, euclidean_error: 0.5786017598002487}
-    base_right_marker_pose: {angle_rotation_error: 3.1365254701994463, euclidean_error: 0.576901355333973}
-    shoulder_marker_pose: {angle_rotation_error: 3.074962001798142, euclidean_error: 0.583494375020378}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1219486031636006, euclidean_error: 0.5803662113787408}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1046923682434664, euclidean_error: 0.5819280532841403}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0938116247235303, euclidean_error: 0.5788215602307224}
-    base_right_marker_pose: {angle_rotation_error: 3.1345112059670215, euclidean_error: 0.5770545424087887}
-    shoulder_marker_pose: {angle_rotation_error: 3.0635283118279615, euclidean_error: 0.5837524214009536}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1071602462098142, euclidean_error: 0.5802317976566677}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0979452863498236, euclidean_error: 0.5818072470932292}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.072669548998228, euclidean_error: 0.5785295483491206}
-    base_right_marker_pose: {angle_rotation_error: 3.1301997232983543, euclidean_error: 0.5769867995254044}
-    shoulder_marker_pose: {angle_rotation_error: 3.084097350370957, euclidean_error: 0.5836493658860612}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1111978812336285, euclidean_error: 0.5802610101485008}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1015002148316473, euclidean_error: 0.5817082196443426}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.082589333775328, euclidean_error: 0.5786606515522426}
-    base_right_marker_pose: {angle_rotation_error: 3.140401457653541, euclidean_error: 0.5769912721816186}
-    shoulder_marker_pose: {angle_rotation_error: 3.074676790606745, euclidean_error: 0.5836682162273328}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1313881829529917, euclidean_error: 0.5804367822846037}
-    wrist_top_marker_pose: {angle_rotation_error: 3.13059589476104, euclidean_error: 0.5819084886508763}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080597885251656, euclidean_error: 0.5786683566478011}
-    base_right_marker_pose: {angle_rotation_error: 3.1335056250419084, euclidean_error: 0.576980952310086}
-    shoulder_marker_pose: {angle_rotation_error: 3.0616002998445073, euclidean_error: 0.5836908926542987}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1396326790992117, euclidean_error: 0.5801071506480356}
-    wrist_top_marker_pose: {angle_rotation_error: 3.125478388981647, euclidean_error: 0.5820408296384624}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0944487097249387, euclidean_error: 0.5787782817150043}
-    base_right_marker_pose: {angle_rotation_error: 3.1325486503233657, euclidean_error: 0.5769779163354315}
-    shoulder_marker_pose: {angle_rotation_error: 3.0646848468017938, euclidean_error: 0.5836206814618151}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0851583973690864, euclidean_error: 0.5803942129806977}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1206441316725817, euclidean_error: 0.5820526085709924}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078483371957232, euclidean_error: 0.5786495827085739}
-    base_right_marker_pose: {angle_rotation_error: 3.1396211646211056, euclidean_error: 0.5769132766223865}
-    shoulder_marker_pose: {angle_rotation_error: 3.081643798665998, euclidean_error: 0.5836982813767112}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0900857556274923, euclidean_error: 0.580300349365911}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1245037426013713, euclidean_error: 0.5820404094774615}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0907651505819236, euclidean_error: 0.5786436107796493}
-    base_right_marker_pose: {angle_rotation_error: 3.1369219540183515, euclidean_error: 0.5769905248636091}
-    shoulder_marker_pose: {angle_rotation_error: 3.0793270051277757, euclidean_error: 0.5837459050365483}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.094605369284855, euclidean_error: 0.5802681995696741}
-    wrist_top_marker_pose: {angle_rotation_error: 3.112522306434036, euclidean_error: 0.5815152274717527}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.076737992909707, euclidean_error: 0.578655667574696}
-    base_right_marker_pose: {angle_rotation_error: 3.1311124224771927, euclidean_error: 0.57700428097389}
-    shoulder_marker_pose: {angle_rotation_error: 3.04882310145132, euclidean_error: 0.5836825598461267}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0877502116046833, euclidean_error: 0.5804545084681404}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1213558177217173, euclidean_error: 0.5821588953865042}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088030469275024, euclidean_error: 0.5786897270610649}
-    base_right_marker_pose: {angle_rotation_error: 3.1400056250923756, euclidean_error: 0.5770726085287124}
-    shoulder_marker_pose: {angle_rotation_error: 3.079962459442346, euclidean_error: 0.583640939343691}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1413219581206415, euclidean_error: 0.5800962335219104}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1127522610690583, euclidean_error: 0.5819501091845372}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093520862515053, euclidean_error: 0.5786084391664406}
-    base_right_marker_pose: {angle_rotation_error: 3.137853811903008, euclidean_error: 0.5771282270831916}
-    shoulder_marker_pose: {angle_rotation_error: 3.103054075380241, euclidean_error: 0.5839807994401252}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0934189828884273, euclidean_error: 0.5801958397703213}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1313056527955423, euclidean_error: 0.5818810069388106}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080112341713767, euclidean_error: 0.5786211715147392}
-    base_right_marker_pose: {angle_rotation_error: 3.1271000262554094, euclidean_error: 0.5769626859808309}
-    shoulder_marker_pose: {angle_rotation_error: 3.063070636383567, euclidean_error: 0.583685641219148}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1133957133915473, euclidean_error: 0.5806294607414945}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1311268947227475, euclidean_error: 0.581831093948067}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0758332288237367, euclidean_error: 0.5786325115217821}
-    base_right_marker_pose: {angle_rotation_error: 3.131640791860997, euclidean_error: 0.5768808219432595}
-    shoulder_marker_pose: {angle_rotation_error: 3.0797336739082737, euclidean_error: 0.5837710650434349}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1151205928180388, euclidean_error: 0.5804967827220513}
-    wrist_top_marker_pose: {angle_rotation_error: 3.12810339454252, euclidean_error: 0.5818275411955575}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.073094707488613, euclidean_error: 0.5786280638330435}
-    base_right_marker_pose: {angle_rotation_error: 3.1339128667148777, euclidean_error: 0.5769821959655408}
-    shoulder_marker_pose: {angle_rotation_error: 3.071933824208153, euclidean_error: 0.5838099405873416}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.11218300850323, euclidean_error: 0.5802530485540814}
-    wrist_top_marker_pose: {angle_rotation_error: 3.111271408916261, euclidean_error: 0.5815145853254922}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084602179345949, euclidean_error: 0.5785954955804395}
-    base_right_marker_pose: {angle_rotation_error: 3.1347760554697133, euclidean_error: 0.5769910627954578}
-    shoulder_marker_pose: {angle_rotation_error: 3.074448935976531, euclidean_error: 0.5837691257090897}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1249766342449417, euclidean_error: 0.5803141841445121}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1182615922670776, euclidean_error: 0.5820359827435229}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0795816065791572, euclidean_error: 0.5787232468391853}
-    base_right_marker_pose: {angle_rotation_error: 3.1326524379067453, euclidean_error: 0.5769866429381696}
-    shoulder_marker_pose: {angle_rotation_error: 3.1035009569098952, euclidean_error: 0.5839622822298441}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090958813909286, euclidean_error: 0.5802352884423446}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1400001533262483, euclidean_error: 0.5815390832862927}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0796234324305596, euclidean_error: 0.5785520480858964}
-    base_right_marker_pose: {angle_rotation_error: 3.1255323341194514, euclidean_error: 0.57716628929268}
-    shoulder_marker_pose: {angle_rotation_error: 3.0824758545785738, euclidean_error: 0.5835394882043226}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1142116501314225, euclidean_error: 0.5803344517190628}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130422883322856, euclidean_error: 0.5821438124619066}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0796804576544883, euclidean_error: 0.5785593739594289}
-    base_right_marker_pose: {angle_rotation_error: 3.122058420848947, euclidean_error: 0.5768897768323978}
-    shoulder_marker_pose: {angle_rotation_error: 3.07531650751984, euclidean_error: 0.5835581359490276}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.077125414111068, euclidean_error: 0.580348023010403}
-    wrist_top_marker_pose: {angle_rotation_error: 3.127298634593774, euclidean_error: 0.5821202497919373}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0905921237104774, euclidean_error: 0.5785918705090712}
-    base_right_marker_pose: {angle_rotation_error: 3.1208466019380894, euclidean_error: 0.5769619220871716}
-    shoulder_marker_pose: {angle_rotation_error: 3.085575153522939, euclidean_error: 0.5837817952775032}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.094898100690645, euclidean_error: 0.580455563961625}
-    wrist_top_marker_pose: {angle_rotation_error: 3.118418244443468, euclidean_error: 0.5817059266819267}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088711730159172, euclidean_error: 0.578618403201317}
-    base_right_marker_pose: {angle_rotation_error: 3.1379002287908544, euclidean_error: 0.5772097496905874}
-    shoulder_marker_pose: {angle_rotation_error: 3.0803968381054285, euclidean_error: 0.5835430573545688}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.054922713177569, euclidean_error: 0.5802004019991855}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0655367961483946, euclidean_error: 0.5817597350519464}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.074173780843843, euclidean_error: 0.5787164059317456}
-    base_right_marker_pose: {angle_rotation_error: 3.1374196685432802, euclidean_error: 0.5768193653084024}
-    shoulder_marker_pose: {angle_rotation_error: 3.0790747820628064, euclidean_error: 0.5837222541705638}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1068351197384287, euclidean_error: 0.5801080556728387}
-    wrist_top_marker_pose: {angle_rotation_error: 3.107688925161274, euclidean_error: 0.5819495165926409}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0816106821584404, euclidean_error: 0.5786270869534342}
-    base_right_marker_pose: {angle_rotation_error: 3.133352078446011, euclidean_error: 0.5772252735269625}
-    shoulder_marker_pose: {angle_rotation_error: 3.072156899301765, euclidean_error: 0.5835843267240248}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.073903037460842, euclidean_error: 0.58029066671521}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1369499169425317, euclidean_error: 0.58152931598052}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.089107586575672, euclidean_error: 0.5785906201004747}
-    base_right_marker_pose: {angle_rotation_error: 3.1336921178807877, euclidean_error: 0.5770696035800352}
-    shoulder_marker_pose: {angle_rotation_error: 3.0705270613442437, euclidean_error: 0.5836693982320673}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0991065158740083, euclidean_error: 0.580279648173838}
-    wrist_top_marker_pose: {angle_rotation_error: 3.137173547682316, euclidean_error: 0.5818984376007386}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0890988836105966, euclidean_error: 0.5787080752360848}
-    base_right_marker_pose: {angle_rotation_error: 3.129003088711565, euclidean_error: 0.576942733667333}
-    shoulder_marker_pose: {angle_rotation_error: 3.075791154186921, euclidean_error: 0.5836564834151166}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1186263491560005, euclidean_error: 0.5804889035195016}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1171570722755657, euclidean_error: 0.5813265374162193}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078202702944568, euclidean_error: 0.5786651727797171}
-    base_right_marker_pose: {angle_rotation_error: 3.12278355424681, euclidean_error: 0.5770563805713858}
-    shoulder_marker_pose: {angle_rotation_error: 3.083753992331186, euclidean_error: 0.5836455047021784}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.079798658921898, euclidean_error: 0.5801981321503769}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1158307007689734, euclidean_error: 0.5815880718029598}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0824104185273926, euclidean_error: 0.5787818955444008}
-    base_right_marker_pose: {angle_rotation_error: 3.1256392426994135, euclidean_error: 0.5769317476886369}
-    shoulder_marker_pose: {angle_rotation_error: 3.067875581723897, euclidean_error: 0.5836716105984538}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.138106354971177, euclidean_error: 0.5800083832071118}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1228520827314, euclidean_error: 0.5813466291559305}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0860697636785526, euclidean_error: 0.5787400662962321}
-    base_right_marker_pose: {angle_rotation_error: 3.1292348626120012, euclidean_error: 0.577024999733448}
-    shoulder_marker_pose: {angle_rotation_error: 3.088000539666859, euclidean_error: 0.5837630774390267}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.099919157847544, euclidean_error: 0.5804122529586015}
-    wrist_top_marker_pose: {angle_rotation_error: 3.125673233579215, euclidean_error: 0.5816557347224757}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0832405659355664, euclidean_error: 0.5786165485645579}
-    base_right_marker_pose: {angle_rotation_error: 3.1256769820792045, euclidean_error: 0.5771611226527362}
-    shoulder_marker_pose: {angle_rotation_error: 3.0696019312917606, euclidean_error: 0.5834649223227422}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.09375114104915, euclidean_error: 0.5802866927752386}
-    wrist_top_marker_pose: {angle_rotation_error: 3.136011913738684, euclidean_error: 0.5815508242949232}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0700768240372187, euclidean_error: 0.5786545800809262}
-    base_right_marker_pose: {angle_rotation_error: 3.140189523810109, euclidean_error: 0.5770574347406656}
-    shoulder_marker_pose: {angle_rotation_error: 3.076968203157746, euclidean_error: 0.583615398836092}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.10927302904331, euclidean_error: 0.5804652040349867}
-    wrist_top_marker_pose: {angle_rotation_error: 3.127090751191166, euclidean_error: 0.5819302030430249}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084540149071267, euclidean_error: 0.5788080375347281}
-    base_right_marker_pose: {angle_rotation_error: 3.130885125746593, euclidean_error: 0.5770433573842947}
-    shoulder_marker_pose: {angle_rotation_error: 3.0650820018364224, euclidean_error: 0.5836603714858719}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1394633574863615, euclidean_error: 0.5802697808107367}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1354819085299193, euclidean_error: 0.581631670397481}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0716375979415127, euclidean_error: 0.5787415824472422}
-    base_right_marker_pose: {angle_rotation_error: 3.1279259603559915, euclidean_error: 0.5770240495725466}
-    shoulder_marker_pose: {angle_rotation_error: 3.0704581144692815, euclidean_error: 0.5835607908646997}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1196472225317176, euclidean_error: 0.5804696882124747}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1340102533525984, euclidean_error: 0.5821202689637103}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.089859812494262, euclidean_error: 0.5787135354971944}
-    base_right_marker_pose: {angle_rotation_error: 3.135677493385477, euclidean_error: 0.57681274690494}
-    shoulder_marker_pose: {angle_rotation_error: 3.0654090205890334, euclidean_error: 0.583733580994586}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1384220266048932, euclidean_error: 0.5801084483322616}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1413390001401735, euclidean_error: 0.5817975716916726}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.066578277783608, euclidean_error: 0.5785575100407095}
-    base_right_marker_pose: {angle_rotation_error: 3.121531206424232, euclidean_error: 0.5768638441672893}
-    shoulder_marker_pose: {angle_rotation_error: 3.0863422146939645, euclidean_error: 0.5837282496693164}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0979394192580627, euclidean_error: 0.5801022530899426}
-    wrist_top_marker_pose: {angle_rotation_error: 3.123312231226865, euclidean_error: 0.5819371570837971}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0813214937117452, euclidean_error: 0.5786953381404027}
-    base_right_marker_pose: {angle_rotation_error: 3.1099236842588174, euclidean_error: 0.5770034368215692}
-    shoulder_marker_pose: {angle_rotation_error: 3.0980612323104997, euclidean_error: 0.5836400713782948}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0887607586067127, euclidean_error: 0.5804669283256548}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1301148659407274, euclidean_error: 0.5819269762604515}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.077910249422975, euclidean_error: 0.578701306127617}
-    base_right_marker_pose: {angle_rotation_error: 3.136136488963983, euclidean_error: 0.5772607190636774}
-    shoulder_marker_pose: {angle_rotation_error: 3.0693758449379986, euclidean_error: 0.5836602301731376}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.120981093287409, euclidean_error: 0.5804521124902708}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1169695793960948, euclidean_error: 0.5818884243833817}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0760559445552556, euclidean_error: 0.5787169570088311}
-    base_right_marker_pose: {angle_rotation_error: 3.1298473790011907, euclidean_error: 0.5769707145507699}
-    shoulder_marker_pose: {angle_rotation_error: 3.1011433619803332, euclidean_error: 0.583933624936345}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0902853137881316, euclidean_error: 0.5803323640023392}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0990956417670597, euclidean_error: 0.5817402583024939}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0753033880411222, euclidean_error: 0.5786983336451057}
-    base_right_marker_pose: {angle_rotation_error: 3.132995024099068, euclidean_error: 0.57692245396398}
-    shoulder_marker_pose: {angle_rotation_error: 3.0731105864160786, euclidean_error: 0.5836964089781462}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1293591565154406, euclidean_error: 0.5800879127740518}
-    wrist_top_marker_pose: {angle_rotation_error: 3.107288599878808, euclidean_error: 0.5817582967935182}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0955069300995377, euclidean_error: 0.5787004950050015}
-    base_right_marker_pose: {angle_rotation_error: 3.1373089453470797, euclidean_error: 0.5767910527218}
-    shoulder_marker_pose: {angle_rotation_error: 3.0615093581202264, euclidean_error: 0.5837549483199606}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.121521229694405, euclidean_error: 0.5802930876296718}
-    wrist_top_marker_pose: {angle_rotation_error: 3.129127815047973, euclidean_error: 0.5817775728211335}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0840843267782203, euclidean_error: 0.5787656680367738}
-    base_right_marker_pose: {angle_rotation_error: 3.1386392065428406, euclidean_error: 0.5771401380898988}
-    shoulder_marker_pose: {angle_rotation_error: 3.0888658952928605, euclidean_error: 0.5838242415961384}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.070268271641173, euclidean_error: 0.5802483901423715}
-    wrist_top_marker_pose: {angle_rotation_error: 3.139537484615453, euclidean_error: 0.5816547038686987}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0873031173961234, euclidean_error: 0.5787060528475211}
-    base_right_marker_pose: {angle_rotation_error: 3.1305294433963593, euclidean_error: 0.5769201186081077}
-    shoulder_marker_pose: {angle_rotation_error: 3.0872693171954944, euclidean_error: 0.5836742179804755}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0843055230323655, euclidean_error: 0.580347079450521}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1236894072376136, euclidean_error: 0.582030227496139}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0861932394885785, euclidean_error: 0.5787395007156978}
-    base_right_marker_pose: {angle_rotation_error: 3.140152074197074, euclidean_error: 0.5769076565491146}
-    shoulder_marker_pose: {angle_rotation_error: 3.086928561090989, euclidean_error: 0.5837940056873239}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1163845955493428, euclidean_error: 0.5799543455530412}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1230480343731215, euclidean_error: 0.5819876084313984}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0785953207251215, euclidean_error: 0.5788383445890287}
-    base_right_marker_pose: {angle_rotation_error: 3.1363536808703687, euclidean_error: 0.5770397961207284}
-    shoulder_marker_pose: {angle_rotation_error: 3.062191314213168, euclidean_error: 0.5835543052970977}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.103823649110757, euclidean_error: 0.5802716500713557}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130687287709441, euclidean_error: 0.5819249002862008}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0854974701253526, euclidean_error: 0.5787950269012401}
-    base_right_marker_pose: {angle_rotation_error: 3.134851503120959, euclidean_error: 0.5770109525684577}
-    shoulder_marker_pose: {angle_rotation_error: 3.0688361609691976, euclidean_error: 0.5835395417750966}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1245401955451353, euclidean_error: 0.5802435241751813}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1166633378968966, euclidean_error: 0.5820291301878716}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0723955768730677, euclidean_error: 0.578852619822846}
-    base_right_marker_pose: {angle_rotation_error: 3.1378051100267688, euclidean_error: 0.5770213750729244}
-    shoulder_marker_pose: {angle_rotation_error: 3.067462371173438, euclidean_error: 0.5837493019867946}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.05697161174682, euclidean_error: 0.5803169877255602}
-    wrist_top_marker_pose: {angle_rotation_error: 3.11013070547555, euclidean_error: 0.5819217381654664}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0834607543014827, euclidean_error: 0.5787491553922807}
-    base_right_marker_pose: {angle_rotation_error: 3.1376284826652046, euclidean_error: 0.5771775255754785}
-    shoulder_marker_pose: {angle_rotation_error: 3.0677874061045927, euclidean_error: 0.5836830553449109}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1213273925248486, euclidean_error: 0.5802284589336779}
-    wrist_top_marker_pose: {angle_rotation_error: 3.135226562056273, euclidean_error: 0.5818538942437703}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.074120053711474, euclidean_error: 0.5787347009780089}
-    base_right_marker_pose: {angle_rotation_error: 3.1325779241202127, euclidean_error: 0.5770644384342498}
-    shoulder_marker_pose: {angle_rotation_error: 3.0656189152755484, euclidean_error: 0.58388743565219}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.123955843236787, euclidean_error: 0.5804181406465645}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0580786625963654, euclidean_error: 0.5814327859378509}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0913275353582983, euclidean_error: 0.5787667431759375}
-    base_right_marker_pose: {angle_rotation_error: 3.137387959342028, euclidean_error: 0.5770305789151052}
-    shoulder_marker_pose: {angle_rotation_error: 3.092351622605924, euclidean_error: 0.5836298323378103}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.121224081368165, euclidean_error: 0.5802502555671415}
-    wrist_top_marker_pose: {angle_rotation_error: 3.100729162276322, euclidean_error: 0.5817973510045046}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0802655799277754, euclidean_error: 0.5787670157420794}
-    base_right_marker_pose: {angle_rotation_error: 3.134217452230982, euclidean_error: 0.5769642013079395}
-    shoulder_marker_pose: {angle_rotation_error: 3.080685728778338, euclidean_error: 0.5837058855001316}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.106877493839116, euclidean_error: 0.580394949671687}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1298335722570396, euclidean_error: 0.5813412458422256}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0797270326589268, euclidean_error: 0.5787285984835787}
-    base_right_marker_pose: {angle_rotation_error: 3.1222281753090972, euclidean_error: 0.5770397518011285}
-    shoulder_marker_pose: {angle_rotation_error: 3.0769905456317446, euclidean_error: 0.583593918722024}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.128361090374797, euclidean_error: 0.5803878616044008}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1365962596579817, euclidean_error: 0.581511244353336}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0822127500970926, euclidean_error: 0.5787566835383772}
-    base_right_marker_pose: {angle_rotation_error: 3.133202816140286, euclidean_error: 0.577237547440588}
-    shoulder_marker_pose: {angle_rotation_error: 3.073803127574064, euclidean_error: 0.5836009011750157}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1085057461646226, euclidean_error: 0.5804721482444493}
-    wrist_top_marker_pose: {angle_rotation_error: 3.11719642972074, euclidean_error: 0.5818694329207059}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0685581462751776, euclidean_error: 0.5785188531608738}
-    base_right_marker_pose: {angle_rotation_error: 3.141110240993413, euclidean_error: 0.5770294057027684}
-    shoulder_marker_pose: {angle_rotation_error: 3.0767435363177444, euclidean_error: 0.5838082796123657}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.090034539957913, euclidean_error: 0.5806597545937578}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0670231001296346, euclidean_error: 0.5816008944336245}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081682139405321, euclidean_error: 0.5788132875288694}
-    base_right_marker_pose: {angle_rotation_error: 3.137959053964053, euclidean_error: 0.5771575331565314}
-    shoulder_marker_pose: {angle_rotation_error: 3.073810599102863, euclidean_error: 0.5836223050470668}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.081593547426771, euclidean_error: 0.5803138480391816}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1313221610424207, euclidean_error: 0.5819608990076427}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0743901511433824, euclidean_error: 0.5786425720886794}
-    base_right_marker_pose: {angle_rotation_error: 3.1403796286012056, euclidean_error: 0.5770732761799954}
-    shoulder_marker_pose: {angle_rotation_error: 3.0723843581189696, euclidean_error: 0.5836292614724985}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1222316411858912, euclidean_error: 0.5803770304201847}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1232491235950643, euclidean_error: 0.5818529960110371}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.085124835493936, euclidean_error: 0.5787429190305804}
-    base_right_marker_pose: {angle_rotation_error: 3.130716576833309, euclidean_error: 0.5771869125506278}
-    shoulder_marker_pose: {angle_rotation_error: 3.0548298993894356, euclidean_error: 0.5835746872707405}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088241014181947, euclidean_error: 0.5803425007740751}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1284218624791404, euclidean_error: 0.5820439787825241}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087864373731612, euclidean_error: 0.5787098275052884}
-    base_right_marker_pose: {angle_rotation_error: 3.1382621641554533, euclidean_error: 0.5771146953412218}
-    shoulder_marker_pose: {angle_rotation_error: 3.0772176573404324, euclidean_error: 0.5837198284481632}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1342660392023234, euclidean_error: 0.5803887474436834}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1357893838382713, euclidean_error: 0.5818551976153035}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078968414378737, euclidean_error: 0.5786165510483917}
-    base_right_marker_pose: {angle_rotation_error: 3.132433848918059, euclidean_error: 0.5772821036615821}
-    shoulder_marker_pose: {angle_rotation_error: 3.0704217113291343, euclidean_error: 0.5836211268246502}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0947275275389003, euclidean_error: 0.5804631207611539}
-    wrist_top_marker_pose: {angle_rotation_error: 3.103675574997674, euclidean_error: 0.5817460763584178}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0813294642869398, euclidean_error: 0.578719333259813}
-    base_right_marker_pose: {angle_rotation_error: 3.140455206099737, euclidean_error: 0.5770128216295252}
-    shoulder_marker_pose: {angle_rotation_error: 3.0891761044933372, euclidean_error: 0.5837263665548361}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1058505628513555, euclidean_error: 0.5801841724002601}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1192178840141795, euclidean_error: 0.5815921329295004}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0654035329585607, euclidean_error: 0.5786924565317044}
-    base_right_marker_pose: {angle_rotation_error: 3.131091486851114, euclidean_error: 0.5769328341703632}
-    shoulder_marker_pose: {angle_rotation_error: 3.0889715650239773, euclidean_error: 0.5836158155514005}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1214890728110185, euclidean_error: 0.5802040604803733}
-    wrist_top_marker_pose: {angle_rotation_error: 3.117347978017734, euclidean_error: 0.5820819378892658}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080184407499376, euclidean_error: 0.5786617926752444}
-    base_right_marker_pose: {angle_rotation_error: 3.127309063856187, euclidean_error: 0.5771252196142066}
-    shoulder_marker_pose: {angle_rotation_error: 3.0821685387418474, euclidean_error: 0.5836283821167602}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.127907606702851, euclidean_error: 0.5806662990375078}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1136760276698214, euclidean_error: 0.5820034941794537}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0926398670497255, euclidean_error: 0.5787593647520695}
-    base_right_marker_pose: {angle_rotation_error: 3.136099045994723, euclidean_error: 0.5769964243244421}
-    shoulder_marker_pose: {angle_rotation_error: 3.102229426630984, euclidean_error: 0.5838426257426351}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.080120000145168, euclidean_error: 0.5803256404710369}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1240726632807507, euclidean_error: 0.5816448596172394}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090818441699418, euclidean_error: 0.5788268551784449}
-    base_right_marker_pose: {angle_rotation_error: 3.1390714095050303, euclidean_error: 0.5769942082508389}
-    shoulder_marker_pose: {angle_rotation_error: 3.050451836473121, euclidean_error: 0.5837371614089851}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1350363129162524, euclidean_error: 0.5803780406125842}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1117043318128794, euclidean_error: 0.5812768635478314}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0875531876317543, euclidean_error: 0.5786917655824291}
-    base_right_marker_pose: {angle_rotation_error: 3.136199223215072, euclidean_error: 0.5769203843930549}
-    shoulder_marker_pose: {angle_rotation_error: 3.077950279056946, euclidean_error: 0.583713823764261}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1244624143441784, euclidean_error: 0.5804283374450495}
-    wrist_top_marker_pose: {angle_rotation_error: 3.109330126550788, euclidean_error: 0.5815561679636958}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.075958278105287, euclidean_error: 0.5786081393838489}
-    base_right_marker_pose: {angle_rotation_error: 3.1282025397060376, euclidean_error: 0.5768551041267901}
-    shoulder_marker_pose: {angle_rotation_error: 3.085356148299975, euclidean_error: 0.5838717893010499}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.109604080055817, euclidean_error: 0.5801419481169366}
-    wrist_top_marker_pose: {angle_rotation_error: 3.134148762431694, euclidean_error: 0.5816310250662167}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.077668481750974, euclidean_error: 0.5786206820338874}
-    base_right_marker_pose: {angle_rotation_error: 3.139576689315022, euclidean_error: 0.5771015878341612}
-    shoulder_marker_pose: {angle_rotation_error: 3.063055263116543, euclidean_error: 0.5835556674501494}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1163773124246683, euclidean_error: 0.580151414449917}
-    wrist_top_marker_pose: {angle_rotation_error: 3.125494725044941, euclidean_error: 0.5819162346675983}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.09139922907387, euclidean_error: 0.5787387158926068}
-    base_right_marker_pose: {angle_rotation_error: 3.13709006826817, euclidean_error: 0.5771576791168991}
-    shoulder_marker_pose: {angle_rotation_error: 3.0694491502156103, euclidean_error: 0.5835795653598522}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1328590375507313, euclidean_error: 0.5801455588612647}
-    wrist_top_marker_pose: {angle_rotation_error: 3.119961370806851, euclidean_error: 0.5816778155643095}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080079789406251, euclidean_error: 0.5787415915344317}
-    base_right_marker_pose: {angle_rotation_error: 3.1332072834229483, euclidean_error: 0.5768492978886625}
-    shoulder_marker_pose: {angle_rotation_error: 3.075196725433328, euclidean_error: 0.5836425649148322}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1244731127532703, euclidean_error: 0.5801852211351262}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1066983246049262, euclidean_error: 0.5820437183738971}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0699562798377684, euclidean_error: 0.5786668249300094}
-    base_right_marker_pose: {angle_rotation_error: 3.140805984127158, euclidean_error: 0.5771759186031002}
-    shoulder_marker_pose: {angle_rotation_error: 3.1014852439516294, euclidean_error: 0.5838423184844728}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.121715673443276, euclidean_error: 0.5802219019435785}
-    wrist_top_marker_pose: {angle_rotation_error: 3.138841401375492, euclidean_error: 0.5815317637728912}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0787138477689115, euclidean_error: 0.5787962138698227}
-    base_right_marker_pose: {angle_rotation_error: 3.128295210772657, euclidean_error: 0.5771616645901805}
-    shoulder_marker_pose: {angle_rotation_error: 3.050384018440817, euclidean_error: 0.5835391170797101}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0907301178442497, euclidean_error: 0.5803588572891367}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1289863291868816, euclidean_error: 0.5822847880867947}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0736217493141553, euclidean_error: 0.5785785398973138}
-    base_right_marker_pose: {angle_rotation_error: 3.131101124858089, euclidean_error: 0.5770941119454573}
-    shoulder_marker_pose: {angle_rotation_error: 3.0742572975592743, euclidean_error: 0.5836258659553991}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0967143530208543, euclidean_error: 0.5805713373723137}
-    wrist_top_marker_pose: {angle_rotation_error: 3.084693282031652, euclidean_error: 0.5819040158619742}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0850386735489805, euclidean_error: 0.5786094821611313}
-    base_right_marker_pose: {angle_rotation_error: 3.1351128937420905, euclidean_error: 0.5770855963476782}
-    shoulder_marker_pose: {angle_rotation_error: 3.060984706143764, euclidean_error: 0.5837275973034102}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0953679626372934, euclidean_error: 0.5804484405465928}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1284066217283084, euclidean_error: 0.5821768078909667}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0819685646256363, euclidean_error: 0.5787689599670423}
-    base_right_marker_pose: {angle_rotation_error: 3.1094475682211242, euclidean_error: 0.5769535669552329}
-    shoulder_marker_pose: {angle_rotation_error: 3.077020200868107, euclidean_error: 0.5835970313077179}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1037624900316536, euclidean_error: 0.5802117942667702}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1170262442283065, euclidean_error: 0.5817343464452652}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0954410494441182, euclidean_error: 0.5789094776613506}
-    base_right_marker_pose: {angle_rotation_error: 3.123966101267795, euclidean_error: 0.5771214997662781}
-    shoulder_marker_pose: {angle_rotation_error: 3.100988383249377, euclidean_error: 0.5838010088079352}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.087436301061396, euclidean_error: 0.5801051806624167}
-    wrist_top_marker_pose: {angle_rotation_error: 3.106035550865465, euclidean_error: 0.5819107441739059}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0782185326066447, euclidean_error: 0.5787054939674194}
-    base_right_marker_pose: {angle_rotation_error: 3.1203183530282983, euclidean_error: 0.5771040524793075}
-    shoulder_marker_pose: {angle_rotation_error: 3.0658251607959084, euclidean_error: 0.5836573001895723}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1089845020656877, euclidean_error: 0.580132387641208}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1197385249827994, euclidean_error: 0.5820299443327615}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091749507359728, euclidean_error: 0.5788394777688535}
-    base_right_marker_pose: {angle_rotation_error: 3.136516572660068, euclidean_error: 0.5769379253515582}
-    shoulder_marker_pose: {angle_rotation_error: 3.0813398939485177, euclidean_error: 0.5837065756549937}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.112295017601577, euclidean_error: 0.5801603471532903}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1384833124337415, euclidean_error: 0.5817543235198539}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087341343219096, euclidean_error: 0.5786395887338335}
-    base_right_marker_pose: {angle_rotation_error: 3.135349400344118, euclidean_error: 0.577115874876788}
-    shoulder_marker_pose: {angle_rotation_error: 3.0842295297729323, euclidean_error: 0.5837654377956877}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0825720796680973, euclidean_error: 0.5804723703684828}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1214706138238895, euclidean_error: 0.582152167816361}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086974321904676, euclidean_error: 0.5787328999841049}
-    base_right_marker_pose: {angle_rotation_error: 3.125709396352309, euclidean_error: 0.5769973099524461}
-    shoulder_marker_pose: {angle_rotation_error: 3.0772469372436544, euclidean_error: 0.583766519435827}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.088456980866888, euclidean_error: 0.5802198929565298}
-    wrist_top_marker_pose: {angle_rotation_error: 3.106318302886287, euclidean_error: 0.5813445015714627}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0760879906108034, euclidean_error: 0.5786040009623692}
-    base_right_marker_pose: {angle_rotation_error: 3.1212095281876704, euclidean_error: 0.5769736609401283}
-    shoulder_marker_pose: {angle_rotation_error: 3.08132259152774, euclidean_error: 0.5838977814315041}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.097024618689305, euclidean_error: 0.5802503906040253}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1356742043863868, euclidean_error: 0.5821706904352013}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0808634339511887, euclidean_error: 0.5787879976462329}
-    base_right_marker_pose: {angle_rotation_error: 3.141516501756945, euclidean_error: 0.5770223743485972}
-    shoulder_marker_pose: {angle_rotation_error: 3.082100150128262, euclidean_error: 0.5835605867695133}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1352036247552952, euclidean_error: 0.580152435478729}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1000492789629934, euclidean_error: 0.5818454245521417}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0816911907802838, euclidean_error: 0.5786767242430869}
-    base_right_marker_pose: {angle_rotation_error: 3.1346790682769763, euclidean_error: 0.5770718191369184}
-    shoulder_marker_pose: {angle_rotation_error: 3.080228142056149, euclidean_error: 0.5835144318204603}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1026393191789885, euclidean_error: 0.5805156716198262}
-    wrist_top_marker_pose: {angle_rotation_error: 3.119783372098216, euclidean_error: 0.5814465563328496}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0860767478781335, euclidean_error: 0.5786741142911911}
-    base_right_marker_pose: {angle_rotation_error: 3.1360789995552327, euclidean_error: 0.5771579999783569}
-    shoulder_marker_pose: {angle_rotation_error: 3.0600309898930957, euclidean_error: 0.5836305591314113}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0919371062798002, euclidean_error: 0.5800603423949227}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1174021642393996, euclidean_error: 0.5819574540509109}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0795394820486175, euclidean_error: 0.5787051178987994}
-    base_right_marker_pose: {angle_rotation_error: 3.139924076469343, euclidean_error: 0.5770597676261627}
-    shoulder_marker_pose: {angle_rotation_error: 3.0739999662134094, euclidean_error: 0.5838450046808997}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.116775175436416, euclidean_error: 0.580371175672239}
-    wrist_top_marker_pose: {angle_rotation_error: 3.076558912215832, euclidean_error: 0.5817559896875367}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.087819899697617, euclidean_error: 0.578628538824576}
-    base_right_marker_pose: {angle_rotation_error: 3.141583905313619, euclidean_error: 0.5773397334089224}
-    shoulder_marker_pose: {angle_rotation_error: 3.0592699366491836, euclidean_error: 0.5837161033816977}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0924294965389376, euclidean_error: 0.5803725347493695}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1305481605082073, euclidean_error: 0.5818084358995718}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0762896795893795, euclidean_error: 0.5787849199253992}
-    base_right_marker_pose: {angle_rotation_error: 3.139568877268299, euclidean_error: 0.5770402807185017}
-    shoulder_marker_pose: {angle_rotation_error: 3.07307301171752, euclidean_error: 0.583741100107426}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0984701320605184, euclidean_error: 0.5803619646584659}
-    wrist_top_marker_pose: {angle_rotation_error: 3.138659497735909, euclidean_error: 0.5813818008109218}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08766528587997, euclidean_error: 0.5788852234541959}
-    base_right_marker_pose: {angle_rotation_error: 3.1338910856853044, euclidean_error: 0.5770736700447437}
-    shoulder_marker_pose: {angle_rotation_error: 3.0806774992582304, euclidean_error: 0.5837419631497255}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0990235485639506, euclidean_error: 0.5804200997182919}
-    wrist_top_marker_pose: {angle_rotation_error: 3.111808231120515, euclidean_error: 0.5818726060030027}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0885582837827577, euclidean_error: 0.5787426223589355}
-    base_right_marker_pose: {angle_rotation_error: 3.134746512089633, euclidean_error: 0.5773157303837492}
-    shoulder_marker_pose: {angle_rotation_error: 3.091120785129997, euclidean_error: 0.5836771034903377}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.110787460389725, euclidean_error: 0.5802695182244619}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1251241790192745, euclidean_error: 0.5819923212963813}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0759547374879523, euclidean_error: 0.5787119872672994}
-    base_right_marker_pose: {angle_rotation_error: 3.134831212209362, euclidean_error: 0.5770428920308407}
-    shoulder_marker_pose: {angle_rotation_error: 3.0727101149677885, euclidean_error: 0.5836668981494718}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1350244496487574, euclidean_error: 0.5801086960032301}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1358272517454218, euclidean_error: 0.582133566333114}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.090010461889438, euclidean_error: 0.5786774084821692}
-    base_right_marker_pose: {angle_rotation_error: 3.1375605181784496, euclidean_error: 0.5771347880187548}
-    shoulder_marker_pose: {angle_rotation_error: 3.073086877155581, euclidean_error: 0.5834300197259694}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.08409815223346, euclidean_error: 0.5803246367364256}
-    wrist_top_marker_pose: {angle_rotation_error: 3.11807759676189, euclidean_error: 0.5813917793503304}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0730346903503007, euclidean_error: 0.5785940801246389}
-    base_right_marker_pose: {angle_rotation_error: 3.138132969817357, euclidean_error: 0.576999340995412}
-    shoulder_marker_pose: {angle_rotation_error: 3.0606043045495785, euclidean_error: 0.5836356175605831}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.117086325457449, euclidean_error: 0.580194472414933}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1355873107057315, euclidean_error: 0.582197293704317}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0691409389010404, euclidean_error: 0.5786589432177048}
-    base_right_marker_pose: {angle_rotation_error: 3.135683488540159, euclidean_error: 0.5770329590293338}
-    shoulder_marker_pose: {angle_rotation_error: 3.0758645507204783, euclidean_error: 0.5835416858373149}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.102179351066627, euclidean_error: 0.58048150183797}
-    wrist_top_marker_pose: {angle_rotation_error: 3.102846432492752, euclidean_error: 0.5817378349999229}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.084593820262002, euclidean_error: 0.5787301829778029}
-    base_right_marker_pose: {angle_rotation_error: 3.139047986914105, euclidean_error: 0.5775522418555454}
-    shoulder_marker_pose: {angle_rotation_error: 3.0609047857764513, euclidean_error: 0.5837297940022123}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1041641340581205, euclidean_error: 0.5803720909569756}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1148698112327584, euclidean_error: 0.5820183671957783}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.071003005342351, euclidean_error: 0.5786533185371042}
-    base_right_marker_pose: {angle_rotation_error: 3.138254669164616, euclidean_error: 0.5771473041153791}
-    shoulder_marker_pose: {angle_rotation_error: 3.0740350289458327, euclidean_error: 0.5835604509867265}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0950554810855833, euclidean_error: 0.5803460944089202}
-    wrist_top_marker_pose: {angle_rotation_error: 3.128771228724959, euclidean_error: 0.5821559038228444}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088857286017027, euclidean_error: 0.5787545976427911}
-    base_right_marker_pose: {angle_rotation_error: 3.141472730212758, euclidean_error: 0.5772852244250245}
-    shoulder_marker_pose: {angle_rotation_error: 3.091505089554207, euclidean_error: 0.583712116999153}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.116927604226745, euclidean_error: 0.5800350343350137}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1041352627064844, euclidean_error: 0.5820235803347823}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0761651832688894, euclidean_error: 0.5786041922697033}
-    base_right_marker_pose: {angle_rotation_error: 3.130769245160243, euclidean_error: 0.5772327255669859}
-    shoulder_marker_pose: {angle_rotation_error: 3.073204624147173, euclidean_error: 0.5836199982827502}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.121095013219513, euclidean_error: 0.5800590412650233}
-    wrist_top_marker_pose: {angle_rotation_error: 3.126485592014499, euclidean_error: 0.5819789113122588}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0713147398583565, euclidean_error: 0.5788161999383974}
-    base_right_marker_pose: {angle_rotation_error: 3.138682019603267, euclidean_error: 0.576905869857154}
-    shoulder_marker_pose: {angle_rotation_error: 3.0503880440354263, euclidean_error: 0.5836630870125068}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.116151303621231, euclidean_error: 0.5799312169127604}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0958025335097727, euclidean_error: 0.5812744471601231}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078376893112738, euclidean_error: 0.5788278155708327}
-    base_right_marker_pose: {angle_rotation_error: 3.1352710512022046, euclidean_error: 0.577127280272675}
-    shoulder_marker_pose: {angle_rotation_error: 3.0621011195960284, euclidean_error: 0.5838483428857101}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1140791451580285, euclidean_error: 0.5802864971608106}
-    wrist_top_marker_pose: {angle_rotation_error: 3.122246349727487, euclidean_error: 0.5818603774735406}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0758173096771433, euclidean_error: 0.5786789342383375}
-    base_right_marker_pose: {angle_rotation_error: 3.1335908177619163, euclidean_error: 0.5768753009975632}
-    shoulder_marker_pose: {angle_rotation_error: 3.070049678498615, euclidean_error: 0.5836078299574387}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0713299258303564, euclidean_error: 0.5803642794507534}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1136581675886825, euclidean_error: 0.5817787957865267}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0836941535290694, euclidean_error: 0.5788242775029717}
-    base_right_marker_pose: {angle_rotation_error: 3.1367712466254947, euclidean_error: 0.5770990091543101}
-    shoulder_marker_pose: {angle_rotation_error: 3.0724085362673623, euclidean_error: 0.5835636577869628}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1005953096110255, euclidean_error: 0.5805430666720744}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130028449202197, euclidean_error: 0.5819660709299812}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081273548644591, euclidean_error: 0.5788838632555142}
-    base_right_marker_pose: {angle_rotation_error: 3.1234035142550227, euclidean_error: 0.5772149283895774}
-    shoulder_marker_pose: {angle_rotation_error: 3.068371113808222, euclidean_error: 0.5837841283945978}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0889434880884314, euclidean_error: 0.5801670436838008}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1208132516753264, euclidean_error: 0.5817527966967782}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0681795913350447, euclidean_error: 0.5786475675155756}
-    base_right_marker_pose: {angle_rotation_error: 3.130721301431294, euclidean_error: 0.5771258118824363}
-    shoulder_marker_pose: {angle_rotation_error: 3.057100141977248, euclidean_error: 0.5836553351125574}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.083172649569595, euclidean_error: 0.5804264017713149}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1014996804362274, euclidean_error: 0.5818385048566981}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0799010342248705, euclidean_error: 0.5790332362367818}
-    base_right_marker_pose: {angle_rotation_error: 3.1234578676517857, euclidean_error: 0.5769744017888591}
-    shoulder_marker_pose: {angle_rotation_error: 3.061712674635071, euclidean_error: 0.5837342377753807}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1108142151973994, euclidean_error: 0.5803086755518299}
-    wrist_top_marker_pose: {angle_rotation_error: 3.122487424050322, euclidean_error: 0.5817757048793445}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0768860160049685, euclidean_error: 0.578644612254337}
-    base_right_marker_pose: {angle_rotation_error: 3.1370892222704696, euclidean_error: 0.5770098582619795}
-    shoulder_marker_pose: {angle_rotation_error: 3.0822457899802598, euclidean_error: 0.5837764275291798}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0864056412588763, euclidean_error: 0.5804753298554518}
-    wrist_top_marker_pose: {angle_rotation_error: 3.127648163071618, euclidean_error: 0.5822379251854268}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0789364517557205, euclidean_error: 0.5786977095909213}
-    base_right_marker_pose: {angle_rotation_error: 3.1238181475646365, euclidean_error: 0.5772175528134539}
-    shoulder_marker_pose: {angle_rotation_error: 3.0579005165791147, euclidean_error: 0.5837295730984389}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1220151332151955, euclidean_error: 0.5800626298446888}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1169348273158715, euclidean_error: 0.58209606798715}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.076434355368967, euclidean_error: 0.5790071770315129}
-    base_right_marker_pose: {angle_rotation_error: 3.1273721224361304, euclidean_error: 0.5770652525769229}
-    shoulder_marker_pose: {angle_rotation_error: 3.075564312931579, euclidean_error: 0.5838341623475803}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1393102731592455, euclidean_error: 0.5799128403681207}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1141189334713495, euclidean_error: 0.5821261206854708}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0788657780984052, euclidean_error: 0.5789377856486883}
-    base_right_marker_pose: {angle_rotation_error: 3.139071081314284, euclidean_error: 0.5771633641054862}
-    shoulder_marker_pose: {angle_rotation_error: 3.0660545544707625, euclidean_error: 0.5838418784083523}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.093983301088018, euclidean_error: 0.5804181993846249}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1085634207164965, euclidean_error: 0.5823555602161664}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0795068084096626, euclidean_error: 0.5788106435290953}
-    base_right_marker_pose: {angle_rotation_error: 3.134655977866655, euclidean_error: 0.5770239232918146}
-    shoulder_marker_pose: {angle_rotation_error: 3.092647584146073, euclidean_error: 0.5838269325335101}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0865127984579077, euclidean_error: 0.5802319026562066}
-    wrist_top_marker_pose: {angle_rotation_error: 3.121380603350909, euclidean_error: 0.5820838749786996}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0634693288396777, euclidean_error: 0.5785565035334713}
-    base_right_marker_pose: {angle_rotation_error: 3.1363931511830745, euclidean_error: 0.5773355766414616}
-    shoulder_marker_pose: {angle_rotation_error: 3.0731408374151554, euclidean_error: 0.5836334071191772}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.101233196011789, euclidean_error: 0.5803556011159471}
-    wrist_top_marker_pose: {angle_rotation_error: 3.133529940225745, euclidean_error: 0.5822569249616056}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.070206037714767, euclidean_error: 0.5786775565753638}
-    base_right_marker_pose: {angle_rotation_error: 3.1211384754770437, euclidean_error: 0.5767896817208139}
-    shoulder_marker_pose: {angle_rotation_error: 3.0825822892058112, euclidean_error: 0.5837227619575175}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1060637157569593, euclidean_error: 0.580300972420364}
-    wrist_top_marker_pose: {angle_rotation_error: 3.090697870213129, euclidean_error: 0.5818096290132098}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0889278522682733, euclidean_error: 0.5787983034018169}
-    base_right_marker_pose: {angle_rotation_error: 3.1319194837011777, euclidean_error: 0.5769123004520913}
-    shoulder_marker_pose: {angle_rotation_error: 3.088824930089446, euclidean_error: 0.5835435394373736}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.112056061662942, euclidean_error: 0.5801337208391019}
-    wrist_top_marker_pose: {angle_rotation_error: 3.141004395354174, euclidean_error: 0.5819055176569271}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.072864979250788, euclidean_error: 0.578619718700254}
-    base_right_marker_pose: {angle_rotation_error: 3.1330599823671688, euclidean_error: 0.5771053890294516}
-    shoulder_marker_pose: {angle_rotation_error: 3.0692135340731763, euclidean_error: 0.5837515086299887}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1297575371366393, euclidean_error: 0.5801425921548262}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0979894203275515, euclidean_error: 0.5819658451934723}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0741907182868786, euclidean_error: 0.5786627933958778}
-    base_right_marker_pose: {angle_rotation_error: 3.134930770063428, euclidean_error: 0.5770334670873177}
-    shoulder_marker_pose: {angle_rotation_error: 3.0806542736004694, euclidean_error: 0.5838100453643114}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0764174526713317, euclidean_error: 0.5802815494700242}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1163445671836345, euclidean_error: 0.5820950206649129}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0798299158171907, euclidean_error: 0.578740534356221}
-    base_right_marker_pose: {angle_rotation_error: 3.1340060563364074, euclidean_error: 0.5769292380148298}
-    shoulder_marker_pose: {angle_rotation_error: 3.084872408392644, euclidean_error: 0.5835785356123275}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.122746579731935, euclidean_error: 0.580420198912264}
-    wrist_top_marker_pose: {angle_rotation_error: 3.140420184592743, euclidean_error: 0.5820527066013168}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0823918001675894, euclidean_error: 0.5786590383829759}
-    base_right_marker_pose: {angle_rotation_error: 3.141018799354691, euclidean_error: 0.5770934238110014}
-    shoulder_marker_pose: {angle_rotation_error: 3.069460492356518, euclidean_error: 0.5836252225502191}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1174112322877456, euclidean_error: 0.5802964551133662}
-    wrist_top_marker_pose: {angle_rotation_error: 3.119341424253284, euclidean_error: 0.5817438849382565}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080368001715103, euclidean_error: 0.5787935361656201}
-    base_right_marker_pose: {angle_rotation_error: 3.1328799423396623, euclidean_error: 0.5770393277742012}
-    shoulder_marker_pose: {angle_rotation_error: 3.0738958110214307, euclidean_error: 0.583589509188679}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.120530474811877, euclidean_error: 0.5802993812271265}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1096717256560042, euclidean_error: 0.5820474057552654}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0863088746616962, euclidean_error: 0.578822092907797}
-    base_right_marker_pose: {angle_rotation_error: 3.1340539010977766, euclidean_error: 0.5769955610908007}
-    shoulder_marker_pose: {angle_rotation_error: 3.073184396068238, euclidean_error: 0.5836257968838707}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1243825053145207, euclidean_error: 0.5803155477331634}
-    wrist_top_marker_pose: {angle_rotation_error: 3.109549051039148, euclidean_error: 0.5821581360525924}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0794998283965325, euclidean_error: 0.5787168574538294}
-    base_right_marker_pose: {angle_rotation_error: 3.136938915678483, euclidean_error: 0.5771485374240215}
-    shoulder_marker_pose: {angle_rotation_error: 3.078352033718764, euclidean_error: 0.5836507073475627}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1396982826062767, euclidean_error: 0.5800329790106942}
-    wrist_top_marker_pose: {angle_rotation_error: 3.117205657391917, euclidean_error: 0.5819321809448745}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.066792979239489, euclidean_error: 0.5788339335232523}
-    base_right_marker_pose: {angle_rotation_error: 3.127140293393002, euclidean_error: 0.5772505849393593}
-    shoulder_marker_pose: {angle_rotation_error: 3.0656493984931914, euclidean_error: 0.5836029277472177}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0806552182542046, euclidean_error: 0.5801462497212448}
-    wrist_top_marker_pose: {angle_rotation_error: 3.109697301576287, euclidean_error: 0.5818693058142065}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0754868984355475, euclidean_error: 0.5786048075978515}
-    base_right_marker_pose: {angle_rotation_error: 3.125686280961173, euclidean_error: 0.5768737827442902}
-    shoulder_marker_pose: {angle_rotation_error: 3.0824584384725, euclidean_error: 0.5838103318070413}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.109923865646786, euclidean_error: 0.5801851970022088}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1395432211556757, euclidean_error: 0.582152173966344}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0835245703856566, euclidean_error: 0.5786530797416705}
-    base_right_marker_pose: {angle_rotation_error: 3.138831997551011, euclidean_error: 0.5772920632300761}
-    shoulder_marker_pose: {angle_rotation_error: 3.074776290335607, euclidean_error: 0.5836209241828546}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.135736561371049, euclidean_error: 0.5804420141833443}
-    wrist_top_marker_pose: {angle_rotation_error: 3.086568298142542, euclidean_error: 0.5820048110658449}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1015690102886353, euclidean_error: 0.5788297362171365}
-    base_right_marker_pose: {angle_rotation_error: 3.140208076373378, euclidean_error: 0.577141195961654}
-    shoulder_marker_pose: {angle_rotation_error: 3.0769550072101874, euclidean_error: 0.5834386828900063}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.11008857914968, euclidean_error: 0.580620925373019}
-    wrist_top_marker_pose: {angle_rotation_error: 3.109460716768076, euclidean_error: 0.5821782576680623}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0749775958115784, euclidean_error: 0.5787096789204212}
-    base_right_marker_pose: {angle_rotation_error: 3.13154218823272, euclidean_error: 0.5770284400362676}
-    shoulder_marker_pose: {angle_rotation_error: 3.092820748744093, euclidean_error: 0.5837209125994194}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0965401447119523, euclidean_error: 0.5803096072392094}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1295783335870397, euclidean_error: 0.5818983889825421}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0780667561652457, euclidean_error: 0.5786083299024166}
-    base_right_marker_pose: {angle_rotation_error: 3.123921724565539, euclidean_error: 0.5772776785688504}
-    shoulder_marker_pose: {angle_rotation_error: 3.0793256861250686, euclidean_error: 0.5836918619074234}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1100708727226887, euclidean_error: 0.5802457435175011}
-    wrist_top_marker_pose: {angle_rotation_error: 3.090356830294503, euclidean_error: 0.5822235887647208}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0891112374663257, euclidean_error: 0.5786944319406735}
-    base_right_marker_pose: {angle_rotation_error: 3.121461133722406, euclidean_error: 0.5770716155888117}
-    shoulder_marker_pose: {angle_rotation_error: 3.06482071189811, euclidean_error: 0.5835290558590142}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1291552762484156, euclidean_error: 0.580473868919572}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1360750193646565, euclidean_error: 0.5821507512773824}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.072442034001894, euclidean_error: 0.578697319991949}
-    base_right_marker_pose: {angle_rotation_error: 3.1278070877628608, euclidean_error: 0.5770449345718393}
-    shoulder_marker_pose: {angle_rotation_error: 3.101669456942881, euclidean_error: 0.5837266969970919}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1157544927021585, euclidean_error: 0.5802546813623135}
-    wrist_top_marker_pose: {angle_rotation_error: 3.130992790568543, euclidean_error: 0.5822145574212805}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0678654553351774, euclidean_error: 0.5784818221045257}
-    base_right_marker_pose: {angle_rotation_error: 3.129355008585941, euclidean_error: 0.5771349391059294}
-    shoulder_marker_pose: {angle_rotation_error: 3.0913417232072367, euclidean_error: 0.583785883543187}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.136313297089608, euclidean_error: 0.5799189913381375}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1300206879005894, euclidean_error: 0.5823374859258921}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078124694319322, euclidean_error: 0.5786382711081843}
-    base_right_marker_pose: {angle_rotation_error: 3.1369146153352343, euclidean_error: 0.5773490172678911}
-    shoulder_marker_pose: {angle_rotation_error: 3.0879202319560415, euclidean_error: 0.5838168504953286}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1001180653900864, euclidean_error: 0.5802852234588147}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0942939210659715, euclidean_error: 0.5820291834234974}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.070343776166672, euclidean_error: 0.5787244242775491}
-    base_right_marker_pose: {angle_rotation_error: 3.130615832336931, euclidean_error: 0.5771324631795514}
-    shoulder_marker_pose: {angle_rotation_error: 3.0608730466284584, euclidean_error: 0.5835311933219395}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.119219396413756, euclidean_error: 0.5799757769682966}
-    wrist_top_marker_pose: {angle_rotation_error: 3.115496312575189, euclidean_error: 0.5821541531402576}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0992137338867667, euclidean_error: 0.5786288884842928}
-    base_right_marker_pose: {angle_rotation_error: 3.1237382441906547, euclidean_error: 0.5772606461149901}
-    shoulder_marker_pose: {angle_rotation_error: 3.0821840611236686, euclidean_error: 0.5837755383982242}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1411884115602318, euclidean_error: 0.5802947955162175}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1362848431872856, euclidean_error: 0.5819905155653916}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0773644845287036, euclidean_error: 0.5787082045590334}
-    base_right_marker_pose: {angle_rotation_error: 3.1278932992123663, euclidean_error: 0.5770271124217088}
-    shoulder_marker_pose: {angle_rotation_error: 3.0749023563855435, euclidean_error: 0.5836712077094667}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.086874227680471, euclidean_error: 0.5803359533065646}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1312590323476215, euclidean_error: 0.5819783403893348}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0845792361317135, euclidean_error: 0.5785813228806803}
-    base_right_marker_pose: {angle_rotation_error: 3.127733759139194, euclidean_error: 0.5772767610601993}
-    shoulder_marker_pose: {angle_rotation_error: 3.0844599069189464, euclidean_error: 0.583591279019735}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.132557466566806, euclidean_error: 0.5804127393543906}
-    wrist_top_marker_pose: {angle_rotation_error: 3.122110863514091, euclidean_error: 0.5821731505943727}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0749849190586533, euclidean_error: 0.5786803378971851}
-    base_right_marker_pose: {angle_rotation_error: 3.1268975775806154, euclidean_error: 0.577000835483741}
-    shoulder_marker_pose: {angle_rotation_error: 3.0796707741865603, euclidean_error: 0.5836918104747886}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1193439845681095, euclidean_error: 0.5799609946166623}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1367344805142414, euclidean_error: 0.5823110141566958}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08303103355396, euclidean_error: 0.5786039452948128}
-    base_right_marker_pose: {angle_rotation_error: 3.139597541347211, euclidean_error: 0.5770929944156157}
-    shoulder_marker_pose: {angle_rotation_error: 3.06968395667542, euclidean_error: 0.5836900340511334}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1280791257384295, euclidean_error: 0.5799111480604963}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1081534155006927, euclidean_error: 0.5819950553926542}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078395914126669, euclidean_error: 0.5787640569371432}
-    base_right_marker_pose: {angle_rotation_error: 3.1306503668741255, euclidean_error: 0.5770139624343853}
-    shoulder_marker_pose: {angle_rotation_error: 3.1000875269091632, euclidean_error: 0.5838143576841726}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1347803918401196, euclidean_error: 0.5804754744359534}
-    wrist_top_marker_pose: {angle_rotation_error: 3.109309933426239, euclidean_error: 0.5816952275114373}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0872109070214266, euclidean_error: 0.5785939347171933}
-    base_right_marker_pose: {angle_rotation_error: 3.1360108131275766, euclidean_error: 0.577197149905593}
-    shoulder_marker_pose: {angle_rotation_error: 3.0728826623064154, euclidean_error: 0.5835030269001348}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.12779210595314, euclidean_error: 0.5801388376693567}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1280793819424892, euclidean_error: 0.5822155528738396}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0612895359329526, euclidean_error: 0.5785996030329885}
-    base_right_marker_pose: {angle_rotation_error: 3.1267749111807706, euclidean_error: 0.5773708042752416}
-    shoulder_marker_pose: {angle_rotation_error: 3.0859923229494814, euclidean_error: 0.5836938850800313}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1202985456383607, euclidean_error: 0.5802569411013728}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1092938349272106, euclidean_error: 0.5819408634334012}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0764606774234196, euclidean_error: 0.5784435240049021}
-    base_right_marker_pose: {angle_rotation_error: 3.1384087073827387, euclidean_error: 0.5771051917032745}
-    shoulder_marker_pose: {angle_rotation_error: 3.0808323717389348, euclidean_error: 0.58370395010137}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.113022086061237, euclidean_error: 0.5803522259069879}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1141878213785574, euclidean_error: 0.5821869411817985}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0876024603175525, euclidean_error: 0.5788088652947205}
-    base_right_marker_pose: {angle_rotation_error: 3.1228223005152795, euclidean_error: 0.5773461526511183}
-    shoulder_marker_pose: {angle_rotation_error: 3.08571005966614, euclidean_error: 0.5836326420275759}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.096068731351088, euclidean_error: 0.5802535477945858}
-    wrist_top_marker_pose: {angle_rotation_error: 3.106643728073461, euclidean_error: 0.5819116664587796}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0983350982459963, euclidean_error: 0.5788360891463377}
-    base_right_marker_pose: {angle_rotation_error: 3.1282504795294943, euclidean_error: 0.5772178315972581}
-    shoulder_marker_pose: {angle_rotation_error: 3.0564163138501517, euclidean_error: 0.5835950387904746}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1129896184273136, euclidean_error: 0.5799863477149592}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1319298368247575, euclidean_error: 0.5821080497760679}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091858176679961, euclidean_error: 0.5786991890214496}
-    base_right_marker_pose: {angle_rotation_error: 3.134983252366156, euclidean_error: 0.5772515730492576}
-    shoulder_marker_pose: {angle_rotation_error: 3.067120542096411, euclidean_error: 0.5835880995927378}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1249958090068595, euclidean_error: 0.5801286599295371}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1263254431458227, euclidean_error: 0.5821980632979111}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.082787956966588, euclidean_error: 0.5787133318811694}
-    base_right_marker_pose: {angle_rotation_error: 3.131428170866737, euclidean_error: 0.5769841090782808}
-    shoulder_marker_pose: {angle_rotation_error: 3.099237020902881, euclidean_error: 0.5836778633256413}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1394748583923033, euclidean_error: 0.5801142091495951}
-    wrist_top_marker_pose: {angle_rotation_error: 3.123185320201094, euclidean_error: 0.5819739057557275}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080259384081554, euclidean_error: 0.5786854647577979}
-    base_right_marker_pose: {angle_rotation_error: 3.12120761465566, euclidean_error: 0.5769814621928696}
-    shoulder_marker_pose: {angle_rotation_error: 3.080228997879852, euclidean_error: 0.5835909901095894}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1387987243394355, euclidean_error: 0.5800702774160325}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1326832218474503, euclidean_error: 0.5822216042294144}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0762502811797168, euclidean_error: 0.5787721390204407}
-    base_right_marker_pose: {angle_rotation_error: 3.1346935129036972, euclidean_error: 0.5771134817418765}
-    shoulder_marker_pose: {angle_rotation_error: 3.088049313059179, euclidean_error: 0.5836479546898901}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1275450953198876, euclidean_error: 0.5802896073884953}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0992692794100036, euclidean_error: 0.5820470108325734}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.091607481582006, euclidean_error: 0.5787015767664583}
-    base_right_marker_pose: {angle_rotation_error: 3.1291395678441702, euclidean_error: 0.5771270746684978}
-    shoulder_marker_pose: {angle_rotation_error: 3.086262482545374, euclidean_error: 0.5836531790567921}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1214337715713163, euclidean_error: 0.5800484439821816}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1269597902174286, euclidean_error: 0.5819668060887172}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08061081211979, euclidean_error: 0.578841652381045}
-    base_right_marker_pose: {angle_rotation_error: 3.131383392573843, euclidean_error: 0.5771330810338797}
-    shoulder_marker_pose: {angle_rotation_error: 3.076075300670275, euclidean_error: 0.5836360123382344}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.136162321758934, euclidean_error: 0.5802040771950209}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1331453789056862, euclidean_error: 0.5822412614315731}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0748429595939553, euclidean_error: 0.5787728077621531}
-    base_right_marker_pose: {angle_rotation_error: 3.1415351419563424, euclidean_error: 0.577235445800151}
-    shoulder_marker_pose: {angle_rotation_error: 3.0904644275027082, euclidean_error: 0.5836909019973789}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.134116750674979, euclidean_error: 0.5800829554826966}
-    wrist_top_marker_pose: {angle_rotation_error: 3.116831407520117, euclidean_error: 0.5818255217062757}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088590606476272, euclidean_error: 0.578691452690685}
-    base_right_marker_pose: {angle_rotation_error: 3.1380887078053314, euclidean_error: 0.5769287845176617}
-    shoulder_marker_pose: {angle_rotation_error: 3.0763375011134246, euclidean_error: 0.583752792811858}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.102175292986046, euclidean_error: 0.5799862109574478}
-    wrist_top_marker_pose: {angle_rotation_error: 3.118377227050183, euclidean_error: 0.5821853861844385}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08212905892059, euclidean_error: 0.5787409866705603}
-    base_right_marker_pose: {angle_rotation_error: 3.1293220460089755, euclidean_error: 0.577294347520358}
-    shoulder_marker_pose: {angle_rotation_error: 3.0698230307365786, euclidean_error: 0.5835846199808031}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.098220589133479, euclidean_error: 0.5802112283280701}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1335048760001696, euclidean_error: 0.5821707508746924}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0870275158702705, euclidean_error: 0.5786701249224059}
-    base_right_marker_pose: {angle_rotation_error: 3.1349438494915427, euclidean_error: 0.5770793203887771}
-    shoulder_marker_pose: {angle_rotation_error: 3.066840225139875, euclidean_error: 0.5837369202423894}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.122611521572828, euclidean_error: 0.5800132733417516}
-    wrist_top_marker_pose: {angle_rotation_error: 3.115983631779596, euclidean_error: 0.5821696974344471}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.093892907884936, euclidean_error: 0.5788402677054849}
-    base_right_marker_pose: {angle_rotation_error: 3.1250780223368673, euclidean_error: 0.5771949456623137}
-    shoulder_marker_pose: {angle_rotation_error: 3.0721769312038187, euclidean_error: 0.5834856497940851}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1291971871481827, euclidean_error: 0.5805345208938982}
-    wrist_top_marker_pose: {angle_rotation_error: 3.12211698913792, euclidean_error: 0.5819556338511033}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.085814890670403, euclidean_error: 0.5787985090178309}
-    base_right_marker_pose: {angle_rotation_error: 3.141530327821539, euclidean_error: 0.57713051124588}
-    shoulder_marker_pose: {angle_rotation_error: 3.0721823085844355, euclidean_error: 0.5837766233735151}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1218826477580395, euclidean_error: 0.5801440745157098}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1114991093441806, euclidean_error: 0.5820308432100045}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0935307183501775, euclidean_error: 0.5784379252957841}
-    base_right_marker_pose: {angle_rotation_error: 3.1193045070427474, euclidean_error: 0.5770729836883706}
-    shoulder_marker_pose: {angle_rotation_error: 3.0838418098875278, euclidean_error: 0.5836975973737955}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1173307769495784, euclidean_error: 0.5803783771073219}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0915803070685692, euclidean_error: 0.5819149370627079}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081725435110716, euclidean_error: 0.578564134219947}
-    base_right_marker_pose: {angle_rotation_error: 3.129807707299174, euclidean_error: 0.5769725033788454}
-    shoulder_marker_pose: {angle_rotation_error: 3.0775012587918313, euclidean_error: 0.5835797568638612}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1300139022866578, euclidean_error: 0.5804841202848827}
-    wrist_top_marker_pose: {angle_rotation_error: 3.124332671160403, euclidean_error: 0.5822484874174249}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0860786123275963, euclidean_error: 0.5788841523280868}
-    base_right_marker_pose: {angle_rotation_error: 3.126811590299595, euclidean_error: 0.5771687764601978}
-    shoulder_marker_pose: {angle_rotation_error: 3.0765996001826794, euclidean_error: 0.5838154199212992}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1325507187300077, euclidean_error: 0.5801920906246363}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1317499356719045, euclidean_error: 0.582011237073664}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.098910868245065, euclidean_error: 0.5785673954107565}
-    base_right_marker_pose: {angle_rotation_error: 3.1203690377297164, euclidean_error: 0.5772012378491438}
-    shoulder_marker_pose: {angle_rotation_error: 3.0721917753952956, euclidean_error: 0.5834434958559747}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1060120531155957, euclidean_error: 0.5800691979462244}
-    wrist_top_marker_pose: {angle_rotation_error: 3.129199930229439, euclidean_error: 0.5821919606959512}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0875767143396646, euclidean_error: 0.578778604911075}
-    base_right_marker_pose: {angle_rotation_error: 3.130511714040128, euclidean_error: 0.5771358134177483}
-    shoulder_marker_pose: {angle_rotation_error: 3.0617562094805355, euclidean_error: 0.5835141487248957}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.139657433655348, euclidean_error: 0.5801351805502419}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1401566426455014, euclidean_error: 0.5820813206687715}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0862141223944763, euclidean_error: 0.5786511497011877}
-    base_right_marker_pose: {angle_rotation_error: 3.121717574959874, euclidean_error: 0.5771384844844818}
-    shoulder_marker_pose: {angle_rotation_error: 3.071901207951503, euclidean_error: 0.58352740342904}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.110655309784185, euclidean_error: 0.5799876669671422}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0933457009203975, euclidean_error: 0.5819779826418424}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.079973740018969, euclidean_error: 0.5786697980105255}
-    base_right_marker_pose: {angle_rotation_error: 3.1351491640792486, euclidean_error: 0.5770725954567123}
-    shoulder_marker_pose: {angle_rotation_error: 3.0869889355995994, euclidean_error: 0.583627191529801}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.128851479251316, euclidean_error: 0.5802267125549873}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1350279824891265, euclidean_error: 0.5820425984530305}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.083983626729152, euclidean_error: 0.5787900065300784}
-    base_right_marker_pose: {angle_rotation_error: 3.134836236674128, euclidean_error: 0.577222181885497}
-    shoulder_marker_pose: {angle_rotation_error: 3.0714464437229854, euclidean_error: 0.5835746711143381}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1351485612457823, euclidean_error: 0.5802412987133555}
-    wrist_top_marker_pose: {angle_rotation_error: 3.107865915610112, euclidean_error: 0.5820298452498902}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0722486994490548, euclidean_error: 0.578712240031858}
-    base_right_marker_pose: {angle_rotation_error: 3.133039280648004, euclidean_error: 0.5770801447127326}
-    shoulder_marker_pose: {angle_rotation_error: 3.0703068449886968, euclidean_error: 0.5834796660560146}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.140744478996682, euclidean_error: 0.5801021619304856}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1186779831978866, euclidean_error: 0.5818882113674726}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0811735722939435, euclidean_error: 0.5786098878931036}
-    base_right_marker_pose: {angle_rotation_error: 3.139921633658248, euclidean_error: 0.577172777998429}
-    shoulder_marker_pose: {angle_rotation_error: 3.086430071175621, euclidean_error: 0.5836396364660787}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.141105566562672, euclidean_error: 0.5799740544371165}
-    wrist_top_marker_pose: {angle_rotation_error: 3.114130609259911, euclidean_error: 0.5822858706947579}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0770126920138554, euclidean_error: 0.5786736757670473}
-    base_right_marker_pose: {angle_rotation_error: 3.137250525194477, euclidean_error: 0.5771396622054109}
-    shoulder_marker_pose: {angle_rotation_error: 3.0949430023900653, euclidean_error: 0.5837773815244469}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1120890199471454, euclidean_error: 0.5802420224061681}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1078557365512287, euclidean_error: 0.5822680383198247}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0742178429420366, euclidean_error: 0.5786809531384578}
-    base_right_marker_pose: {angle_rotation_error: 3.1372456477012847, euclidean_error: 0.5771921253749598}
-    shoulder_marker_pose: {angle_rotation_error: 3.1003272706400744, euclidean_error: 0.583656461071624}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1178033604751336, euclidean_error: 0.5803104825492035}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1394239659160643, euclidean_error: 0.5823216499539134}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.096798910723184, euclidean_error: 0.578679847357831}
-    base_right_marker_pose: {angle_rotation_error: 3.1176784133061153, euclidean_error: 0.5774045535101977}
-    shoulder_marker_pose: {angle_rotation_error: 3.0821024665225867, euclidean_error: 0.5835890879317259}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0896556247527585, euclidean_error: 0.580430987848208}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0746407831825433, euclidean_error: 0.5817484061973787}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0743358410717945, euclidean_error: 0.578809210930398}
-    base_right_marker_pose: {angle_rotation_error: 3.11179050250589, euclidean_error: 0.5771473424479077}
-    shoulder_marker_pose: {angle_rotation_error: 3.0847973962901176, euclidean_error: 0.5836030805401664}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0870717697295254, euclidean_error: 0.5799869966435917}
-    wrist_top_marker_pose: {angle_rotation_error: 3.135388888540176, euclidean_error: 0.5823588410700106}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0753470935950333, euclidean_error: 0.5786334753374888}
-    base_right_marker_pose: {angle_rotation_error: 3.125907912894801, euclidean_error: 0.5773208184454399}
-    shoulder_marker_pose: {angle_rotation_error: 3.069304604752657, euclidean_error: 0.5836257428731535}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.134337484889892, euclidean_error: 0.5804619074888557}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1214976990946695, euclidean_error: 0.5824184485477679}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0722628887048784, euclidean_error: 0.5786313777617905}
-    base_right_marker_pose: {angle_rotation_error: 3.1382403482501844, euclidean_error: 0.577218254106458}
-    shoulder_marker_pose: {angle_rotation_error: 3.0694777570457283, euclidean_error: 0.5835416471358805}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.124795478170704, euclidean_error: 0.5801152182000634}
-    wrist_top_marker_pose: {angle_rotation_error: 3.123984597580135, euclidean_error: 0.5823739868729454}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0677103656280496, euclidean_error: 0.5786347865118293}
-    base_right_marker_pose: {angle_rotation_error: 3.1367333732275102, euclidean_error: 0.5771406909055966}
-    shoulder_marker_pose: {angle_rotation_error: 3.085774899279564, euclidean_error: 0.5834440704518725}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.114680688258634, euclidean_error: 0.5801837685294066}
-    wrist_top_marker_pose: {angle_rotation_error: 3.110648037233177, euclidean_error: 0.5821769123889698}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0893706687193268, euclidean_error: 0.578680401520832}
-    base_right_marker_pose: {angle_rotation_error: 3.1276306892133867, euclidean_error: 0.5773527291302767}
-    shoulder_marker_pose: {angle_rotation_error: 3.081289492776282, euclidean_error: 0.5836435488224296}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1373755122552645, euclidean_error: 0.5801155692112497}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1074229681448875, euclidean_error: 0.5820950974378711}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.094864134609315, euclidean_error: 0.5783976169899238}
-    base_right_marker_pose: {angle_rotation_error: 3.118917086607077, euclidean_error: 0.5769948257289494}
-    shoulder_marker_pose: {angle_rotation_error: 3.0962739826471877, euclidean_error: 0.5836726207982582}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1350343614912126, euclidean_error: 0.5803751919268461}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1263187358501368, euclidean_error: 0.5818264890348108}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0801757172494115, euclidean_error: 0.5787149148672677}
-    base_right_marker_pose: {angle_rotation_error: 3.137143706900296, euclidean_error: 0.5770435258117514}
-    shoulder_marker_pose: {angle_rotation_error: 3.074565006345852, euclidean_error: 0.5836040797148792}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1299896888044905, euclidean_error: 0.5801613242804786}
-    wrist_top_marker_pose: {angle_rotation_error: 3.131734804917476, euclidean_error: 0.5818497048341688}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0860914458748763, euclidean_error: 0.5786262945157501}
-    base_right_marker_pose: {angle_rotation_error: 3.133605342153697, euclidean_error: 0.5770961961717654}
-    shoulder_marker_pose: {angle_rotation_error: 3.0629421209575542, euclidean_error: 0.5835432583414397}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1299042701412563, euclidean_error: 0.5803766487802986}
-    wrist_top_marker_pose: {angle_rotation_error: 3.093915636965951, euclidean_error: 0.5820399821943776}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.076140557644455, euclidean_error: 0.5784200510018526}
-    base_right_marker_pose: {angle_rotation_error: 3.1353215151912215, euclidean_error: 0.5772240390808382}
-    shoulder_marker_pose: {angle_rotation_error: 3.074653893891907, euclidean_error: 0.5836788168562327}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.110864236581408, euclidean_error: 0.5800490855159859}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1108971842584934, euclidean_error: 0.5821691919933908}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0878592892801198, euclidean_error: 0.5784816960144461}
-    base_right_marker_pose: {angle_rotation_error: 3.117776271213696, euclidean_error: 0.577063553753556}
-    shoulder_marker_pose: {angle_rotation_error: 3.0785322644720727, euclidean_error: 0.5836499573850885}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1120102667818514, euclidean_error: 0.5800591180033225}
-    wrist_top_marker_pose: {angle_rotation_error: 3.094349985253277, euclidean_error: 0.5818690937502549}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0709580786282507, euclidean_error: 0.5788350519898071}
-    base_right_marker_pose: {angle_rotation_error: 3.1259150962573403, euclidean_error: 0.5770196961357268}
-    shoulder_marker_pose: {angle_rotation_error: 3.0785627681386196, euclidean_error: 0.5837740143898038}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1207891785764743, euclidean_error: 0.5804578464066874}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1156697202200454, euclidean_error: 0.5819851753444875}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0892623425709727, euclidean_error: 0.5787041043498864}
-    base_right_marker_pose: {angle_rotation_error: 3.137474773388551, euclidean_error: 0.5771061453790867}
-    shoulder_marker_pose: {angle_rotation_error: 3.0707817112766658, euclidean_error: 0.583478746858271}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.132027188023453, euclidean_error: 0.5798791602865686}
-    wrist_top_marker_pose: {angle_rotation_error: 3.124341727500605, euclidean_error: 0.5820945154861833}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08981896902945, euclidean_error: 0.5787673228455343}
-    base_right_marker_pose: {angle_rotation_error: 3.139766157801721, euclidean_error: 0.5771074629598577}
-    shoulder_marker_pose: {angle_rotation_error: 3.0708118170009677, euclidean_error: 0.583590096413391}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.126864198246042, euclidean_error: 0.5800732338924579}
-    wrist_top_marker_pose: {angle_rotation_error: 3.107180244248115, euclidean_error: 0.5820347097608485}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080279278146286, euclidean_error: 0.5785280945719778}
-    base_right_marker_pose: {angle_rotation_error: 3.141002110012999, euclidean_error: 0.5772316286418764}
-    shoulder_marker_pose: {angle_rotation_error: 3.0855492137323135, euclidean_error: 0.5835672930814346}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.127256514347107, euclidean_error: 0.5800657329553041}
-    wrist_top_marker_pose: {angle_rotation_error: 3.105536578104033, euclidean_error: 0.5819292296680563}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.081972081298912, euclidean_error: 0.5785144349629474}
-    base_right_marker_pose: {angle_rotation_error: 3.1241646283867235, euclidean_error: 0.5771012346156148}
-    shoulder_marker_pose: {angle_rotation_error: 3.0862593283785906, euclidean_error: 0.5837778103894015}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.138788976783548, euclidean_error: 0.5803583445477142}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1254181387147844, euclidean_error: 0.582301164822667}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0827737286872714, euclidean_error: 0.5783822248810198}
-    base_right_marker_pose: {angle_rotation_error: 3.1373657818910794, euclidean_error: 0.5772669398076552}
-    shoulder_marker_pose: {angle_rotation_error: 3.0887254573962153, euclidean_error: 0.5837567164086379}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.140155080703752, euclidean_error: 0.5803043115960655}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1269913691443403, euclidean_error: 0.5821849380465225}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0941323309803215, euclidean_error: 0.5784317163083791}
-    base_right_marker_pose: {angle_rotation_error: 3.134907698638015, euclidean_error: 0.577028180626394}
-    shoulder_marker_pose: {angle_rotation_error: 3.0566630297690955, euclidean_error: 0.583476804208505}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1378233725460043, euclidean_error: 0.5803425304849817}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1246998242251482, euclidean_error: 0.5821896196672303}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.088140816534542, euclidean_error: 0.5783819132698349}
-    base_right_marker_pose: {angle_rotation_error: 3.138292169021946, euclidean_error: 0.5773856382045465}
-    shoulder_marker_pose: {angle_rotation_error: 3.0909236074237088, euclidean_error: 0.5836902877330105}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.13089310131061, euclidean_error: 0.5802170166186131}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1379362390281376, euclidean_error: 0.5823518213275616}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0839689877655716, euclidean_error: 0.5786462220699343}
-    base_right_marker_pose: {angle_rotation_error: 3.139208417592283, euclidean_error: 0.57715609764849}
-    shoulder_marker_pose: {angle_rotation_error: 3.08579532959096, euclidean_error: 0.5838058950864224}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1269979377177846, euclidean_error: 0.5801096615194256}
-    wrist_top_marker_pose: {angle_rotation_error: 3.134127041142952, euclidean_error: 0.582248399519814}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0887348524184826, euclidean_error: 0.5786541434153083}
-    base_right_marker_pose: {angle_rotation_error: 3.141160585407378, euclidean_error: 0.576974226991738}
-    shoulder_marker_pose: {angle_rotation_error: 3.081437234714673, euclidean_error: 0.5835014789431583}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1336876847369153, euclidean_error: 0.579845738339904}
-    wrist_top_marker_pose: {angle_rotation_error: 3.133711333277617, euclidean_error: 0.5824827029263467}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.080374454927261, euclidean_error: 0.5784212919770984}
-    base_right_marker_pose: {angle_rotation_error: 3.136902749447116, euclidean_error: 0.5767644525029195}
-    shoulder_marker_pose: {angle_rotation_error: 3.066112920662292, euclidean_error: 0.5835551899528463}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1362206147653597, euclidean_error: 0.5799449986145337}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1266010052429456, euclidean_error: 0.5822232998596965}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0778324058466886, euclidean_error: 0.5785881171634871}
-    base_right_marker_pose: {angle_rotation_error: 3.1001178646745196, euclidean_error: 0.577219127709287}
-    shoulder_marker_pose: {angle_rotation_error: 3.077166455702694, euclidean_error: 0.5834659991915131}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1374693834730882, euclidean_error: 0.5798523924895866}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0881845370188534, euclidean_error: 0.581926974157428}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.083098391032991, euclidean_error: 0.5787055783780638}
-    base_right_marker_pose: {angle_rotation_error: 3.1405939521221775, euclidean_error: 0.5772010617564539}
-    shoulder_marker_pose: {angle_rotation_error: 3.081384157123812, euclidean_error: 0.5835612688022869}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1301517835525634, euclidean_error: 0.5798603028409227}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1326950232374005, euclidean_error: 0.5820997850223831}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0736865649640253, euclidean_error: 0.5787503973660058}
-    base_right_marker_pose: {angle_rotation_error: 3.139130639907234, euclidean_error: 0.5773079028225662}
-    shoulder_marker_pose: {angle_rotation_error: 3.0876638062573414, euclidean_error: 0.583567634748267}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1364618429829103, euclidean_error: 0.5799918278542674}
-    wrist_top_marker_pose: {angle_rotation_error: 3.086068546525214, euclidean_error: 0.5819348115799972}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0886504125361802, euclidean_error: 0.5785148261794792}
-    base_right_marker_pose: {angle_rotation_error: 3.1414560548620303, euclidean_error: 0.5771055641844306}
-    shoulder_marker_pose: {angle_rotation_error: 3.05596724607962, euclidean_error: 0.5833764359598513}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.137283847805441, euclidean_error: 0.5800097632546677}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1150963574216988, euclidean_error: 0.5818754268022215}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0503900279800176, euclidean_error: 0.5786823851568942}
-    base_right_marker_pose: {angle_rotation_error: 3.1280262961030574, euclidean_error: 0.577132142909968}
-    shoulder_marker_pose: {angle_rotation_error: 3.0660013252685197, euclidean_error: 0.5835183994677269}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1133280712826865, euclidean_error: 0.5799523172353891}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1343999555651267, euclidean_error: 0.5822262315168535}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0661322553485957, euclidean_error: 0.5789573369782859}
-    base_right_marker_pose: {angle_rotation_error: 3.1258273625619637, euclidean_error: 0.5771161668071967}
-    shoulder_marker_pose: {angle_rotation_error: 3.092222421073772, euclidean_error: 0.5834570860433987}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.134527543078413, euclidean_error: 0.5800987798935062}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1274671076588, euclidean_error: 0.5814344817521968}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0935145346516544, euclidean_error: 0.5782851581992096}
-    base_right_marker_pose: {angle_rotation_error: 3.1289700022701035, euclidean_error: 0.5772871223258464}
-    shoulder_marker_pose: {angle_rotation_error: 3.062681010751474, euclidean_error: 0.5834832801728528}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1346690704901685, euclidean_error: 0.5800949163562611}
-    wrist_top_marker_pose: {angle_rotation_error: 3.132621940132816, euclidean_error: 0.5822499326466264}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.067871264904001, euclidean_error: 0.5785706900803209}
-    base_right_marker_pose: {angle_rotation_error: 3.12876980696015, euclidean_error: 0.5772725783408926}
-    shoulder_marker_pose: {angle_rotation_error: 3.0749295764349167, euclidean_error: 0.5833732981251476}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1267362867970685, euclidean_error: 0.5797431538694403}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1212842913006815, euclidean_error: 0.5819502261080842}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.08795480786217, euclidean_error: 0.5784821702857866}
-    base_right_marker_pose: {angle_rotation_error: 3.127647796444643, euclidean_error: 0.5770409395753621}
-    shoulder_marker_pose: {angle_rotation_error: 3.083114145120427, euclidean_error: 0.5836450420193395}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1375060334331586, euclidean_error: 0.5803051239409334}
-    wrist_top_marker_pose: {angle_rotation_error: 3.138158424563187, euclidean_error: 0.5820213621963516}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.078534028472378, euclidean_error: 0.5785661704819259}
-    base_right_marker_pose: {angle_rotation_error: 3.1377992897830147, euclidean_error: 0.5772277443465473}
-    shoulder_marker_pose: {angle_rotation_error: 3.084194069268355, euclidean_error: 0.583632109824438}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1116535804512075, euclidean_error: 0.5799897268894552}
-    wrist_top_marker_pose: {angle_rotation_error: 3.094680545408591, euclidean_error: 0.5819969493080753}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0720913192690067, euclidean_error: 0.5787738140204096}
-    base_right_marker_pose: {angle_rotation_error: 3.131380639935916, euclidean_error: 0.5773839354411257}
-    shoulder_marker_pose: {angle_rotation_error: 3.0864194587443023, euclidean_error: 0.5837078295351569}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.132707274594636, euclidean_error: 0.5802129219396384}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1277161666865934, euclidean_error: 0.5822349518782555}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.066020888218525, euclidean_error: 0.5787133736837694}
-    base_right_marker_pose: {angle_rotation_error: 3.132019104843558, euclidean_error: 0.5772608785326124}
-    shoulder_marker_pose: {angle_rotation_error: 3.064773581887935, euclidean_error: 0.5834501277850902}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.102910050045379, euclidean_error: 0.580507671359776}
-    wrist_top_marker_pose: {angle_rotation_error: 3.088080820107455, euclidean_error: 0.5819100329770218}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0978608435151607, euclidean_error: 0.5783961872052744}
-    base_right_marker_pose: {angle_rotation_error: 3.1295355307999078, euclidean_error: 0.5774112745923872}
-    shoulder_marker_pose: {angle_rotation_error: 3.0768683791807323, euclidean_error: 0.5835393324047421}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.110509790196378, euclidean_error: 0.5801654224396853}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1331911939957484, euclidean_error: 0.5822516166589605}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0807118940331515, euclidean_error: 0.5788668694707062}
-    base_right_marker_pose: {angle_rotation_error: 3.128746133626414, euclidean_error: 0.5772088088232532}
-    shoulder_marker_pose: {angle_rotation_error: 3.089125043009717, euclidean_error: 0.5835439106518617}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.119348765392269, euclidean_error: 0.5806582332629311}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1216717266099665, euclidean_error: 0.5822336729984197}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086081736697016, euclidean_error: 0.5786567985334736}
-    base_right_marker_pose: {angle_rotation_error: 3.1380575431820215, euclidean_error: 0.577082933362217}
-    shoulder_marker_pose: {angle_rotation_error: 3.0779002661492587, euclidean_error: 0.5836583787568026}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.126493402896276, euclidean_error: 0.5801410229311685}
-    wrist_top_marker_pose: {angle_rotation_error: 3.127571466532377, euclidean_error: 0.5819866519161994}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0904937982776195, euclidean_error: 0.5784109834480956}
-    base_right_marker_pose: {angle_rotation_error: 3.1324770274647937, euclidean_error: 0.577020553582311}
-    shoulder_marker_pose: {angle_rotation_error: 3.0810590086920886, euclidean_error: 0.583641733986262}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1159353548763695, euclidean_error: 0.5800939153350516}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1222402742705677, euclidean_error: 0.5820207032730162}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0895213844533194, euclidean_error: 0.5784682639437108}
-    base_right_marker_pose: {angle_rotation_error: 3.1138188266790916, euclidean_error: 0.5773617237686776}
-    shoulder_marker_pose: {angle_rotation_error: 3.0976056125457343, euclidean_error: 0.5837022769635325}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1242044355581076, euclidean_error: 0.5803383216837743}
-    wrist_top_marker_pose: {angle_rotation_error: 3.129664305779978, euclidean_error: 0.5821852657088875}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0654011491906172, euclidean_error: 0.5786607533041049}
-    base_right_marker_pose: {angle_rotation_error: 3.138349879234561, euclidean_error: 0.577334365751734}
-    shoulder_marker_pose: {angle_rotation_error: 3.070381299115348, euclidean_error: 0.5837164328505308}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.129934760611769, euclidean_error: 0.5799940220441048}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1281139883762785, euclidean_error: 0.5822402632827599}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.0657072165868526, euclidean_error: 0.5785747805557673}
-    base_right_marker_pose: {angle_rotation_error: 3.135961238362565, euclidean_error: 0.5771902266818979}
-    shoulder_marker_pose: {angle_rotation_error: 3.0854447424303317, euclidean_error: 0.5836894208243467}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1190254410407023, euclidean_error: 0.5802941512422582}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1053193714647316, euclidean_error: 0.5823130843976247}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.086727521194344, euclidean_error: 0.5787817982724393}
-    base_right_marker_pose: {angle_rotation_error: 3.1299180279526007, euclidean_error: 0.5772373341410024}
-    shoulder_marker_pose: {angle_rotation_error: 3.0942577731271563, euclidean_error: 0.5836107567056322}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.1335076626477543, euclidean_error: 0.5803891519995185}
-    wrist_top_marker_pose: {angle_rotation_error: 3.0891169443135884, euclidean_error: 0.5820634749190281}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.102228867243201, euclidean_error: 0.5781461225800825}
-    base_right_marker_pose: {angle_rotation_error: 3.137742859483867, euclidean_error: 0.5770231603769956}
-    shoulder_marker_pose: {angle_rotation_error: 3.0795212519902124, euclidean_error: 0.5835098578308469}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.111495775510778, euclidean_error: 0.5800919105171066}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1339510549891925, euclidean_error: 0.5821190691156535}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.083558668375363, euclidean_error: 0.5785848404421748}
-    base_right_marker_pose: {angle_rotation_error: 3.1360756884548726, euclidean_error: 0.5769919685569989}
-    shoulder_marker_pose: {angle_rotation_error: 3.068614711529924, euclidean_error: 0.5836056129888922}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.137708745909825, euclidean_error: 0.5800828009160104}
-    wrist_top_marker_pose: {angle_rotation_error: 3.1399582133373296, euclidean_error: 0.5821535555393182}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.1014436148273417, euclidean_error: 0.5783097420605835}
-    base_right_marker_pose: {angle_rotation_error: 3.1388533337607383, euclidean_error: 0.5772988083787539}
-    shoulder_marker_pose: {angle_rotation_error: 3.0932243199983818, euclidean_error: 0.5836512263507061}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.0920852376679315, euclidean_error: 0.5801221464265783}
-    wrist_top_marker_pose: {angle_rotation_error: 3.131959115257363, euclidean_error: 0.5820794656012184}
-- error_data:
-    base_left_marker_pose: {angle_rotation_error: 3.100293595779899, euclidean_error: 0.5784426758218538}
-    base_right_marker_pose: {angle_rotation_error: 3.1250627851163997, euclidean_error: 0.5773097021116753}
-    shoulder_marker_pose: {angle_rotation_error: 3.084481923807461, euclidean_error: 0.5835225551698254}
-    wrist_inside_marker_pose: {angle_rotation_error: 3.08417620367218, euclidean_error: 0.5804332012635788}
-    wrist_top_marker_pose: {angle_rotation_error: 3.087507665534963, euclidean_error: 0.5818761818609761}
+    base_left_marker_pose:
+      angle_rotation_error: 3.1060032090582523
+      euclidean_error: 0.5787175171562933
+    base_right_marker_pose:
+      angle_rotation_error: 3.13201779245418
+      euclidean_error: 0.5764019135109739
+    shoulder_marker_pose:
+      angle_rotation_error: 3.087655900915985
+      euclidean_error: 0.5837872300658732
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1397885706144875
+      euclidean_error: 0.5802087680255323
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0761677363607776
+      euclidean_error: 0.581549170296647
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1060032090582523
+      euclidean_error: 0.5787175171562933
+    base_right_marker_pose:
+      angle_rotation_error: 3.13201779245418
+      euclidean_error: 0.5764019135109739
+    shoulder_marker_pose:
+      angle_rotation_error: 3.087655900915985
+      euclidean_error: 0.5837872300658732
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1397885706144875
+      euclidean_error: 0.5802087680255323
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0761677363607776
+      euclidean_error: 0.581549170296647
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1203231470717876
+      euclidean_error: 0.578808426531158
+    base_right_marker_pose:
+      angle_rotation_error: 3.136284220462128
+      euclidean_error: 0.5765898458596129
+    shoulder_marker_pose:
+      angle_rotation_error: 3.071498324914277
+      euclidean_error: 0.5835916358874713
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.126318377523002
+      euclidean_error: 0.5802013747819016
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.061546706256039
+      euclidean_error: 0.5819778413953743
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1174398682091606
+      euclidean_error: 0.5789314506576447
+    base_right_marker_pose:
+      angle_rotation_error: 3.1248688005719485
+      euclidean_error: 0.5765922910068195
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0742490079632825
+      euclidean_error: 0.5836821439745318
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1087108645080144
+      euclidean_error: 0.5803773811141641
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0731456818619156
+      euclidean_error: 0.5817913008311246
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0960246201809727
+      euclidean_error: 0.5788953242004247
+    base_right_marker_pose:
+      angle_rotation_error: 3.135679865827528
+      euclidean_error: 0.5767565045226268
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081535165543527
+      euclidean_error: 0.5837805823171924
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.135065779831107
+      euclidean_error: 0.5799895628378207
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.107254079213257
+      euclidean_error: 0.5812110398356436
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1074602322563365
+      euclidean_error: 0.578660694809587
+    base_right_marker_pose:
+      angle_rotation_error: 3.135949685684744
+      euclidean_error: 0.5764949992853248
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081259904482398
+      euclidean_error: 0.5837670359435264
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0829743216196346
+      euclidean_error: 0.5801406093607109
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0879502997156094
+      euclidean_error: 0.5817891282953792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.111763281017988
+      euclidean_error: 0.578811485870557
+    base_right_marker_pose:
+      angle_rotation_error: 3.121298106392668
+      euclidean_error: 0.5766706595705975
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067271665399815
+      euclidean_error: 0.5836751490268575
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1360731529046655
+      euclidean_error: 0.5803900295481013
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1164038061083783
+      euclidean_error: 0.5811947426827396
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1182400146146616
+      euclidean_error: 0.5787940200324186
+    base_right_marker_pose:
+      angle_rotation_error: 3.139695803660828
+      euclidean_error: 0.5764362470615544
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0761122518265354
+      euclidean_error: 0.5836505354068598
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1378575383980416
+      euclidean_error: 0.5798112936612997
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1135904556772576
+      euclidean_error: 0.5812233323916747
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.11809065739746
+      euclidean_error: 0.578886280878051
+    base_right_marker_pose:
+      angle_rotation_error: 3.1399549194812324
+      euclidean_error: 0.5765270622045059
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0698855702261763
+      euclidean_error: 0.5836106650083619
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1260594543613416
+      euclidean_error: 0.5799773149699903
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.077747082986257
+      euclidean_error: 0.5815228376555724
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.100129270339759
+      euclidean_error: 0.5787353476789068
+    base_right_marker_pose:
+      angle_rotation_error: 3.133700979558582
+      euclidean_error: 0.5764418850080618
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07357271893363
+      euclidean_error: 0.5836212033874526
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1230176838783095
+      euclidean_error: 0.5801559171133672
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0735165861997173
+      euclidean_error: 0.5816784943312556
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.110823178289271
+      euclidean_error: 0.5788136110249973
+    base_right_marker_pose:
+      angle_rotation_error: 3.1260912380353134
+      euclidean_error: 0.5762290863323518
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0890430324588953
+      euclidean_error: 0.5837255457751731
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1360605972059132
+      euclidean_error: 0.5799782443839328
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.131336399924651
+      euclidean_error: 0.5814450253422516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1130593318609296
+      euclidean_error: 0.5788089223459176
+    base_right_marker_pose:
+      angle_rotation_error: 3.136319078029875
+      euclidean_error: 0.5763735011014427
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07562037853911
+      euclidean_error: 0.5836064283746881
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.057907501042532
+      euclidean_error: 0.5801684047265943
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.09661024220923
+      euclidean_error: 0.581616893010025
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1058561685040136
+      euclidean_error: 0.5788265017395258
+    base_right_marker_pose:
+      angle_rotation_error: 3.1246161622723845
+      euclidean_error: 0.576435671497419
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069810498403693
+      euclidean_error: 0.5837044418993684
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1360380556518144
+      euclidean_error: 0.5801807804294218
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0945796833594006
+      euclidean_error: 0.582203671032204
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1066459250123013
+      euclidean_error: 0.5788128088237949
+    base_right_marker_pose:
+      angle_rotation_error: 3.134325342906953
+      euclidean_error: 0.5762320393716015
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067524878492964
+      euclidean_error: 0.5837991611148489
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1290245461295156
+      euclidean_error: 0.5803880155639438
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1059536180210134
+      euclidean_error: 0.5814068317279529
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1195953213174104
+      euclidean_error: 0.5787564976613535
+    base_right_marker_pose:
+      angle_rotation_error: 3.1353976327049
+      euclidean_error: 0.5764546442431855
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0657072047414418
+      euclidean_error: 0.5836250148328114
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.136370786631297
+      euclidean_error: 0.5801483254592298
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0983437271179888
+      euclidean_error: 0.5818426532397991
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.109069744501913
+      euclidean_error: 0.5787086518107717
+    base_right_marker_pose:
+      angle_rotation_error: 3.120451797736208
+      euclidean_error: 0.5764391181582993
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063036410375784
+      euclidean_error: 0.5836775336140351
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1224787668590936
+      euclidean_error: 0.580299673393872
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.049838224015859
+      euclidean_error: 0.5816947719852777
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.099576783969493
+      euclidean_error: 0.5787010921229516
+    base_right_marker_pose:
+      angle_rotation_error: 3.138323316621776
+      euclidean_error: 0.5763208083700975
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0841164233326555
+      euclidean_error: 0.5837704519503693
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1279911376715854
+      euclidean_error: 0.580088534189933
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.070595805143483
+      euclidean_error: 0.5817473515518166
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1088561954272302
+      euclidean_error: 0.5787724591507387
+    base_right_marker_pose:
+      angle_rotation_error: 3.1188310398809542
+      euclidean_error: 0.57643711163128
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0600061180787668
+      euclidean_error: 0.583524961868956
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.12468916760334
+      euclidean_error: 0.5799041502868216
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0981991405071128
+      euclidean_error: 0.581476989562333
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091549586394832
+      euclidean_error: 0.5786485455436166
+    base_right_marker_pose:
+      angle_rotation_error: 3.1315002955546056
+      euclidean_error: 0.576573031816622
+    shoulder_marker_pose:
+      angle_rotation_error: 3.078139141858959
+      euclidean_error: 0.5836945680702305
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.138628259734878
+      euclidean_error: 0.5801621682885164
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.085826605852007
+      euclidean_error: 0.581607358140909
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.107618207873592
+      euclidean_error: 0.5787501792443378
+    base_right_marker_pose:
+      angle_rotation_error: 3.1191715343875486
+      euclidean_error: 0.5764728485047999
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083858764479601
+      euclidean_error: 0.5839576226407995
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1178910942861995
+      euclidean_error: 0.579962151263985
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.06415093383099
+      euclidean_error: 0.5816634136924317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.116113332836486
+      euclidean_error: 0.5787253683364845
+    base_right_marker_pose:
+      angle_rotation_error: 3.134726201433183
+      euclidean_error: 0.5764480746318297
+    shoulder_marker_pose:
+      angle_rotation_error: 3.078268449566879
+      euclidean_error: 0.5837712396021985
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1103257247894507
+      euclidean_error: 0.5799310095900501
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0713100781691525
+      euclidean_error: 0.5817967328435946
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1124861981408083
+      euclidean_error: 0.5788688523199846
+    base_right_marker_pose:
+      angle_rotation_error: 3.1414667598147052
+      euclidean_error: 0.5765249509780583
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072794920285662
+      euclidean_error: 0.5837242399562277
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.141327402355638
+      euclidean_error: 0.5802704487741073
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.050138481599631
+      euclidean_error: 0.5816775531028048
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.112391594335102
+      euclidean_error: 0.5787799401314193
+    base_right_marker_pose:
+      angle_rotation_error: 3.134124101603897
+      euclidean_error: 0.5765099937518876
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0770643910056847
+      euclidean_error: 0.5837579615459066
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1317637624000376
+      euclidean_error: 0.5804158621002501
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0195176383474025
+      euclidean_error: 0.5816949463975208
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101288579353265
+      euclidean_error: 0.5787525776882613
+    base_right_marker_pose:
+      angle_rotation_error: 3.139505916066701
+      euclidean_error: 0.5763982532916354
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0786918790011524
+      euclidean_error: 0.5837493419371952
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.122922773189969
+      euclidean_error: 0.5801195893584281
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.091025488691467
+      euclidean_error: 0.581946049506845
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.11930004576259
+      euclidean_error: 0.5788010846586543
+    base_right_marker_pose:
+      angle_rotation_error: 3.1210358177545268
+      euclidean_error: 0.5765411186161004
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080666480291934
+      euclidean_error: 0.5837989512140785
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1352924855925823
+      euclidean_error: 0.580476071519044
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0964680800201476
+      euclidean_error: 0.5818473665615582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1086626209560877
+      euclidean_error: 0.5788587646502271
+    base_right_marker_pose:
+      angle_rotation_error: 3.1171271783385084
+      euclidean_error: 0.5764833768062426
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075418650313114
+      euclidean_error: 0.5838077471784182
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.13912633735686
+      euclidean_error: 0.5801266185734042
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0989749093815018
+      euclidean_error: 0.5812657829325251
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.106202956662604
+      euclidean_error: 0.5787943159920198
+    base_right_marker_pose:
+      angle_rotation_error: 3.1330130789343933
+      euclidean_error: 0.5764497722780003
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0668731912982103
+      euclidean_error: 0.5837308029607747
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083782041666046
+      euclidean_error: 0.5807007319206626
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.117610645967896
+      euclidean_error: 0.5816665149135816
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1171308473390935
+      euclidean_error: 0.5788346422176956
+    base_right_marker_pose:
+      angle_rotation_error: 3.127468323714954
+      euclidean_error: 0.5764452300941018
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083384418209641
+      euclidean_error: 0.5837968972388914
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1315506586911814
+      euclidean_error: 0.5802014835173668
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0881681725482237
+      euclidean_error: 0.5816351750088513
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0996977699378037
+      euclidean_error: 0.5787777829715273
+    base_right_marker_pose:
+      angle_rotation_error: 3.1275172956772614
+      euclidean_error: 0.5765118145054547
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0931621529590307
+      euclidean_error: 0.5838728798502241
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.124192123050476
+      euclidean_error: 0.5803850502082798
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.069681121588603
+      euclidean_error: 0.581818450282817
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0955881429129577
+      euclidean_error: 0.5786975401430512
+    base_right_marker_pose:
+      angle_rotation_error: 3.129942797064933
+      euclidean_error: 0.5761754460202798
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0837859237762726
+      euclidean_error: 0.5838377350391214
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1072968055897334
+      euclidean_error: 0.5803732275056647
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1184161827116887
+      euclidean_error: 0.5817315317768055
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.106414326307707
+      euclidean_error: 0.5787880782220786
+    base_right_marker_pose:
+      angle_rotation_error: 3.130925161853251
+      euclidean_error: 0.5763352634001798
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07531943230811
+      euclidean_error: 0.583673157504952
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0691098603879485
+      euclidean_error: 0.5804383019800117
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.067845950845506
+      euclidean_error: 0.5817967337782078
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.114980779619375
+      euclidean_error: 0.5787452326242551
+    base_right_marker_pose:
+      angle_rotation_error: 3.1334380625669214
+      euclidean_error: 0.5765262833411647
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0638198731525375
+      euclidean_error: 0.5837460847808322
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0915428768591013
+      euclidean_error: 0.58020405948457
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.100866472734852
+      euclidean_error: 0.5818248020829835
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0945308949120687
+      euclidean_error: 0.5787002012522299
+    base_right_marker_pose:
+      angle_rotation_error: 3.1388424075680437
+      euclidean_error: 0.5762780686520341
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072910569804706
+      euclidean_error: 0.5837191734629702
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1390964575565685
+      euclidean_error: 0.5801953648274315
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1025263117908493
+      euclidean_error: 0.5814777347525868
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1075168110719122
+      euclidean_error: 0.5788282005741153
+    base_right_marker_pose:
+      angle_rotation_error: 3.119019910954684
+      euclidean_error: 0.5764040885668791
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0763226468722116
+      euclidean_error: 0.5836839856751027
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1270697859377665
+      euclidean_error: 0.5801140136550255
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.069033166383079
+      euclidean_error: 0.5815923549917255
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1031807804085467
+      euclidean_error: 0.5788103530652795
+    base_right_marker_pose:
+      angle_rotation_error: 3.138201617517753
+      euclidean_error: 0.5763339651963706
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075636041658625
+      euclidean_error: 0.5839585238743915
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1377965129147847
+      euclidean_error: 0.5800435586288559
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.111411154754937
+      euclidean_error: 0.5817084411835775
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.119584003825195
+      euclidean_error: 0.5788013536043242
+    base_right_marker_pose:
+      angle_rotation_error: 3.1328765603415736
+      euclidean_error: 0.5765780513919379
+    shoulder_marker_pose:
+      angle_rotation_error: 3.08969574510289
+      euclidean_error: 0.5837824339345755
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1165458959912518
+      euclidean_error: 0.5803773701696028
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1347533559565712
+      euclidean_error: 0.5816137356421488
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.103053864425729
+      euclidean_error: 0.5787749023409365
+    base_right_marker_pose:
+      angle_rotation_error: 3.135045498893523
+      euclidean_error: 0.5763747124258516
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0726469435032304
+      euclidean_error: 0.5836846395525634
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1389534298675703
+      euclidean_error: 0.5808045689071294
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1008405702283697
+      euclidean_error: 0.5816284879934034
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1086596087689
+      euclidean_error: 0.5787591158930205
+    base_right_marker_pose:
+      angle_rotation_error: 3.115921875521562
+      euclidean_error: 0.5763388765115839
+    shoulder_marker_pose:
+      angle_rotation_error: 3.065977191627439
+      euclidean_error: 0.5838154955746437
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.127270958273043
+      euclidean_error: 0.5802885657258935
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.124131040592687
+      euclidean_error: 0.5819596736522512
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1112123767919146
+      euclidean_error: 0.5788375420802802
+    base_right_marker_pose:
+      angle_rotation_error: 3.127608782413124
+      euclidean_error: 0.576476381868992
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0659998471130843
+      euclidean_error: 0.583751064697712
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.135131925509217
+      euclidean_error: 0.580394463954186
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.099718161666067
+      euclidean_error: 0.5819115758629487
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1069838078107987
+      euclidean_error: 0.5787975831736438
+    base_right_marker_pose:
+      angle_rotation_error: 3.1364286840705295
+      euclidean_error: 0.5764303369918446
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0653864920257665
+      euclidean_error: 0.5837666104109622
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1388753250538692
+      euclidean_error: 0.5802770421529896
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.125937210077214
+      euclidean_error: 0.5819177299498638
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1055678932227933
+      euclidean_error: 0.5787125319111387
+    base_right_marker_pose:
+      angle_rotation_error: 3.130111121782061
+      euclidean_error: 0.5766020574727105
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0739298592312507
+      euclidean_error: 0.5838855855070799
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.11154183255785
+      euclidean_error: 0.58022172753595
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0933003316630368
+      euclidean_error: 0.5817501878452315
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1073893867580438
+      euclidean_error: 0.578735688222718
+    base_right_marker_pose:
+      angle_rotation_error: 3.140812619862566
+      euclidean_error: 0.5764741692383785
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063755423278019
+      euclidean_error: 0.5837289409477042
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0791948508864757
+      euclidean_error: 0.5802802529436548
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.113354237852448
+      euclidean_error: 0.5818933497217033
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.104295553196739
+      euclidean_error: 0.5787292904627881
+    base_right_marker_pose:
+      angle_rotation_error: 3.1209076929517408
+      euclidean_error: 0.5763684942268712
+    shoulder_marker_pose:
+      angle_rotation_error: 3.061349060161156
+      euclidean_error: 0.5837350477834167
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1395476435098497
+      euclidean_error: 0.5801058594212825
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1371469221049924
+      euclidean_error: 0.5817165410538679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1211737222566778
+      euclidean_error: 0.5788847720925347
+    base_right_marker_pose:
+      angle_rotation_error: 3.134511187155968
+      euclidean_error: 0.5763695444655111
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081837025605327
+      euclidean_error: 0.5839156519713185
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1113838566217704
+      euclidean_error: 0.5800532581925479
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.141473924121154
+      euclidean_error: 0.5820257285725929
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0971805195467272
+      euclidean_error: 0.5787373183997073
+    base_right_marker_pose:
+      angle_rotation_error: 3.116886715060786
+      euclidean_error: 0.5765175076821376
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0719237885369064
+      euclidean_error: 0.5838436704961711
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.134075535107524
+      euclidean_error: 0.5801047253224499
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0840552397080216
+      euclidean_error: 0.5821205417251798
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1104891641959043
+      euclidean_error: 0.5789075012657089
+    base_right_marker_pose:
+      angle_rotation_error: 3.139541102742511
+      euclidean_error: 0.5765494071629523
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0665952910387224
+      euclidean_error: 0.5838193692839951
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0829411149387216
+      euclidean_error: 0.5804788914038915
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.116304665098608
+      euclidean_error: 0.5818900884302508
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0884669879710964
+      euclidean_error: 0.5786309843559094
+    base_right_marker_pose:
+      angle_rotation_error: 3.1376036743978597
+      euclidean_error: 0.5765612187071277
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0855949210560896
+      euclidean_error: 0.5838531643245797
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1010101423441467
+      euclidean_error: 0.580203249452656
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0926489526661474
+      euclidean_error: 0.5820703616044721
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1022258225563006
+      euclidean_error: 0.5786983653229019
+    base_right_marker_pose:
+      angle_rotation_error: 3.1401211165130696
+      euclidean_error: 0.576413603759905
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0767450784904016
+      euclidean_error: 0.5836878743677748
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1277245224727848
+      euclidean_error: 0.5802112911955835
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1218763871135202
+      euclidean_error: 0.5816958486824785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1039241707323355
+      euclidean_error: 0.5787527641763579
+    base_right_marker_pose:
+      angle_rotation_error: 3.132265941622072
+      euclidean_error: 0.5763782106863968
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0595787648946753
+      euclidean_error: 0.5837009585655469
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1349998911573977
+      euclidean_error: 0.5800303678615744
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0593564728655083
+      euclidean_error: 0.5818213221992637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.114534360471527
+      euclidean_error: 0.5787944652459718
+    base_right_marker_pose:
+      angle_rotation_error: 3.133967512086823
+      euclidean_error: 0.5764552872493083
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0727481541427126
+      euclidean_error: 0.583629252768598
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.122761172529883
+      euclidean_error: 0.5802310488436255
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0650411735256204
+      euclidean_error: 0.5821835009098586
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102498001015341
+      euclidean_error: 0.5787470389457169
+    base_right_marker_pose:
+      angle_rotation_error: 3.125604871128323
+      euclidean_error: 0.5763885827324136
+    shoulder_marker_pose:
+      angle_rotation_error: 3.065939463743291
+      euclidean_error: 0.5836574018509364
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1203165142396094
+      euclidean_error: 0.5802285840580705
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.073788049239103
+      euclidean_error: 0.5813520456939324
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1103860515486343
+      euclidean_error: 0.5788381070467346
+    base_right_marker_pose:
+      angle_rotation_error: 3.1388889411390575
+      euclidean_error: 0.5764043610501579
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0795126290601424
+      euclidean_error: 0.5837067824461497
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.101973662445407
+      euclidean_error: 0.5798513534377085
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.115110088142042
+      euclidean_error: 0.5817132850699096
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095558359940862
+      euclidean_error: 0.5787011413339208
+    base_right_marker_pose:
+      angle_rotation_error: 3.1402341642320555
+      euclidean_error: 0.5765141731195402
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075782973813838
+      euclidean_error: 0.5837065184102204
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1360389488402736
+      euclidean_error: 0.5800507455745799
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0794808722362483
+      euclidean_error: 0.5819350916699877
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101982589712038
+      euclidean_error: 0.5787556847303938
+    base_right_marker_pose:
+      angle_rotation_error: 3.136794727594864
+      euclidean_error: 0.5764058234464285
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069385090575213
+      euclidean_error: 0.5836542405613712
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.111052506851697
+      euclidean_error: 0.5802782563612736
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.098587645921744
+      euclidean_error: 0.5815536035798397
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1093446363285357
+      euclidean_error: 0.5787083586222636
+    base_right_marker_pose:
+      angle_rotation_error: 3.1371722376989224
+      euclidean_error: 0.5765661667698864
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073884694702877
+      euclidean_error: 0.583739079845755
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1250053815228536
+      euclidean_error: 0.5804560681625544
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1295262127125905
+      euclidean_error: 0.5817877147059647
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.106591779181484
+      euclidean_error: 0.5787671816974699
+    base_right_marker_pose:
+      angle_rotation_error: 3.1083425559797218
+      euclidean_error: 0.5763372433501143
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083720698073885
+      euclidean_error: 0.5837592141155858
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0935837150640113
+      euclidean_error: 0.5804365565675036
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0913683294197023
+      euclidean_error: 0.5817644970706098
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0987580852367733
+      euclidean_error: 0.5787699569130111
+    base_right_marker_pose:
+      angle_rotation_error: 3.1277318875028475
+      euclidean_error: 0.5765200556493498
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0717227104964087
+      euclidean_error: 0.583832385058662
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088811472527739
+      euclidean_error: 0.5803047947696153
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0542578734509527
+      euclidean_error: 0.5818615458814357
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.114729767286801
+      euclidean_error: 0.5788019961226086
+    base_right_marker_pose:
+      angle_rotation_error: 3.1213867383964207
+      euclidean_error: 0.5764566758310777
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079141032347104
+      euclidean_error: 0.5838430745441535
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.089951482522037
+      euclidean_error: 0.5804928623151031
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.095596569393477
+      euclidean_error: 0.5818745734259393
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.108561916269999
+      euclidean_error: 0.5788623875232274
+    base_right_marker_pose:
+      angle_rotation_error: 3.132069000361475
+      euclidean_error: 0.5768500191607051
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073219410207182
+      euclidean_error: 0.5836083378998453
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.107663531355459
+      euclidean_error: 0.5804659347912765
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0523357973988867
+      euclidean_error: 0.5818459381202459
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.110021943664759
+      euclidean_error: 0.578889152988148
+    base_right_marker_pose:
+      angle_rotation_error: 3.1363894238858543
+      euclidean_error: 0.5764732288643745
+    shoulder_marker_pose:
+      angle_rotation_error: 3.058306213527008
+      euclidean_error: 0.5835939313235474
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.100896775131672
+      euclidean_error: 0.5801974729244782
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.110664411173457
+      euclidean_error: 0.5814776907109889
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0931280435443735
+      euclidean_error: 0.5787416227591337
+    base_right_marker_pose:
+      angle_rotation_error: 3.117823260389329
+      euclidean_error: 0.5762203817559766
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0758818390496745
+      euclidean_error: 0.583775944608071
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1181911723652296
+      euclidean_error: 0.5803624416579597
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.063683546142819
+      euclidean_error: 0.5820004296772519
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1170866619634237
+      euclidean_error: 0.5788730105356825
+    base_right_marker_pose:
+      angle_rotation_error: 3.1259239952305866
+      euclidean_error: 0.576421445017113
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072847624494034
+      euclidean_error: 0.5838211200852556
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1165318176829664
+      euclidean_error: 0.5800929716543979
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0804138014813565
+      euclidean_error: 0.5811987982082628
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0960207171918053
+      euclidean_error: 0.5788969377433196
+    base_right_marker_pose:
+      angle_rotation_error: 3.1296716022786417
+      euclidean_error: 0.5765398190597469
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077288394079023
+      euclidean_error: 0.5836521015105556
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1076021293277623
+      euclidean_error: 0.5804635214082369
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.098326420985302
+      euclidean_error: 0.5816859899630732
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1173417501796683
+      euclidean_error: 0.5788259512925154
+    base_right_marker_pose:
+      angle_rotation_error: 3.1415264778097374
+      euclidean_error: 0.5765627405452737
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0769859484489426
+      euclidean_error: 0.5837246509521692
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.121488176206867
+      euclidean_error: 0.5803705411297623
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1228683837066358
+      euclidean_error: 0.5816396744591246
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093696353379195
+      euclidean_error: 0.5786422888976865
+    base_right_marker_pose:
+      angle_rotation_error: 3.130604017448552
+      euclidean_error: 0.5763678123908873
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073919921355225
+      euclidean_error: 0.5837685947809428
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1293085476005604
+      euclidean_error: 0.5799969847881534
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0532743440110104
+      euclidean_error: 0.5818890429321084
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.104877191732273
+      euclidean_error: 0.5787577897372653
+    base_right_marker_pose:
+      angle_rotation_error: 3.133784343846737
+      euclidean_error: 0.576342658052804
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0654520038602753
+      euclidean_error: 0.5837914746246581
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.138304499906643
+      euclidean_error: 0.5806821490538591
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1362696087033437
+      euclidean_error: 0.5816047750599256
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.104238133484884
+      euclidean_error: 0.5788037901143306
+    base_right_marker_pose:
+      angle_rotation_error: 3.1183780440953286
+      euclidean_error: 0.5765585593558179
+    shoulder_marker_pose:
+      angle_rotation_error: 3.05966491530476
+      euclidean_error: 0.5837193701840981
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0772112024414793
+      euclidean_error: 0.5803770415982268
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1386021928296857
+      euclidean_error: 0.5816236020414183
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.09139039708487
+      euclidean_error: 0.57879694000331
+    base_right_marker_pose:
+      angle_rotation_error: 3.137334299912793
+      euclidean_error: 0.576572521081281
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0719316347566528
+      euclidean_error: 0.5837540406966366
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0903816761367593
+      euclidean_error: 0.5802123856065996
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1001421264823583
+      euclidean_error: 0.5817298218712812
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092173036300487
+      euclidean_error: 0.5787252134111976
+    base_right_marker_pose:
+      angle_rotation_error: 3.132085198243799
+      euclidean_error: 0.5767441174299028
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0716643136981276
+      euclidean_error: 0.583817300704442
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1300183324317716
+      euclidean_error: 0.5802261740815889
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.070559682493107
+      euclidean_error: 0.5818076656055968
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.103048971018831
+      euclidean_error: 0.5787137710509253
+    base_right_marker_pose:
+      angle_rotation_error: 3.1228430173004074
+      euclidean_error: 0.5764504307909103
+    shoulder_marker_pose:
+      angle_rotation_error: 3.061279753025131
+      euclidean_error: 0.5837493791578916
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.08969647198623
+      euclidean_error: 0.5803964666945555
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0883572409165536
+      euclidean_error: 0.5820241737979852
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1002516642258593
+      euclidean_error: 0.5787704681481324
+    base_right_marker_pose:
+      angle_rotation_error: 3.1372096341313704
+      euclidean_error: 0.5764646779280671
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0564861574685507
+      euclidean_error: 0.5836632532370837
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.064229606229753
+      euclidean_error: 0.580444746938
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0667647564245155
+      euclidean_error: 0.5819461404455609
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096662116496839
+      euclidean_error: 0.5787462744775065
+    base_right_marker_pose:
+      angle_rotation_error: 3.137872565867696
+      euclidean_error: 0.5764960920129927
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0756239098687836
+      euclidean_error: 0.5838458752680913
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.139345791895773
+      euclidean_error: 0.5804619525926361
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.10517501474547
+      euclidean_error: 0.5815636338785257
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1144050477855396
+      euclidean_error: 0.578827781319546
+    base_right_marker_pose:
+      angle_rotation_error: 3.134796794697544
+      euclidean_error: 0.5767423995841552
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0626622475482757
+      euclidean_error: 0.5837565281086555
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1338163009758047
+      euclidean_error: 0.5802938436682372
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1372078423131424
+      euclidean_error: 0.5815815326935804
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.106794780863201
+      euclidean_error: 0.57861728403962
+    base_right_marker_pose:
+      angle_rotation_error: 3.1203014170502597
+      euclidean_error: 0.5765329831932489
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075516997307443
+      euclidean_error: 0.5837191922462767
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1385515465783205
+      euclidean_error: 0.5803616415456428
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1096102327184414
+      euclidean_error: 0.5819982764137023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.113781415551583
+      euclidean_error: 0.578780842900745
+    base_right_marker_pose:
+      angle_rotation_error: 3.1331518350403345
+      euclidean_error: 0.5765982704969126
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080494086551063
+      euclidean_error: 0.583712854202028
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.134279856073181
+      euclidean_error: 0.5802782661184746
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.06236430472543
+      euclidean_error: 0.581925753354736
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093519926709551
+      euclidean_error: 0.57861070511172
+    base_right_marker_pose:
+      angle_rotation_error: 3.1308694143766655
+      euclidean_error: 0.5766695104112421
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0689825034049645
+      euclidean_error: 0.58376699613171
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.140243301053823
+      euclidean_error: 0.580383244667667
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1396323929880365
+      euclidean_error: 0.5820810102537606
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1136373890509037
+      euclidean_error: 0.5788931341160738
+    base_right_marker_pose:
+      angle_rotation_error: 3.1399046855041997
+      euclidean_error: 0.5765255979016959
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0754316992264306
+      euclidean_error: 0.5837329890073739
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.14125847184931
+      euclidean_error: 0.5803945148699479
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1148672453680475
+      euclidean_error: 0.5818151660299984
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0907744953926186
+      euclidean_error: 0.5786711074331911
+    base_right_marker_pose:
+      angle_rotation_error: 3.1250588792498837
+      euclidean_error: 0.5766064166367466
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0950478735847646
+      euclidean_error: 0.5840008960612713
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.110922487378795
+      euclidean_error: 0.5803828027124943
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.10180580734362
+      euclidean_error: 0.5817624532416574
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.111236088014273
+      euclidean_error: 0.5788278101501779
+    base_right_marker_pose:
+      angle_rotation_error: 3.125157721311681
+      euclidean_error: 0.5765142739039799
+    shoulder_marker_pose:
+      angle_rotation_error: 3.085372056256502
+      euclidean_error: 0.583931356051414
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.137868858429481
+      euclidean_error: 0.5803648005038327
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1183891835377255
+      euclidean_error: 0.5815144475877785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102614005187153
+      euclidean_error: 0.578761424623339
+    base_right_marker_pose:
+      angle_rotation_error: 3.1413240586001527
+      euclidean_error: 0.5765411696751308
+    shoulder_marker_pose:
+      angle_rotation_error: 3.076139410642922
+      euclidean_error: 0.5838638175286623
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1043795104787035
+      euclidean_error: 0.5801984630965692
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1019975009781087
+      euclidean_error: 0.5816127812745735
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1112504394494573
+      euclidean_error: 0.578900528956941
+    base_right_marker_pose:
+      angle_rotation_error: 3.134969343769129
+      euclidean_error: 0.5765673748431217
+    shoulder_marker_pose:
+      angle_rotation_error: 3.06750396715566
+      euclidean_error: 0.5838261882823217
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.132067495429024
+      euclidean_error: 0.5804134026754274
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.117846938716745
+      euclidean_error: 0.5815140859223548
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1157129019558765
+      euclidean_error: 0.5787918534515977
+    base_right_marker_pose:
+      angle_rotation_error: 3.14133700884944
+      euclidean_error: 0.5766460883183663
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0787803060764944
+      euclidean_error: 0.5838129912828411
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0936000184832158
+      euclidean_error: 0.5807747078503691
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1397044749888647
+      euclidean_error: 0.5819961291773844
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1000260632882095
+      euclidean_error: 0.5787282111588163
+    base_right_marker_pose:
+      angle_rotation_error: 3.1304245183661545
+      euclidean_error: 0.5762260524631165
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079851066900928
+      euclidean_error: 0.5838026504796971
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.121786327407287
+      euclidean_error: 0.5803814749891164
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.127477727059414
+      euclidean_error: 0.5819034833029194
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101451900888021
+      euclidean_error: 0.5787123498072902
+    base_right_marker_pose:
+      angle_rotation_error: 3.1298860433909637
+      euclidean_error: 0.576620880721471
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0703747777545334
+      euclidean_error: 0.5839594929848875
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1393941469950355
+      euclidean_error: 0.5804514002015229
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0967356544107383
+      euclidean_error: 0.5818873019478056
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1049282104622202
+      euclidean_error: 0.5787115188537029
+    base_right_marker_pose:
+      angle_rotation_error: 3.130385004168823
+      euclidean_error: 0.5765499312594803
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0922789215570656
+      euclidean_error: 0.5838353321033704
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.140581977327659
+      euclidean_error: 0.580385096564482
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0815443507941693
+      euclidean_error: 0.5817110104237796
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1104861212936683
+      euclidean_error: 0.578772338318188
+    base_right_marker_pose:
+      angle_rotation_error: 3.1312451780454773
+      euclidean_error: 0.5765131505053624
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0651303928685723
+      euclidean_error: 0.5837781804306666
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0949731449653477
+      euclidean_error: 0.5806648589416916
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0789848193179084
+      euclidean_error: 0.5819209713826068
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0929712179695668
+      euclidean_error: 0.5787575172093365
+    base_right_marker_pose:
+      angle_rotation_error: 3.132796049375396
+      euclidean_error: 0.5764838937079702
+    shoulder_marker_pose:
+      angle_rotation_error: 3.054217137653592
+      euclidean_error: 0.5836159106241448
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.137976027949632
+      euclidean_error: 0.580484812960313
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.087791763163286
+      euclidean_error: 0.5819554413388416
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101235492143578
+      euclidean_error: 0.5787588569587803
+    base_right_marker_pose:
+      angle_rotation_error: 3.120162493911315
+      euclidean_error: 0.5762447524136282
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067206007021767
+      euclidean_error: 0.5837023614012178
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1114992245570794
+      euclidean_error: 0.5807548402101141
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.094828147596526
+      euclidean_error: 0.5817929264037024
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1066609714508457
+      euclidean_error: 0.5787841281673191
+    base_right_marker_pose:
+      angle_rotation_error: 3.1301255278184823
+      euclidean_error: 0.5765027882315397
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0813627293205537
+      euclidean_error: 0.5839162029702557
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1241140574778825
+      euclidean_error: 0.5802900757802443
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1261495316146704
+      euclidean_error: 0.5816946642434379
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1016810483167307
+      euclidean_error: 0.5788842472877098
+    base_right_marker_pose:
+      angle_rotation_error: 3.136174110110722
+      euclidean_error: 0.5765867187240701
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07274625305736
+      euclidean_error: 0.5838903598016097
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.073626866014922
+      euclidean_error: 0.580550583971602
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1151156316707764
+      euclidean_error: 0.5818725586400131
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0977949465895396
+      euclidean_error: 0.5786536361941524
+    base_right_marker_pose:
+      angle_rotation_error: 3.1354221876417383
+      euclidean_error: 0.5767912232956973
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0736781839009195
+      euclidean_error: 0.583863835116353
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1014936252498417
+      euclidean_error: 0.5801720968403918
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0983873422534747
+      euclidean_error: 0.5819205531059023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0757167925854927
+      euclidean_error: 0.5785791594656086
+    base_right_marker_pose:
+      angle_rotation_error: 3.121437200191367
+      euclidean_error: 0.5765660819668086
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089659461107141
+      euclidean_error: 0.5838980001685198
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1190344960697227
+      euclidean_error: 0.5806986522526003
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.113630090030224
+      euclidean_error: 0.5812864359299033
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088158556090973
+      euclidean_error: 0.5785976177190195
+    base_right_marker_pose:
+      angle_rotation_error: 3.13223430833836
+      euclidean_error: 0.5766080449543807
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0911809601885842
+      euclidean_error: 0.5839229518338106
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0726642274457694
+      euclidean_error: 0.580607411245639
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0802858320258464
+      euclidean_error: 0.5813548631359489
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0951198302499145
+      euclidean_error: 0.5785435860108649
+    base_right_marker_pose:
+      angle_rotation_error: 3.1168824596967593
+      euclidean_error: 0.5765918970161434
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0882106034257353
+      euclidean_error: 0.5839518559385337
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.084306961989183
+      euclidean_error: 0.5808173631210631
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.113955562239918
+      euclidean_error: 0.5814662947047923
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087105817521416
+      euclidean_error: 0.5784339665019307
+    base_right_marker_pose:
+      angle_rotation_error: 3.1381910267069024
+      euclidean_error: 0.5766566390683338
+    shoulder_marker_pose:
+      angle_rotation_error: 3.082231232390563
+      euclidean_error: 0.5837511401861336
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.084483591219665
+      euclidean_error: 0.5805943735251571
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.071566767351262
+      euclidean_error: 0.5811160494461515
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1040656385386023
+      euclidean_error: 0.5784638751778695
+    base_right_marker_pose:
+      angle_rotation_error: 3.114139876081114
+      euclidean_error: 0.5765351738138793
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0910591900549584
+      euclidean_error: 0.5839172921761022
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0702045031943133
+      euclidean_error: 0.5806891828287978
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.038832039107277
+      euclidean_error: 0.5815936833035711
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1016296251772393
+      euclidean_error: 0.5784875024044355
+    base_right_marker_pose:
+      angle_rotation_error: 3.132539934017314
+      euclidean_error: 0.5767071807642287
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1006417475103567
+      euclidean_error: 0.5838209799239933
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.116303120907344
+      euclidean_error: 0.5807060632732265
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.073394498772661
+      euclidean_error: 0.5810734849279496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1004858112098144
+      euclidean_error: 0.5785227225297249
+    base_right_marker_pose:
+      angle_rotation_error: 3.1360704814883857
+      euclidean_error: 0.5766565322007866
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080223880335823
+      euclidean_error: 0.5836649537969413
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.082728934867367
+      euclidean_error: 0.5802572524112718
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1041220428428478
+      euclidean_error: 0.5812417516239179
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.089851516225706
+      euclidean_error: 0.5785028821431846
+    base_right_marker_pose:
+      angle_rotation_error: 3.114969384101673
+      euclidean_error: 0.5764619696457093
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0878538410077856
+      euclidean_error: 0.5838826539606411
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0899951341177094
+      euclidean_error: 0.5807794133392866
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0865376661510333
+      euclidean_error: 0.5813304350696535
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0970593507197344
+      euclidean_error: 0.5785509599352257
+    base_right_marker_pose:
+      angle_rotation_error: 3.123752893670016
+      euclidean_error: 0.5767620232309054
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0929101105727463
+      euclidean_error: 0.583891304826044
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0997932954261644
+      euclidean_error: 0.5805373063893675
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0824230572973295
+      euclidean_error: 0.5813906396817178
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096317724425364
+      euclidean_error: 0.578466485158924
+    base_right_marker_pose:
+      angle_rotation_error: 3.1246383052686078
+      euclidean_error: 0.5765344636174341
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0673588791798814
+      euclidean_error: 0.5837698741070981
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.107611334090247
+      euclidean_error: 0.5806134131743149
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0752392719946124
+      euclidean_error: 0.581632964845274
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08995662108274
+      euclidean_error: 0.5784351830948722
+    base_right_marker_pose:
+      angle_rotation_error: 3.139206313697342
+      euclidean_error: 0.5768407225997495
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089878789173909
+      euclidean_error: 0.5838603529432366
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1178910751800815
+      euclidean_error: 0.5806686458597121
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0597818755694197
+      euclidean_error: 0.5812828767589258
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093497403020793
+      euclidean_error: 0.5785267969089269
+    base_right_marker_pose:
+      angle_rotation_error: 3.129488518198444
+      euclidean_error: 0.5767276651250108
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077396896743062
+      euclidean_error: 0.5838936686226561
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.095153793688663
+      euclidean_error: 0.5806607996866404
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0753527449940585
+      euclidean_error: 0.5815177343736678
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.09178534670855
+      euclidean_error: 0.5785956901925027
+    base_right_marker_pose:
+      angle_rotation_error: 3.1286079066374333
+      euclidean_error: 0.5764688599898553
+    shoulder_marker_pose:
+      angle_rotation_error: 3.087140695298077
+      euclidean_error: 0.5839118687870987
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0969171470059473
+      euclidean_error: 0.5807648069047039
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.07420221633835
+      euclidean_error: 0.581096535282115
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090459432610683
+      euclidean_error: 0.5784586177234452
+    base_right_marker_pose:
+      angle_rotation_error: 3.135643794232654
+      euclidean_error: 0.5766850391348037
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0594787391609874
+      euclidean_error: 0.5837005355244436
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.129788255862508
+      euclidean_error: 0.5808000259537848
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0686294460328574
+      euclidean_error: 0.5812481962222146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091465703006675
+      euclidean_error: 0.5785056501044125
+    base_right_marker_pose:
+      angle_rotation_error: 3.139275808453277
+      euclidean_error: 0.5765894716840393
+    shoulder_marker_pose:
+      angle_rotation_error: 3.065861617577838
+      euclidean_error: 0.5835544111245237
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.103782614517035
+      euclidean_error: 0.5808665621272073
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0957282258912335
+      euclidean_error: 0.5814813899992041
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0994854934407883
+      euclidean_error: 0.5785784712027295
+    base_right_marker_pose:
+      angle_rotation_error: 3.1108874042846804
+      euclidean_error: 0.5766019918041102
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081496399833734
+      euclidean_error: 0.5838650701419963
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0905055184077406
+      euclidean_error: 0.580658830674195
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.056165480228595
+      euclidean_error: 0.5817420188914934
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0929667816958792
+      euclidean_error: 0.5784736947461385
+    base_right_marker_pose:
+      angle_rotation_error: 3.130251411984318
+      euclidean_error: 0.5764774505768218
+    shoulder_marker_pose:
+      angle_rotation_error: 3.082325179853873
+      euclidean_error: 0.5837937682096201
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1058587082665823
+      euclidean_error: 0.5806100670912456
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0828128210751378
+      euclidean_error: 0.5816542675250402
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102289569661751
+      euclidean_error: 0.5784852336602971
+    base_right_marker_pose:
+      angle_rotation_error: 3.130562882886141
+      euclidean_error: 0.5766909151851891
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0660049185014397
+      euclidean_error: 0.5837575439868965
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1144509763127686
+      euclidean_error: 0.5807321243796936
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0578975062571665
+      euclidean_error: 0.58126844267659
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.104175034382693
+      euclidean_error: 0.5785820496509404
+    base_right_marker_pose:
+      angle_rotation_error: 3.119835134761894
+      euclidean_error: 0.5767410200341152
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0781874393090316
+      euclidean_error: 0.5838961701639046
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0991308516115716
+      euclidean_error: 0.5807780429065129
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.101787170002553
+      euclidean_error: 0.5813298924077205
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0925095686216575
+      euclidean_error: 0.5783864014612184
+    base_right_marker_pose:
+      angle_rotation_error: 3.1155193090194873
+      euclidean_error: 0.5764166837793895
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0858026279103683
+      euclidean_error: 0.5838112769417262
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1111697728217145
+      euclidean_error: 0.5809124720251015
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1164025354032936
+      euclidean_error: 0.5811796711702286
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1003096130069845
+      euclidean_error: 0.5786634482077868
+    base_right_marker_pose:
+      angle_rotation_error: 3.1337542374116834
+      euclidean_error: 0.5765929119354939
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0829578629182297
+      euclidean_error: 0.5838884786606953
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.098851099647033
+      euclidean_error: 0.5806831179624599
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1125702722226674
+      euclidean_error: 0.5811106841708553
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0950997202050825
+      euclidean_error: 0.5785462268073213
+    base_right_marker_pose:
+      angle_rotation_error: 3.1401882392553664
+      euclidean_error: 0.5765857031228795
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0966369913548886
+      euclidean_error: 0.5839685547355259
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.117783622994057
+      euclidean_error: 0.5808988722702219
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.104198052527627
+      euclidean_error: 0.5813322757763462
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0918182483362924
+      euclidean_error: 0.5785198085699977
+    base_right_marker_pose:
+      angle_rotation_error: 3.1391501984841796
+      euclidean_error: 0.5768322166398863
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0845710402560114
+      euclidean_error: 0.583879339390416
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0899975479993858
+      euclidean_error: 0.5807591202489734
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1035444430117103
+      euclidean_error: 0.5817530530039737
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102563807267547
+      euclidean_error: 0.5786533528749234
+    base_right_marker_pose:
+      angle_rotation_error: 3.1370099870148187
+      euclidean_error: 0.5765579035612304
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0692370362392283
+      euclidean_error: 0.5837588778982628
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0976144264601477
+      euclidean_error: 0.5808747867790831
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.044050918162114
+      euclidean_error: 0.5815534849550015
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1130750774108304
+      euclidean_error: 0.5787789915848373
+    base_right_marker_pose:
+      angle_rotation_error: 3.1337868945946945
+      euclidean_error: 0.5768085661833399
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0933203127790816
+      euclidean_error: 0.5840114952713036
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1200464905492526
+      euclidean_error: 0.5807961498042667
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0865716232633007
+      euclidean_error: 0.5815743336676893
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1058438958987424
+      euclidean_error: 0.5786577262676394
+    base_right_marker_pose:
+      angle_rotation_error: 3.1347113529415114
+      euclidean_error: 0.5767496890661107
+    shoulder_marker_pose:
+      angle_rotation_error: 3.085533275313442
+      euclidean_error: 0.5839447911130462
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1060840927056037
+      euclidean_error: 0.5805962780161239
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0561234544687568
+      euclidean_error: 0.5816019445484063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1117043485243383
+      euclidean_error: 0.5788698027645223
+    base_right_marker_pose:
+      angle_rotation_error: 3.1383558060967265
+      euclidean_error: 0.5764392840551427
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0873978373422193
+      euclidean_error: 0.5837478738034467
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1179824060888133
+      euclidean_error: 0.5802686583684996
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1297224895110904
+      euclidean_error: 0.5814577587650908
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08359492776328
+      euclidean_error: 0.5785058091184031
+    base_right_marker_pose:
+      angle_rotation_error: 3.1312662572012595
+      euclidean_error: 0.5766029297795218
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0663956796258676
+      euclidean_error: 0.5838079067885921
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.067941148534465
+      euclidean_error: 0.5805727311172676
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.092686158810158
+      euclidean_error: 0.5817437033043475
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1060636934589434
+      euclidean_error: 0.5786302383386392
+    base_right_marker_pose:
+      angle_rotation_error: 3.1333094385950524
+      euclidean_error: 0.5764809663451644
+    shoulder_marker_pose:
+      angle_rotation_error: 3.052402830399011
+      euclidean_error: 0.5837655725918335
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.135706342983556
+      euclidean_error: 0.58052335712645
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0958919299590684
+      euclidean_error: 0.5813056037937946
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0936488682114645
+      euclidean_error: 0.5786663111387226
+    base_right_marker_pose:
+      angle_rotation_error: 3.1148731535205854
+      euclidean_error: 0.5765465085478486
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0571034542772177
+      euclidean_error: 0.5835678974888914
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0837786031458436
+      euclidean_error: 0.5807647319491713
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0522103952194883
+      euclidean_error: 0.5819102801919062
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1012862192331982
+      euclidean_error: 0.5786865817553768
+    base_right_marker_pose:
+      angle_rotation_error: 3.1215005311508572
+      euclidean_error: 0.5765892209082414
+    shoulder_marker_pose:
+      angle_rotation_error: 3.093705688701088
+      euclidean_error: 0.5839549314694916
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1041294134208792
+      euclidean_error: 0.5807122369068567
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0645400710859816
+      euclidean_error: 0.5814799939425613
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1039278314842575
+      euclidean_error: 0.5786385706597912
+    base_right_marker_pose:
+      angle_rotation_error: 3.1296129088570446
+      euclidean_error: 0.5766422036495018
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067748771836046
+      euclidean_error: 0.5838488985646846
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0829340430597454
+      euclidean_error: 0.5805920517408394
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.128159291914712
+      euclidean_error: 0.5816554582879664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1122394548924537
+      euclidean_error: 0.5787056197914502
+    base_right_marker_pose:
+      angle_rotation_error: 3.140521773217523
+      euclidean_error: 0.5765056900251845
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0775435017008883
+      euclidean_error: 0.5839288705155706
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0793708303544998
+      euclidean_error: 0.5806494425583344
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0841630610589736
+      euclidean_error: 0.581716578570353
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.105894291447986
+      euclidean_error: 0.5786199499720779
+    base_right_marker_pose:
+      angle_rotation_error: 3.113483269381022
+      euclidean_error: 0.576744786175838
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084826830906879
+      euclidean_error: 0.5839601733664306
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083182301370352
+      euclidean_error: 0.580656262302096
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1156266200280283
+      euclidean_error: 0.5810876722021163
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091454429105691
+      euclidean_error: 0.57861197365821
+    base_right_marker_pose:
+      angle_rotation_error: 3.136698658304465
+      euclidean_error: 0.5767944890984177
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0916074714403847
+      euclidean_error: 0.5839605112266324
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.128470671717967
+      euclidean_error: 0.5804855522992661
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1055818045976396
+      euclidean_error: 0.5814422898359168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1154133707781373
+      euclidean_error: 0.5787594265580274
+    base_right_marker_pose:
+      angle_rotation_error: 3.1232829993436106
+      euclidean_error: 0.5764790560902245
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0766199767164957
+      euclidean_error: 0.5838483615789689
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.069013779071316
+      euclidean_error: 0.5805701161720225
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.138090954114527
+      euclidean_error: 0.5819032670905467
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.109618379776856
+      euclidean_error: 0.5786728039328747
+    base_right_marker_pose:
+      angle_rotation_error: 3.1199685649255744
+      euclidean_error: 0.5768151726908646
+    shoulder_marker_pose:
+      angle_rotation_error: 3.055517669026468
+      euclidean_error: 0.5837278713218788
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1133964658674924
+      euclidean_error: 0.5805242475661101
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1044489829739486
+      euclidean_error: 0.5814325601754782
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0906436585588333
+      euclidean_error: 0.5785888540936347
+    base_right_marker_pose:
+      angle_rotation_error: 3.135240911311811
+      euclidean_error: 0.5766784271315377
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086548244257165
+      euclidean_error: 0.5839613866480694
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.070374594807776
+      euclidean_error: 0.5807940622712738
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.083513117848129
+      euclidean_error: 0.5817802156805457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.094443996185973
+      euclidean_error: 0.5786067693417315
+    base_right_marker_pose:
+      angle_rotation_error: 3.1277363792694453
+      euclidean_error: 0.5766037020437884
+    shoulder_marker_pose:
+      angle_rotation_error: 3.066340582513761
+      euclidean_error: 0.583884107276473
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1196002976779904
+      euclidean_error: 0.5806941084731969
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.068990462283613
+      euclidean_error: 0.5815064024316965
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0968054990567166
+      euclidean_error: 0.5786131954734627
+    base_right_marker_pose:
+      angle_rotation_error: 3.125540115087389
+      euclidean_error: 0.5767490297308803
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0783928279156068
+      euclidean_error: 0.5838531192569425
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.075243951706307
+      euclidean_error: 0.5805273322907821
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.087422918026421
+      euclidean_error: 0.5816030459543751
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1045526249134037
+      euclidean_error: 0.5787663551552522
+    base_right_marker_pose:
+      angle_rotation_error: 3.1234932134198155
+      euclidean_error: 0.5765957569704926
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089844303708465
+      euclidean_error: 0.583936548121271
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.11522783580834
+      euclidean_error: 0.5806909575502841
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0947859721923665
+      euclidean_error: 0.5815637241712363
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0811716142623027
+      euclidean_error: 0.578575282893512
+    base_right_marker_pose:
+      angle_rotation_error: 3.126651363308819
+      euclidean_error: 0.5765953101147667
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0721900195366545
+      euclidean_error: 0.583822974338742
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0844517870519086
+      euclidean_error: 0.5807781354856828
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0745354086689334
+      euclidean_error: 0.5815294749671878
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1063304823230578
+      euclidean_error: 0.5786759338844769
+    base_right_marker_pose:
+      angle_rotation_error: 3.131859125349904
+      euclidean_error: 0.5766780606147207
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0708348769689775
+      euclidean_error: 0.5837943562765655
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1181306748435764
+      euclidean_error: 0.5803068144252845
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0540888468437175
+      euclidean_error: 0.5815411670817074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1055458691831705
+      euclidean_error: 0.5787047714567936
+    base_right_marker_pose:
+      angle_rotation_error: 3.13149006786788
+      euclidean_error: 0.5765114629254906
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0930882940219124
+      euclidean_error: 0.5838598883253912
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0984750017151583
+      euclidean_error: 0.5807677734955885
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.112019313973464
+      euclidean_error: 0.58111569412519
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08435343900838
+      euclidean_error: 0.5784729545667211
+    base_right_marker_pose:
+      angle_rotation_error: 3.1159142659501686
+      euclidean_error: 0.5765971337921878
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0898289760982305
+      euclidean_error: 0.5839303641816086
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.122474981522084
+      euclidean_error: 0.5804312765690207
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0678583907432206
+      euclidean_error: 0.5814496334448791
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08180638330404
+      euclidean_error: 0.5785889113582094
+    base_right_marker_pose:
+      angle_rotation_error: 3.1402055234101325
+      euclidean_error: 0.5764867357098312
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063772890512357
+      euclidean_error: 0.5836810472952192
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0913385127605
+      euclidean_error: 0.5806552487043577
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1320447715248645
+      euclidean_error: 0.581546001275865
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1034875936629085
+      euclidean_error: 0.5787085153827515
+    base_right_marker_pose:
+      angle_rotation_error: 3.139642170295144
+      euclidean_error: 0.5767902436319527
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0578522820334584
+      euclidean_error: 0.5837358018793568
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.092208370681414
+      euclidean_error: 0.5808878948152433
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0983211738869594
+      euclidean_error: 0.5814977269659267
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.099114332890629
+      euclidean_error: 0.5785959315745536
+    base_right_marker_pose:
+      angle_rotation_error: 3.137917763512072
+      euclidean_error: 0.5765497512215255
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077995331581113
+      euclidean_error: 0.5838066650381497
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1003059634044043
+      euclidean_error: 0.5806166595003395
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130322874541903
+      euclidean_error: 0.5816946980332615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1016714340072773
+      euclidean_error: 0.5787095691257774
+    base_right_marker_pose:
+      angle_rotation_error: 3.13829042524541
+      euclidean_error: 0.576752421002522
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0613434004618996
+      euclidean_error: 0.5837691215295114
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1271574421673276
+      euclidean_error: 0.5806712174021131
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.090686542833272
+      euclidean_error: 0.5814044482973784
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092840639916799
+      euclidean_error: 0.578571549239279
+    base_right_marker_pose:
+      angle_rotation_error: 3.1408695298257205
+      euclidean_error: 0.5767443224293157
+    shoulder_marker_pose:
+      angle_rotation_error: 3.082386811371663
+      euclidean_error: 0.5838684660869704
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1071761585381594
+      euclidean_error: 0.580640014795462
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1274931137350896
+      euclidean_error: 0.5814101005480773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.097384240747826
+      euclidean_error: 0.5786371288736463
+    base_right_marker_pose:
+      angle_rotation_error: 3.1372749854680415
+      euclidean_error: 0.5765356165158222
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0757251927605314
+      euclidean_error: 0.5838815548142243
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0757147942630056
+      euclidean_error: 0.5806015683483209
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0763653638465933
+      euclidean_error: 0.5814118325744534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.094686330786099
+      euclidean_error: 0.578468806912546
+    base_right_marker_pose:
+      angle_rotation_error: 3.136820484150494
+      euclidean_error: 0.5766088323241423
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0762946185788085
+      euclidean_error: 0.5837708677369168
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.077179920365648
+      euclidean_error: 0.5806254006956684
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.119555317437188
+      euclidean_error: 0.5815338307515807
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0912559098353127
+      euclidean_error: 0.5785725999825827
+    base_right_marker_pose:
+      angle_rotation_error: 3.135627848597829
+      euclidean_error: 0.5767516045700609
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084592725395498
+      euclidean_error: 0.583981862924716
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.112506832164495
+      euclidean_error: 0.5806775280952742
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1019823828995934
+      euclidean_error: 0.5815111210940468
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090012018743067
+      euclidean_error: 0.5784756356240315
+    base_right_marker_pose:
+      angle_rotation_error: 3.1110334278668406
+      euclidean_error: 0.5765973352598396
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0733281775571997
+      euclidean_error: 0.583836263693252
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.139473773535916
+      euclidean_error: 0.5804158114680817
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0883489860919813
+      euclidean_error: 0.5812712361989135
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.083697593239116
+      euclidean_error: 0.5786147358472844
+    base_right_marker_pose:
+      angle_rotation_error: 3.1321237175628527
+      euclidean_error: 0.5764828617377119
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079114845709324
+      euclidean_error: 0.5838486204817666
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1002356516174174
+      euclidean_error: 0.58075373272032
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1231864508613794
+      euclidean_error: 0.5816646843895298
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.117253791472155
+      euclidean_error: 0.5787721502770853
+    base_right_marker_pose:
+      angle_rotation_error: 3.1278012039049625
+      euclidean_error: 0.5766106184688368
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0858175551343927
+      euclidean_error: 0.5838557957362565
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0846779573232412
+      euclidean_error: 0.5805172086061936
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.129042756487319
+      euclidean_error: 0.5816509845948378
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.076640946892151
+      euclidean_error: 0.5784828474227756
+    base_right_marker_pose:
+      angle_rotation_error: 3.1277708998906344
+      euclidean_error: 0.5766753602351792
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0667709843500353
+      euclidean_error: 0.583871963553837
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1112362605337207
+      euclidean_error: 0.5805249205621409
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.083096178661851
+      euclidean_error: 0.5815235731498806
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0951802596737092
+      euclidean_error: 0.5786599218785277
+    base_right_marker_pose:
+      angle_rotation_error: 3.125860784778996
+      euclidean_error: 0.5767385561831654
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079855146383571
+      euclidean_error: 0.5838645995220069
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0893267739689407
+      euclidean_error: 0.5804085643983401
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0845325147365648
+      euclidean_error: 0.5813971486194953
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.097769416535306
+      euclidean_error: 0.5785673649563842
+    base_right_marker_pose:
+      angle_rotation_error: 3.1038254434216057
+      euclidean_error: 0.5765367963138079
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075067352229632
+      euclidean_error: 0.583841786353476
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0899215166269376
+      euclidean_error: 0.5807382846130216
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.070139226824127
+      euclidean_error: 0.581497753337381
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.09675926562717
+      euclidean_error: 0.5785666191741557
+    base_right_marker_pose:
+      angle_rotation_error: 3.1247766079111567
+      euclidean_error: 0.5765584599892815
+    shoulder_marker_pose:
+      angle_rotation_error: 3.090031863956741
+      euclidean_error: 0.5839673159277358
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1159066623694662
+      euclidean_error: 0.5806065798289508
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.11866353254925
+      euclidean_error: 0.581614058629932
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0887927581052623
+      euclidean_error: 0.5785599989847456
+    base_right_marker_pose:
+      angle_rotation_error: 3.133241626059637
+      euclidean_error: 0.5766796063500708
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0750280688700435
+      euclidean_error: 0.5838659528455324
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0902624238722654
+      euclidean_error: 0.5807944002010748
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1039310805973335
+      euclidean_error: 0.5812901079139091
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095914986717411
+      euclidean_error: 0.5785384571264233
+    base_right_marker_pose:
+      angle_rotation_error: 3.124299901713945
+      euclidean_error: 0.5768387586870625
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0857796813797282
+      euclidean_error: 0.5841755924455108
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090651190931972
+      euclidean_error: 0.5808720430127635
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0569297531936943
+      euclidean_error: 0.5814982131216874
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0983945193985707
+      euclidean_error: 0.5785464777431353
+    base_right_marker_pose:
+      angle_rotation_error: 3.1397183004942195
+      euclidean_error: 0.5765207311673732
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0840452117588693
+      euclidean_error: 0.5839326062925076
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0799476105350387
+      euclidean_error: 0.5807261297974936
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.058026487126528
+      euclidean_error: 0.5818211629209656
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0841888951650147
+      euclidean_error: 0.5785971417659929
+    base_right_marker_pose:
+      angle_rotation_error: 3.1405957145568517
+      euclidean_error: 0.5766173826769558
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0892213950463097
+      euclidean_error: 0.5839384636943368
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083146780192024
+      euclidean_error: 0.5805762511249222
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1300810033911337
+      euclidean_error: 0.5814643698649552
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1057251663178875
+      euclidean_error: 0.5786784934862585
+    base_right_marker_pose:
+      angle_rotation_error: 3.1290026212242474
+      euclidean_error: 0.576656209126889
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0891124551642486
+      euclidean_error: 0.5838382366633598
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1120565120288046
+      euclidean_error: 0.580615145978613
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.13090071175433
+      euclidean_error: 0.5815727144848822
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101371715740986
+      euclidean_error: 0.5786959079460472
+    base_right_marker_pose:
+      angle_rotation_error: 3.138072260885553
+      euclidean_error: 0.5767942213842198
+    shoulder_marker_pose:
+      angle_rotation_error: 3.065870391482437
+      euclidean_error: 0.5839533807142843
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0775521723059955
+      euclidean_error: 0.5806045915873195
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0969952533704923
+      euclidean_error: 0.5817671814890305
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096577004095006
+      euclidean_error: 0.5786092140551082
+    base_right_marker_pose:
+      angle_rotation_error: 3.137759775992317
+      euclidean_error: 0.5766563096879581
+    shoulder_marker_pose:
+      angle_rotation_error: 3.076113494330372
+      euclidean_error: 0.58395833093959
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1215387514092567
+      euclidean_error: 0.5806522942840507
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0898957225293757
+      euclidean_error: 0.5817008628834781
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.107165851649843
+      euclidean_error: 0.5787354726641704
+    base_right_marker_pose:
+      angle_rotation_error: 3.1308840085872194
+      euclidean_error: 0.5768075687700949
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0887695505041095
+      euclidean_error: 0.5839722280555084
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.109109028678116
+      euclidean_error: 0.5806929006331871
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.099083393505374
+      euclidean_error: 0.5814781491198643
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.10081165437145
+      euclidean_error: 0.5787081848547075
+    base_right_marker_pose:
+      angle_rotation_error: 3.1230584760191653
+      euclidean_error: 0.576926218003353
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0775674469621412
+      euclidean_error: 0.5839681281645208
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0973774599764083
+      euclidean_error: 0.5808964498453123
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.082623798965419
+      euclidean_error: 0.5817078917090573
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1055703950754134
+      euclidean_error: 0.57852984393179
+    base_right_marker_pose:
+      angle_rotation_error: 3.1264857555601555
+      euclidean_error: 0.576716539595741
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0889584804159766
+      euclidean_error: 0.584052574509467
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.086540251473814
+      euclidean_error: 0.5808161038049557
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.074967778044275
+      euclidean_error: 0.5818985186113353
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092082054579771
+      euclidean_error: 0.5784616460626838
+    base_right_marker_pose:
+      angle_rotation_error: 3.136568717459866
+      euclidean_error: 0.5767318348282646
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072321194351959
+      euclidean_error: 0.5839061254672722
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1010040385273947
+      euclidean_error: 0.5808530299137973
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.088453892780868
+      euclidean_error: 0.5814015452835017
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.106764469030685
+      euclidean_error: 0.5786635817984557
+    base_right_marker_pose:
+      angle_rotation_error: 3.1249693623540384
+      euclidean_error: 0.5768403746488793
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0640791077591394
+      euclidean_error: 0.5839320686212537
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0928548293875107
+      euclidean_error: 0.5806499605376054
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.112959955440967
+      euclidean_error: 0.5817505733815491
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0922051624543685
+      euclidean_error: 0.5785334812258591
+    base_right_marker_pose:
+      angle_rotation_error: 3.1304354036925024
+      euclidean_error: 0.5766845928957629
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0902024496589178
+      euclidean_error: 0.5838074305758524
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083469560143774
+      euclidean_error: 0.5806450554337863
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130876785911803
+      euclidean_error: 0.5814917569453387
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0793720977313024
+      euclidean_error: 0.5786282166416009
+    base_right_marker_pose:
+      angle_rotation_error: 3.1280798906507634
+      euclidean_error: 0.5767942164792631
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0791785310960513
+      euclidean_error: 0.5838505036128508
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1154299450313143
+      euclidean_error: 0.5803762132228009
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.069778930312142
+      euclidean_error: 0.5814915563112787
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1075192403277088
+      euclidean_error: 0.5786555847318035
+    base_right_marker_pose:
+      angle_rotation_error: 3.12660109939897
+      euclidean_error: 0.5769325723448979
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0577537179576875
+      euclidean_error: 0.5837378609405868
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0876609384876157
+      euclidean_error: 0.5807904544569727
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1174370827690048
+      euclidean_error: 0.5817244088361444
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0982781752878177
+      euclidean_error: 0.5785318393195857
+    base_right_marker_pose:
+      angle_rotation_error: 3.12674494091827
+      euclidean_error: 0.5767435001669022
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0871113540447785
+      euclidean_error: 0.5838386900302017
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0948002553158998
+      euclidean_error: 0.5804954939483864
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.089691542251892
+      euclidean_error: 0.5813374410110828
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091967404280361
+      euclidean_error: 0.5785711057248698
+    base_right_marker_pose:
+      angle_rotation_error: 3.1357070336412174
+      euclidean_error: 0.5764999287425219
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1005031386497937
+      euclidean_error: 0.5838838185999728
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1056744272817367
+      euclidean_error: 0.5804899765185243
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0962489428052624
+      euclidean_error: 0.5811722137723674
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0983118292383347
+      euclidean_error: 0.5786334229066821
+    base_right_marker_pose:
+      angle_rotation_error: 3.109495926812158
+      euclidean_error: 0.5765708643665273
+    shoulder_marker_pose:
+      angle_rotation_error: 3.08200419181458
+      euclidean_error: 0.5839123024486567
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.091943388858404
+      euclidean_error: 0.5806242388870216
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.116668646195056
+      euclidean_error: 0.5811469987709368
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.10388405351173
+      euclidean_error: 0.5786025879221084
+    base_right_marker_pose:
+      angle_rotation_error: 3.1332200509398733
+      euclidean_error: 0.5767538521251956
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084759249873397
+      euclidean_error: 0.5839132206114104
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.107373359937841
+      euclidean_error: 0.5805932283047152
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1372972691836423
+      euclidean_error: 0.5811869941574263
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0916061666169172
+      euclidean_error: 0.5784594964585863
+    base_right_marker_pose:
+      angle_rotation_error: 3.133069186210095
+      euclidean_error: 0.5767067680868303
+    shoulder_marker_pose:
+      angle_rotation_error: 3.100595358395557
+      euclidean_error: 0.5838778201124218
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.115853921857433
+      euclidean_error: 0.5806977609714757
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0885455212842636
+      euclidean_error: 0.5817830494098402
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101159958351213
+      euclidean_error: 0.578665690276577
+    base_right_marker_pose:
+      angle_rotation_error: 3.12833287499649
+      euclidean_error: 0.5768842809753729
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081204400207299
+      euclidean_error: 0.5839257239636251
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1169948535576224
+      euclidean_error: 0.5808193926902023
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.085131142103527
+      euclidean_error: 0.5813741464394531
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096393867048214
+      euclidean_error: 0.5787059425899654
+    base_right_marker_pose:
+      angle_rotation_error: 3.1395978584347546
+      euclidean_error: 0.5769551474774003
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0853888259102487
+      euclidean_error: 0.5839606723999877
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0961218926663676
+      euclidean_error: 0.5804803371970891
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.112784305744292
+      euclidean_error: 0.5815711974536516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.085045486335064
+      euclidean_error: 0.5786173578157356
+    base_right_marker_pose:
+      angle_rotation_error: 3.135656626596693
+      euclidean_error: 0.576635997320864
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0945429447729857
+      euclidean_error: 0.5838476710056802
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1122268696502045
+      euclidean_error: 0.5807290208569755
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.08290896756319
+      euclidean_error: 0.5813192705548643
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0927417792030054
+      euclidean_error: 0.5785475223492142
+    base_right_marker_pose:
+      angle_rotation_error: 3.1326514946894304
+      euclidean_error: 0.5767336273526709
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1022323080370415
+      euclidean_error: 0.5840648862310507
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0790533982468506
+      euclidean_error: 0.5805208227235051
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0972572160377223
+      euclidean_error: 0.5814155375713845
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.106968053032928
+      euclidean_error: 0.5787196829918573
+    base_right_marker_pose:
+      angle_rotation_error: 3.1226497002619484
+      euclidean_error: 0.5766614669697022
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0779097430032056
+      euclidean_error: 0.5839284382272952
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1213491350582774
+      euclidean_error: 0.5804610563342323
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1372454328073096
+      euclidean_error: 0.5812122762717045
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091810555315857
+      euclidean_error: 0.5786184673080607
+    base_right_marker_pose:
+      angle_rotation_error: 3.1210643988966233
+      euclidean_error: 0.5767225148117407
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079570988832456
+      euclidean_error: 0.5839113713102647
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090301980937724
+      euclidean_error: 0.5808196420676984
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1089629493944835
+      euclidean_error: 0.5819671719452963
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.099630837734866
+      euclidean_error: 0.5787594951738553
+    base_right_marker_pose:
+      angle_rotation_error: 3.1352017686358176
+      euclidean_error: 0.5767645170107215
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0704349058880003
+      euclidean_error: 0.5838276567914241
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0739583355879754
+      euclidean_error: 0.5805311887365028
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.101329478980316
+      euclidean_error: 0.5813909362348131
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102406524506692
+      euclidean_error: 0.578589983812208
+    base_right_marker_pose:
+      angle_rotation_error: 3.131032422847796
+      euclidean_error: 0.576853736068598
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0840582845534334
+      euclidean_error: 0.5839803226121566
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.089430473113856
+      euclidean_error: 0.5806107889281356
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.114990504239514
+      euclidean_error: 0.581228387413987
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0883149792040805
+      euclidean_error: 0.5785171459224455
+    base_right_marker_pose:
+      angle_rotation_error: 3.1158528770922334
+      euclidean_error: 0.5766717976442838
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0758849037543845
+      euclidean_error: 0.5840291311217847
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0902964926214933
+      euclidean_error: 0.5803590330421456
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.091878351315965
+      euclidean_error: 0.5811439810633092
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.108910760185694
+      euclidean_error: 0.5786113214115041
+    base_right_marker_pose:
+      angle_rotation_error: 3.1346487890167363
+      euclidean_error: 0.5768222592255731
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0736784691954955
+      euclidean_error: 0.5838157016429706
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1312842911304384
+      euclidean_error: 0.5807860468525929
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0931375611799385
+      euclidean_error: 0.5814704002955691
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084313594019655
+      euclidean_error: 0.5786823267566679
+    base_right_marker_pose:
+      angle_rotation_error: 3.1390992182991364
+      euclidean_error: 0.5767227490482867
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0808218254905815
+      euclidean_error: 0.5840700473117159
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.098713203035862
+      euclidean_error: 0.5805445605752899
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.110185383130869
+      euclidean_error: 0.5813216072961207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1099800361871712
+      euclidean_error: 0.578618317411031
+    base_right_marker_pose:
+      angle_rotation_error: 3.13568194303367
+      euclidean_error: 0.5768970984265026
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0888693580615194
+      euclidean_error: 0.5839242760011916
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0880428679195346
+      euclidean_error: 0.5803155108911132
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0884380903364943
+      euclidean_error: 0.5815678730352181
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.099443429801089
+      euclidean_error: 0.5787088156319714
+    base_right_marker_pose:
+      angle_rotation_error: 3.1304103389933853
+      euclidean_error: 0.5766430766160195
+    shoulder_marker_pose:
+      angle_rotation_error: 3.06545939379521
+      euclidean_error: 0.5837494857837874
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088602436311131
+      euclidean_error: 0.5805135583265172
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0822766829325987
+      euclidean_error: 0.5817406258917482
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0857292654961954
+      euclidean_error: 0.578553726145739
+    base_right_marker_pose:
+      angle_rotation_error: 3.1147738431220082
+      euclidean_error: 0.5768877884896968
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077406839506093
+      euclidean_error: 0.5838450802183264
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.101111255842225
+      euclidean_error: 0.5807713481329035
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1217198111404567
+      euclidean_error: 0.581629363910363
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093826944934446
+      euclidean_error: 0.5785119988362779
+    base_right_marker_pose:
+      angle_rotation_error: 3.126265849570824
+      euclidean_error: 0.5766375756946497
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0767455997812863
+      euclidean_error: 0.5838625483092336
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.104271897671112
+      euclidean_error: 0.5805870195610869
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.116292513238484
+      euclidean_error: 0.5815422432497259
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0955763399879617
+      euclidean_error: 0.5787129514068073
+    base_right_marker_pose:
+      angle_rotation_error: 3.1218595763368833
+      euclidean_error: 0.5767656454510425
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081391413577377
+      euclidean_error: 0.5839354512700625
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.075278395050286
+      euclidean_error: 0.5806836553971363
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.103899552789518
+      euclidean_error: 0.5817840461664869
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0869252401816416
+      euclidean_error: 0.5785342171720728
+    base_right_marker_pose:
+      angle_rotation_error: 3.136549556028134
+      euclidean_error: 0.5768200974672151
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0822186675942085
+      euclidean_error: 0.5838773340365154
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0811239027173047
+      euclidean_error: 0.5806330269411578
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1084103822879476
+      euclidean_error: 0.5811875662644319
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0783739483466945
+      euclidean_error: 0.5785339910223389
+    base_right_marker_pose:
+      angle_rotation_error: 3.139463444975294
+      euclidean_error: 0.5768566685490739
+    shoulder_marker_pose:
+      angle_rotation_error: 3.076965619061343
+      euclidean_error: 0.5840550192886333
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1256221501563153
+      euclidean_error: 0.5806848267797925
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0804497357299985
+      euclidean_error: 0.581373872786141
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.097817425830069
+      euclidean_error: 0.5786366438891798
+    base_right_marker_pose:
+      angle_rotation_error: 3.1294319036595017
+      euclidean_error: 0.577041728033947
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089347016648351
+      euclidean_error: 0.5839931590698735
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.109531929556924
+      euclidean_error: 0.5808320450567954
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0989489595486446
+      euclidean_error: 0.5817155778280179
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086452287185506
+      euclidean_error: 0.5786072742904053
+    base_right_marker_pose:
+      angle_rotation_error: 3.138989066988175
+      euclidean_error: 0.5766273803814363
+    shoulder_marker_pose:
+      angle_rotation_error: 3.066932266289539
+      euclidean_error: 0.5838482400599518
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1051976109559813
+      euclidean_error: 0.5806095781065918
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0897551916732984
+      euclidean_error: 0.5812685802084444
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088874165203375
+      euclidean_error: 0.578541251471494
+    base_right_marker_pose:
+      angle_rotation_error: 3.1331541878614866
+      euclidean_error: 0.5768296895307569
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0789433021804125
+      euclidean_error: 0.5839582256710315
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0949552005257868
+      euclidean_error: 0.5807730701211218
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1178075725328305
+      euclidean_error: 0.5817103927130954
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095043117357927
+      euclidean_error: 0.5785149655538765
+    base_right_marker_pose:
+      angle_rotation_error: 3.136887824758221
+      euclidean_error: 0.5768374677074276
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084461532960845
+      euclidean_error: 0.5838504128940963
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.084183295745944
+      euclidean_error: 0.5806898975035174
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1223121738435187
+      euclidean_error: 0.5815239261243876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0795058524591834
+      euclidean_error: 0.5785887996620208
+    base_right_marker_pose:
+      angle_rotation_error: 3.1251322977228524
+      euclidean_error: 0.576782492613552
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0999289063009487
+      euclidean_error: 0.5839251546168516
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.100160742605318
+      euclidean_error: 0.5803688390287406
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1036070143973182
+      euclidean_error: 0.5815899158740897
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081798530501798
+      euclidean_error: 0.5786304937115017
+    base_right_marker_pose:
+      angle_rotation_error: 3.1354058025365705
+      euclidean_error: 0.5767490263262743
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0746059820833245
+      euclidean_error: 0.5839048369814966
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0915211783905847
+      euclidean_error: 0.5805007100513325
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.064581421050885
+      euclidean_error: 0.5819300928961035
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0925727826481206
+      euclidean_error: 0.5787236416962718
+    base_right_marker_pose:
+      angle_rotation_error: 3.141237909834524
+      euclidean_error: 0.576841328255297
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0965473849544636
+      euclidean_error: 0.5839881005804121
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0709669780360764
+      euclidean_error: 0.5804200244532667
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1231854597626802
+      euclidean_error: 0.5812965091529865
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0850634824662317
+      euclidean_error: 0.5785396949235209
+    base_right_marker_pose:
+      angle_rotation_error: 3.1345392960938674
+      euclidean_error: 0.5768978237000939
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069201749360264
+      euclidean_error: 0.5839508576646678
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0952043570418364
+      euclidean_error: 0.5806534908941267
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.098774067459092
+      euclidean_error: 0.5812279722492485
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095587554414357
+      euclidean_error: 0.5785800907276492
+    base_right_marker_pose:
+      angle_rotation_error: 3.131420672441148
+      euclidean_error: 0.5768632952180517
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088507947084454
+      euclidean_error: 0.5840018272873293
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0960263981595837
+      euclidean_error: 0.5808062050682862
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.123643831747966
+      euclidean_error: 0.5808422946303934
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092178740787017
+      euclidean_error: 0.5786567287161347
+    base_right_marker_pose:
+      angle_rotation_error: 3.138259892135605
+      euclidean_error: 0.5767972834953711
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0940205344387977
+      euclidean_error: 0.5839773069577836
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.099959118146797
+      euclidean_error: 0.5803413443088103
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.108912643875784
+      euclidean_error: 0.581201517834898
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.082417222648451
+      euclidean_error: 0.5785538004010111
+    base_right_marker_pose:
+      angle_rotation_error: 3.14051848770656
+      euclidean_error: 0.5766575453512486
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0737186809599577
+      euclidean_error: 0.5837439095211846
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1032043048684725
+      euclidean_error: 0.5805108235755805
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0812905170917864
+      euclidean_error: 0.5813746017174486
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0825074759150453
+      euclidean_error: 0.578419036504085
+    base_right_marker_pose:
+      angle_rotation_error: 3.126756077454906
+      euclidean_error: 0.5768726106870261
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1053283950294444
+      euclidean_error: 0.5840658165500837
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.074137204582872
+      euclidean_error: 0.5805308151978872
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0929368310955585
+      euclidean_error: 0.5813252922600542
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.082022060271723
+      euclidean_error: 0.5785130580566333
+    base_right_marker_pose:
+      angle_rotation_error: 3.1369540379686556
+      euclidean_error: 0.5769469749747856
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0719669113904304
+      euclidean_error: 0.5837683000860576
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0875176411312006
+      euclidean_error: 0.5806686994702487
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.13567078649943
+      euclidean_error: 0.5817342784182146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084908392565241
+      euclidean_error: 0.5785955247121469
+    base_right_marker_pose:
+      angle_rotation_error: 3.1400033746085607
+      euclidean_error: 0.5767759955035004
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0687316501886146
+      euclidean_error: 0.5838377643694055
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0977326467743254
+      euclidean_error: 0.5807142608251101
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.090344681626085
+      euclidean_error: 0.5817474383093121
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1123834109624378
+      euclidean_error: 0.5786825535182636
+    base_right_marker_pose:
+      angle_rotation_error: 3.110118937081019
+      euclidean_error: 0.5764369266836106
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088085805519851
+      euclidean_error: 0.5839497318744853
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1163221691309806
+      euclidean_error: 0.58065264151602
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0786556520702826
+      euclidean_error: 0.5817864075852465
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1047771917343874
+      euclidean_error: 0.578710965422387
+    base_right_marker_pose:
+      angle_rotation_error: 3.1366286745075858
+      euclidean_error: 0.5769748465301922
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0838852845458846
+      euclidean_error: 0.5838338726893147
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.105976746212661
+      euclidean_error: 0.5806133408215625
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1269841493516055
+      euclidean_error: 0.5814667066791489
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0929514291092017
+      euclidean_error: 0.5785257807376275
+    base_right_marker_pose:
+      angle_rotation_error: 3.133792234369322
+      euclidean_error: 0.5767673807688108
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081188525280149
+      euclidean_error: 0.5837310715681252
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.101167398566103
+      euclidean_error: 0.5804631334029713
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1343850835127145
+      euclidean_error: 0.5813288918470852
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0882933369251715
+      euclidean_error: 0.578594645761132
+    base_right_marker_pose:
+      angle_rotation_error: 3.1325591373019557
+      euclidean_error: 0.5765543838613274
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0760684672215475
+      euclidean_error: 0.5838821332873173
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1016210456638005
+      euclidean_error: 0.5804594576872298
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1146310437411686
+      euclidean_error: 0.581598126895957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0898898248997435
+      euclidean_error: 0.57854776697613
+    base_right_marker_pose:
+      angle_rotation_error: 3.1326740775192543
+      euclidean_error: 0.576756477178168
+    shoulder_marker_pose:
+      angle_rotation_error: 3.070867009134218
+      euclidean_error: 0.5840522725583079
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0819265703354715
+      euclidean_error: 0.5807281432383821
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1015366411296927
+      euclidean_error: 0.5816900783399999
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0918370717794468
+      euclidean_error: 0.5787245919436628
+    base_right_marker_pose:
+      angle_rotation_error: 3.129988360150398
+      euclidean_error: 0.5767814767919641
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072777229055842
+      euclidean_error: 0.5837796031156662
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.105084526129484
+      euclidean_error: 0.5807939325186038
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.085162135292435
+      euclidean_error: 0.5816945483105564
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1258228069143574
+      euclidean_error: 0.5787055925745879
+    base_right_marker_pose:
+      angle_rotation_error: 3.124641857110592
+      euclidean_error: 0.5767655842486504
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0645873537694652
+      euclidean_error: 0.5839684048420193
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.117088312862155
+      euclidean_error: 0.5807110338608554
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.121558915883366
+      euclidean_error: 0.5817529489857047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.094032373029916
+      euclidean_error: 0.5786532738273726
+    base_right_marker_pose:
+      angle_rotation_error: 3.1353061972225564
+      euclidean_error: 0.5767839290264275
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0663840824961826
+      euclidean_error: 0.5837254333396602
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0788744415811133
+      euclidean_error: 0.5805654368655792
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0778881387364403
+      euclidean_error: 0.5814661417493552
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092069820862848
+      euclidean_error: 0.5786408620020269
+    base_right_marker_pose:
+      angle_rotation_error: 3.115847408035602
+      euclidean_error: 0.576633515938499
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0866255360459975
+      euclidean_error: 0.5838887436531338
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0921021396829125
+      euclidean_error: 0.5805487098538546
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0633337976971684
+      euclidean_error: 0.5815190266832932
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.108268627419916
+      euclidean_error: 0.5786494240251007
+    base_right_marker_pose:
+      angle_rotation_error: 3.1413605171161705
+      euclidean_error: 0.5772321386566043
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0878964954333696
+      euclidean_error: 0.5839169108600964
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.104451682427609
+      euclidean_error: 0.5806960014607726
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.105086294734485
+      euclidean_error: 0.5816366226352412
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.097470347192633
+      euclidean_error: 0.5787187108244736
+    base_right_marker_pose:
+      angle_rotation_error: 3.141154231853597
+      euclidean_error: 0.5768417474681861
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063066533749148
+      euclidean_error: 0.5838018716858017
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.114507874913693
+      euclidean_error: 0.5805725426248656
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1396504694373983
+      euclidean_error: 0.5811251900733064
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088137431962554
+      euclidean_error: 0.5785978902840692
+    base_right_marker_pose:
+      angle_rotation_error: 3.128861131607312
+      euclidean_error: 0.5767115040292339
+    shoulder_marker_pose:
+      angle_rotation_error: 3.071873440640702
+      euclidean_error: 0.5839697722417347
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.06885080791805
+      euclidean_error: 0.5805531854388147
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1170480202242485
+      euclidean_error: 0.5813755075645843
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081055589432816
+      euclidean_error: 0.5785711765927641
+    base_right_marker_pose:
+      angle_rotation_error: 3.135208889742947
+      euclidean_error: 0.5768830466730616
+    shoulder_marker_pose:
+      angle_rotation_error: 3.082909730849416
+      euclidean_error: 0.5839437776180268
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0590875651763794
+      euclidean_error: 0.5805574508219239
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0838589830607988
+      euclidean_error: 0.5816472842590337
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0992287014634194
+      euclidean_error: 0.578609304963243
+    base_right_marker_pose:
+      angle_rotation_error: 3.137880873016416
+      euclidean_error: 0.5767030095081692
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0633966100951193
+      euclidean_error: 0.583935358519488
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0599623561077247
+      euclidean_error: 0.5805922338499274
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0910369322173645
+      euclidean_error: 0.5810766884268148
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1097732485210132
+      euclidean_error: 0.5785218088316159
+    base_right_marker_pose:
+      angle_rotation_error: 3.12675373748048
+      euclidean_error: 0.5766944377958682
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0581330463308456
+      euclidean_error: 0.5837509819006419
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090938346073834
+      euclidean_error: 0.5805520049790297
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1145670189015666
+      euclidean_error: 0.5816085163711819
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0843961895044174
+      euclidean_error: 0.5785806025869895
+    base_right_marker_pose:
+      angle_rotation_error: 3.1301464437038273
+      euclidean_error: 0.5766363904528115
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1043182529397173
+      euclidean_error: 0.5838939840548273
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0893350377218964
+      euclidean_error: 0.5806954447788919
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1318829040417837
+      euclidean_error: 0.5815162249651886
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0843431339303535
+      euclidean_error: 0.578563292392166
+    base_right_marker_pose:
+      angle_rotation_error: 3.1345468079665766
+      euclidean_error: 0.5768611040192563
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0941339462718624
+      euclidean_error: 0.5839001191081127
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0806775443466687
+      euclidean_error: 0.5805385765219692
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1060469492543747
+      euclidean_error: 0.5815713114951202
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101149325009477
+      euclidean_error: 0.5786012281494766
+    base_right_marker_pose:
+      angle_rotation_error: 3.127192041275312
+      euclidean_error: 0.5767891558694844
+    shoulder_marker_pose:
+      angle_rotation_error: 3.068540183015321
+      euclidean_error: 0.5837557372602487
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0891988496006473
+      euclidean_error: 0.5806939998743268
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1368511070703695
+      euclidean_error: 0.5817843677979817
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1078245595631233
+      euclidean_error: 0.5787163976766745
+    base_right_marker_pose:
+      angle_rotation_error: 3.1161994265611925
+      euclidean_error: 0.5769516193887765
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081151743303994
+      euclidean_error: 0.5839383672847795
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1056640319974194
+      euclidean_error: 0.5807158424904497
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1061574668499357
+      euclidean_error: 0.5814577780466692
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0996566656831925
+      euclidean_error: 0.5786709075805607
+    base_right_marker_pose:
+      angle_rotation_error: 3.1402265766933497
+      euclidean_error: 0.5769201904200282
+    shoulder_marker_pose:
+      angle_rotation_error: 3.058167988497118
+      euclidean_error: 0.58371878719428
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.082550733240588
+      euclidean_error: 0.5807492082637705
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.135205375883182
+      euclidean_error: 0.5814891921108616
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.094598406245467
+      euclidean_error: 0.5785609440636105
+    base_right_marker_pose:
+      angle_rotation_error: 3.120204123694089
+      euclidean_error: 0.5767862853952962
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0776029310436566
+      euclidean_error: 0.58395190501566
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0869693005995953
+      euclidean_error: 0.5807626381154507
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0861849273971704
+      euclidean_error: 0.5812538440764938
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0867183290881806
+      euclidean_error: 0.5785904178706988
+    base_right_marker_pose:
+      angle_rotation_error: 3.1322122493478535
+      euclidean_error: 0.5768137747765563
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0533226959919415
+      euclidean_error: 0.583806248318242
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0878955968063786
+      euclidean_error: 0.5804524257223319
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.090996778579786
+      euclidean_error: 0.5813307800375538
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.105462626806855
+      euclidean_error: 0.5786983297853583
+    base_right_marker_pose:
+      angle_rotation_error: 3.1390429241166484
+      euclidean_error: 0.5769959332969802
+    shoulder_marker_pose:
+      angle_rotation_error: 3.09126873197461
+      euclidean_error: 0.5840638742592408
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.089197681358694
+      euclidean_error: 0.5809248639389007
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.118501398730951
+      euclidean_error: 0.5817710503199451
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08745783296271
+      euclidean_error: 0.5785492813159704
+    base_right_marker_pose:
+      angle_rotation_error: 3.130657550281816
+      euclidean_error: 0.5767687079076809
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086797737880838
+      euclidean_error: 0.5840120739298198
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.114280810595492
+      euclidean_error: 0.5806851483552206
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0836082995441587
+      euclidean_error: 0.5818424973532026
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090226137348477
+      euclidean_error: 0.5785107081000189
+    base_right_marker_pose:
+      angle_rotation_error: 3.1277517177962837
+      euclidean_error: 0.5767127718879491
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0892642239346713
+      euclidean_error: 0.5838811827937462
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090688698279241
+      euclidean_error: 0.5805297318623587
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0792758806261915
+      euclidean_error: 0.5814497131772602
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0992661495511546
+      euclidean_error: 0.5786143052211163
+    base_right_marker_pose:
+      angle_rotation_error: 3.1278554038080575
+      euclidean_error: 0.5766674077722869
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0975207192291196
+      euclidean_error: 0.5840020911348245
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0735626009381183
+      euclidean_error: 0.5802966976445351
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1060020615533226
+      euclidean_error: 0.5810012617598141
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0917576179292903
+      euclidean_error: 0.5785581782573286
+    base_right_marker_pose:
+      angle_rotation_error: 3.1321536883325676
+      euclidean_error: 0.5767905247009965
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067859365170563
+      euclidean_error: 0.5838769396313441
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1119980973972496
+      euclidean_error: 0.5802682796477527
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.107030344779776
+      euclidean_error: 0.5813767461796775
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.085011791457831
+      euclidean_error: 0.5786635202821228
+    base_right_marker_pose:
+      angle_rotation_error: 3.141093029187523
+      euclidean_error: 0.5767978420407133
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0589172029628875
+      euclidean_error: 0.5836953249448683
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.089451062814065
+      euclidean_error: 0.5808243190026444
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0778806010807154
+      euclidean_error: 0.581647999070376
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087875087363708
+      euclidean_error: 0.5786864156243026
+    base_right_marker_pose:
+      angle_rotation_error: 3.136559770332793
+      euclidean_error: 0.576891343926694
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074511200018577
+      euclidean_error: 0.5838547102898811
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0890324786109438
+      euclidean_error: 0.5807128565651619
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.085187830484856
+      euclidean_error: 0.5819706243749015
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0994786716722436
+      euclidean_error: 0.5785928575683366
+    base_right_marker_pose:
+      angle_rotation_error: 3.1329197933109847
+      euclidean_error: 0.5765520340584217
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0891528125934777
+      euclidean_error: 0.5839354210004061
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1085875892926276
+      euclidean_error: 0.5806439510025895
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.113010742960897
+      euclidean_error: 0.5812588763216096
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0913329059181653
+      euclidean_error: 0.5785405903238816
+    base_right_marker_pose:
+      angle_rotation_error: 3.138008110546905
+      euclidean_error: 0.5768310729456863
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0826178492552305
+      euclidean_error: 0.5839768002304748
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.117184584726273
+      euclidean_error: 0.580617979989029
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.095895771605853
+      euclidean_error: 0.5811397085359018
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096910285265183
+      euclidean_error: 0.5785790194444755
+    base_right_marker_pose:
+      angle_rotation_error: 3.1337106817848603
+      euclidean_error: 0.5768721798300857
+    shoulder_marker_pose:
+      angle_rotation_error: 3.094790579790315
+      euclidean_error: 0.5838882399324677
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.068752839938713
+      euclidean_error: 0.5805756354652098
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.102972090130312
+      euclidean_error: 0.5816565135144414
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095467032936894
+      euclidean_error: 0.578609860087986
+    base_right_marker_pose:
+      angle_rotation_error: 3.125036172615997
+      euclidean_error: 0.5769187885356473
+    shoulder_marker_pose:
+      angle_rotation_error: 3.06993316169375
+      euclidean_error: 0.5838139771918855
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0725407690725604
+      euclidean_error: 0.5804435374122744
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0951745818839886
+      euclidean_error: 0.5817029814297373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08311584161729
+      euclidean_error: 0.5785167170636882
+    base_right_marker_pose:
+      angle_rotation_error: 3.1374012133177738
+      euclidean_error: 0.5767147695475637
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073204215660014
+      euclidean_error: 0.5838281023985263
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1279105499063724
+      euclidean_error: 0.5805178694954789
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.096337304695511
+      euclidean_error: 0.5817193159888167
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1018949132879228
+      euclidean_error: 0.5787275542417533
+    base_right_marker_pose:
+      angle_rotation_error: 3.1325668334968304
+      euclidean_error: 0.5764951228849455
+    shoulder_marker_pose:
+      angle_rotation_error: 3.071691917099051
+      euclidean_error: 0.5839897807070568
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.107412148853921
+      euclidean_error: 0.5806298082858434
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.086904370312345
+      euclidean_error: 0.5816972037477668
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0993443181103193
+      euclidean_error: 0.5787343279959444
+    base_right_marker_pose:
+      angle_rotation_error: 3.1413379753439328
+      euclidean_error: 0.5768603072396165
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0912173613353517
+      euclidean_error: 0.5839067018411498
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.075338886171451
+      euclidean_error: 0.5806363196887475
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1242694677275895
+      euclidean_error: 0.5817254168873063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0971258563182404
+      euclidean_error: 0.578566676716196
+    base_right_marker_pose:
+      angle_rotation_error: 3.137114663326191
+      euclidean_error: 0.5767780904267529
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088974515997056
+      euclidean_error: 0.5838727273871926
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.120216057941968
+      euclidean_error: 0.5806943400333333
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1082647724632606
+      euclidean_error: 0.5817542922409856
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088075534366012
+      euclidean_error: 0.5786038778725918
+    base_right_marker_pose:
+      angle_rotation_error: 3.118973821618346
+      euclidean_error: 0.5768779550388102
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07753870171533
+      euclidean_error: 0.5838762405074358
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0550030174483944
+      euclidean_error: 0.5806840886184703
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1413686685450752
+      euclidean_error: 0.5810532623133668
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0944623956649115
+      euclidean_error: 0.5786775837303741
+    base_right_marker_pose:
+      angle_rotation_error: 3.139937803816816
+      euclidean_error: 0.5767980852112317
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1005609911970775
+      euclidean_error: 0.5840239291784053
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0843477695251917
+      euclidean_error: 0.5805312603596371
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1101377094736122
+      euclidean_error: 0.5816006136531273
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081874229995821
+      euclidean_error: 0.5786086582912607
+    base_right_marker_pose:
+      angle_rotation_error: 3.1413692734910468
+      euclidean_error: 0.5767372726791996
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0820911238796453
+      euclidean_error: 0.583826631669448
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1240793387996724
+      euclidean_error: 0.5808045349539531
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1139025365349413
+      euclidean_error: 0.5814720093553595
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1035043673232514
+      euclidean_error: 0.5786311966737026
+    base_right_marker_pose:
+      angle_rotation_error: 3.1175809270189934
+      euclidean_error: 0.5770039326149318
+    shoulder_marker_pose:
+      angle_rotation_error: 3.09691600380537
+      euclidean_error: 0.5838909714429055
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.114733062102119
+      euclidean_error: 0.5807728988524274
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1122571513170345
+      euclidean_error: 0.581763482825497
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0993014824217906
+      euclidean_error: 0.5787126196137158
+    base_right_marker_pose:
+      angle_rotation_error: 3.132107505495341
+      euclidean_error: 0.5768576871295217
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0786640164241734
+      euclidean_error: 0.5839401191918593
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088759600559053
+      euclidean_error: 0.5804196085865018
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1152629835144316
+      euclidean_error: 0.5811257327102787
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1048680705615244
+      euclidean_error: 0.5787038920865578
+    base_right_marker_pose:
+      angle_rotation_error: 3.1166854288152908
+      euclidean_error: 0.5768236066522645
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0624620734042547
+      euclidean_error: 0.583688829514866
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083854596865581
+      euclidean_error: 0.5804943188411915
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0915799616443773
+      euclidean_error: 0.5816691591488541
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0964647795396028
+      euclidean_error: 0.5786540345339071
+    base_right_marker_pose:
+      angle_rotation_error: 3.1342134410328892
+      euclidean_error: 0.5767759054302468
+    shoulder_marker_pose:
+      angle_rotation_error: 3.094236817151378
+      euclidean_error: 0.5840225561893085
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0995869676500583
+      euclidean_error: 0.5805688082652257
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.106403582243798
+      euclidean_error: 0.5814531492764895
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0785888056873874
+      euclidean_error: 0.5786176446079184
+    base_right_marker_pose:
+      angle_rotation_error: 3.1311281988407247
+      euclidean_error: 0.5766099850331387
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0746804720350327
+      euclidean_error: 0.5838061102681009
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.114054006530926
+      euclidean_error: 0.5803450376715495
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1226260158318033
+      euclidean_error: 0.5815292467700752
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0972722888197803
+      euclidean_error: 0.5786097988953863
+    base_right_marker_pose:
+      angle_rotation_error: 3.134234958994925
+      euclidean_error: 0.5767691563359829
+    shoulder_marker_pose:
+      angle_rotation_error: 3.093912523701674
+      euclidean_error: 0.5837761767426938
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0910685626433456
+      euclidean_error: 0.5807458826627863
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0648777926317874
+      euclidean_error: 0.5818866654034445
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096554296589613
+      euclidean_error: 0.578545437837856
+    base_right_marker_pose:
+      angle_rotation_error: 3.1341391765108613
+      euclidean_error: 0.5769301820865168
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0952868467403003
+      euclidean_error: 0.5839992772870302
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0787016439367187
+      euclidean_error: 0.5802908415283082
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0825311264113617
+      euclidean_error: 0.5817979143739529
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0912849062872914
+      euclidean_error: 0.5786182428301461
+    base_right_marker_pose:
+      angle_rotation_error: 3.136020183402595
+      euclidean_error: 0.5766673465233173
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1025328990660586
+      euclidean_error: 0.5839460928866003
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0868354946630787
+      euclidean_error: 0.5805530562467471
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1223449288636766
+      euclidean_error: 0.5817869326899223
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095894802458959
+      euclidean_error: 0.5786256858847745
+    base_right_marker_pose:
+      angle_rotation_error: 3.1378388704156133
+      euclidean_error: 0.5768611940696602
+    shoulder_marker_pose:
+      angle_rotation_error: 3.093905902450059
+      euclidean_error: 0.5839923391168717
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1033965462682302
+      euclidean_error: 0.5806863606268435
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.114150159149017
+      euclidean_error: 0.5813910559350742
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091697708948393
+      euclidean_error: 0.5784967081922096
+    base_right_marker_pose:
+      angle_rotation_error: 3.13239973692642
+      euclidean_error: 0.576813111999214
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072375982317857
+      euclidean_error: 0.583911231516703
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1058514147408904
+      euclidean_error: 0.5806706843076552
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.136905252505594
+      euclidean_error: 0.5812177502712877
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0862938630694057
+      euclidean_error: 0.5786801992739355
+    base_right_marker_pose:
+      angle_rotation_error: 3.1333674540521206
+      euclidean_error: 0.5768280718315536
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083731393320369
+      euclidean_error: 0.5838751401239003
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.07226662377584
+      euclidean_error: 0.5806958452798449
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0914097340657545
+      euclidean_error: 0.5815650544410665
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087420999638794
+      euclidean_error: 0.5784588562429452
+    base_right_marker_pose:
+      angle_rotation_error: 3.1407135748780712
+      euclidean_error: 0.5766484210546942
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0901726267697924
+      euclidean_error: 0.5839534996460111
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1100710628240855
+      euclidean_error: 0.5803870418664702
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.111473958793539
+      euclidean_error: 0.5815964586199192
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08959368845468
+      euclidean_error: 0.5786100568179543
+    base_right_marker_pose:
+      angle_rotation_error: 3.134242684686485
+      euclidean_error: 0.5767433913457148
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0821455219957046
+      euclidean_error: 0.583771149621195
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1021664940229163
+      euclidean_error: 0.5807291853152314
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0788188889119286
+      euclidean_error: 0.5814057058900207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092613315987773
+      euclidean_error: 0.5787195713174565
+    base_right_marker_pose:
+      angle_rotation_error: 3.1315080164260984
+      euclidean_error: 0.5768170488228638
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086816264136277
+      euclidean_error: 0.5838378560694429
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.11700567584
+      euclidean_error: 0.5806243864616402
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1159231671703127
+      euclidean_error: 0.5813281384645826
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0885864440075768
+      euclidean_error: 0.5786244247842814
+    base_right_marker_pose:
+      angle_rotation_error: 3.1169245871213094
+      euclidean_error: 0.5770828394675369
+    shoulder_marker_pose:
+      angle_rotation_error: 3.102439662463582
+      euclidean_error: 0.5841054573411685
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1173089242507115
+      euclidean_error: 0.5804825258790279
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.044996368056436
+      euclidean_error: 0.5815870652383935
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0836444173611874
+      euclidean_error: 0.5785553774751365
+    base_right_marker_pose:
+      angle_rotation_error: 3.1314911718282668
+      euclidean_error: 0.5769502852446312
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1014012351236735
+      euclidean_error: 0.5840469929271465
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.118141954391535
+      euclidean_error: 0.5804100510493073
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1175367605564874
+      euclidean_error: 0.5814360237884657
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0977370841423157
+      euclidean_error: 0.5787903742684635
+    base_right_marker_pose:
+      angle_rotation_error: 3.1257936458499254
+      euclidean_error: 0.5769055522502409
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074154759838136
+      euclidean_error: 0.5838669741710502
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.08980211577935
+      euclidean_error: 0.5805353652949686
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1047463900161287
+      euclidean_error: 0.5815803640765971
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0911672496324556
+      euclidean_error: 0.5785986152333134
+    base_right_marker_pose:
+      angle_rotation_error: 3.1319462968011083
+      euclidean_error: 0.5768297132208349
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0780985663022964
+      euclidean_error: 0.5838415726520685
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.072303085210017
+      euclidean_error: 0.5805067504782784
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.091410025100273
+      euclidean_error: 0.5811745448298219
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0953878783396345
+      euclidean_error: 0.5785068390125456
+    base_right_marker_pose:
+      angle_rotation_error: 3.1307833580419633
+      euclidean_error: 0.5769235699063407
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0935098379623924
+      euclidean_error: 0.5839692677704962
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0894133210681995
+      euclidean_error: 0.5804311130062431
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1304829329806485
+      euclidean_error: 0.5819464821252249
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0883176931634924
+      euclidean_error: 0.5785194583429674
+    base_right_marker_pose:
+      angle_rotation_error: 3.139032327806457
+      euclidean_error: 0.5768178572610346
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0907394706663798
+      euclidean_error: 0.584011343909709
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.076665105708577
+      euclidean_error: 0.5804370833652435
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0994819469959136
+      euclidean_error: 0.5805480282716646
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091255119971643
+      euclidean_error: 0.5785136624739681
+    base_right_marker_pose:
+      angle_rotation_error: 3.1218410907623344
+      euclidean_error: 0.5767538466609159
+    shoulder_marker_pose:
+      angle_rotation_error: 3.05983583365826
+      euclidean_error: 0.5838441100697301
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.096245276671579
+      euclidean_error: 0.5806929446898047
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.12757297825424
+      euclidean_error: 0.5811567766462394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0885691276914478
+      euclidean_error: 0.578744005481891
+    base_right_marker_pose:
+      angle_rotation_error: 3.1347412773519583
+      euclidean_error: 0.5767227656097321
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0827116676833874
+      euclidean_error: 0.5836166616458959
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1197093470923756
+      euclidean_error: 0.5804087160025684
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.114574694757061
+      euclidean_error: 0.5814827921237912
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090041564652532
+      euclidean_error: 0.5785774838226393
+    base_right_marker_pose:
+      angle_rotation_error: 3.1410371016170315
+      euclidean_error: 0.5767667744522091
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1028099275220606
+      euclidean_error: 0.5838349149526205
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1000656841193783
+      euclidean_error: 0.5805855098289461
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0803817322734983
+      euclidean_error: 0.5816329384164965
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0922045161884375
+      euclidean_error: 0.5785950801472689
+    base_right_marker_pose:
+      angle_rotation_error: 3.134156814828144
+      euclidean_error: 0.5770003559618533
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075876299703984
+      euclidean_error: 0.5839523621528767
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083701524318887
+      euclidean_error: 0.5806181639420572
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.128687009240653
+      euclidean_error: 0.5813346065386099
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0791419820307064
+      euclidean_error: 0.5785327319570477
+    base_right_marker_pose:
+      angle_rotation_error: 3.1305370433629514
+      euclidean_error: 0.5769717257052349
+    shoulder_marker_pose:
+      angle_rotation_error: 3.090642958380877
+      euclidean_error: 0.5839936044108075
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.085123471594443
+      euclidean_error: 0.5806850529935371
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.139859576295687
+      euclidean_error: 0.5818091901571566
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0912590954872585
+      euclidean_error: 0.5787131299542065
+    base_right_marker_pose:
+      angle_rotation_error: 3.1186992493102608
+      euclidean_error: 0.5767168589117899
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0938642320372796
+      euclidean_error: 0.5839088661836774
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0925312081325407
+      euclidean_error: 0.5807230721814061
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.074587002337402
+      euclidean_error: 0.5815843207287044
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101623571067344
+      euclidean_error: 0.5786105766249384
+    base_right_marker_pose:
+      angle_rotation_error: 3.129467848782532
+      euclidean_error: 0.577042863403889
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069382429101615
+      euclidean_error: 0.5838915390159812
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090703335575796
+      euclidean_error: 0.5806410725359359
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1145915413769085
+      euclidean_error: 0.5815850608515366
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1023376398216396
+      euclidean_error: 0.5786921096944347
+    base_right_marker_pose:
+      angle_rotation_error: 3.127112913186808
+      euclidean_error: 0.5768895125872563
+    shoulder_marker_pose:
+      angle_rotation_error: 3.099875481699012
+      euclidean_error: 0.584076699108797
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1217903887617027
+      euclidean_error: 0.580382484873413
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1365411837226462
+      euclidean_error: 0.5817102768487702
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087591281475697
+      euclidean_error: 0.5785772420135393
+    base_right_marker_pose:
+      angle_rotation_error: 3.1366435520060767
+      euclidean_error: 0.5770083376851215
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0809313319840923
+      euclidean_error: 0.5838847558092038
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.11902866192646
+      euclidean_error: 0.5807530776443072
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1090117565839823
+      euclidean_error: 0.5817586314377887
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0790214498173962
+      euclidean_error: 0.5786365679357094
+    base_right_marker_pose:
+      angle_rotation_error: 3.119683319799598
+      euclidean_error: 0.5770129076082622
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0854894936512616
+      euclidean_error: 0.5839655479733759
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1251435357779163
+      euclidean_error: 0.5804371046412482
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.13828407477624
+      euclidean_error: 0.5810940879090604
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0933884263892266
+      euclidean_error: 0.5786252650760698
+    base_right_marker_pose:
+      angle_rotation_error: 3.126229573979937
+      euclidean_error: 0.5767499740326895
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0985006274719655
+      euclidean_error: 0.5840973096215297
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1120071691518496
+      euclidean_error: 0.5805560928898948
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0431310523949793
+      euclidean_error: 0.5817151171167174
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0832397155087428
+      euclidean_error: 0.5785169596928373
+    base_right_marker_pose:
+      angle_rotation_error: 3.1222974621490915
+      euclidean_error: 0.5768101951862205
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0688219533545227
+      euclidean_error: 0.5838064846079829
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0965994103777574
+      euclidean_error: 0.5804459718659165
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.133437457854578
+      euclidean_error: 0.5806807049618545
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0992042931470944
+      euclidean_error: 0.5786301278554572
+    base_right_marker_pose:
+      angle_rotation_error: 3.1396318679396664
+      euclidean_error: 0.5768395084898018
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0832903800484215
+      euclidean_error: 0.5838433531555816
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0843202745773453
+      euclidean_error: 0.5806162877917463
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.108430107561089
+      euclidean_error: 0.5814797876353995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0999039040052225
+      euclidean_error: 0.578551151973715
+    base_right_marker_pose:
+      angle_rotation_error: 3.141119941945875
+      euclidean_error: 0.5770355458364476
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0888874658934897
+      euclidean_error: 0.5839313628699797
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1195752735311406
+      euclidean_error: 0.580455242885651
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.108566150180914
+      euclidean_error: 0.5815285107623637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084804211294637
+      euclidean_error: 0.5783989939080123
+    base_right_marker_pose:
+      angle_rotation_error: 3.1358534671300475
+      euclidean_error: 0.5770700540381044
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0933489009351085
+      euclidean_error: 0.5840217510812267
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1181604261145686
+      euclidean_error: 0.5804289883345806
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1226272504216315
+      euclidean_error: 0.5815312576849035
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1004940046492857
+      euclidean_error: 0.5784771525433893
+    base_right_marker_pose:
+      angle_rotation_error: 3.1328174245818476
+      euclidean_error: 0.5769574151027025
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080752375638212
+      euclidean_error: 0.5839106568020636
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.112195608834734
+      euclidean_error: 0.5806799119940124
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1268897174301857
+      euclidean_error: 0.5816049863361834
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0809414826608044
+      euclidean_error: 0.5786447992016635
+    base_right_marker_pose:
+      angle_rotation_error: 3.126054999578633
+      euclidean_error: 0.5768515449121052
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0880536796826945
+      euclidean_error: 0.5840107686963777
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0714741246780877
+      euclidean_error: 0.5805242751039561
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1161264672628737
+      euclidean_error: 0.5814779954908582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0901345982298802
+      euclidean_error: 0.578623616696411
+    base_right_marker_pose:
+      angle_rotation_error: 3.13434484729343
+      euclidean_error: 0.576968067998737
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0795231631287954
+      euclidean_error: 0.5838936225548481
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.108833016159972
+      euclidean_error: 0.5806482648255568
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1090235810436293
+      euclidean_error: 0.5816062398808189
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0827776123073014
+      euclidean_error: 0.5785268496445495
+    base_right_marker_pose:
+      angle_rotation_error: 3.1192077346375546
+      euclidean_error: 0.5768923914331826
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089095812791612
+      euclidean_error: 0.583782734017059
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.089885494068228
+      euclidean_error: 0.5807471944722102
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0644530702917216
+      euclidean_error: 0.5815274487029743
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0901619628287995
+      euclidean_error: 0.5785301983424648
+    base_right_marker_pose:
+      angle_rotation_error: 3.1330160439028623
+      euclidean_error: 0.5768859659488181
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0684355382362383
+      euclidean_error: 0.583781074097683
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090044934081375
+      euclidean_error: 0.5802946025687936
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1214558325678827
+      euclidean_error: 0.5814611065075568
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0878747988773196
+      euclidean_error: 0.578714340038902
+    base_right_marker_pose:
+      angle_rotation_error: 3.139429362072707
+      euclidean_error: 0.5769840074080336
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0644148850315087
+      euclidean_error: 0.583593023577392
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0813058697303015
+      euclidean_error: 0.58047549081761
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1343711757700907
+      euclidean_error: 0.5813976957153335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.100799654204749
+      euclidean_error: 0.578569321524033
+    base_right_marker_pose:
+      angle_rotation_error: 3.137311735935767
+      euclidean_error: 0.5768119579988278
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0791678715197275
+      euclidean_error: 0.5837354581980714
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0784998856645513
+      euclidean_error: 0.5805196751328207
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1058064335456024
+      euclidean_error: 0.5816733932945999
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0939450039371654
+      euclidean_error: 0.5786569461763926
+    base_right_marker_pose:
+      angle_rotation_error: 3.1343799368739735
+      euclidean_error: 0.5768718064240028
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0938945455134217
+      euclidean_error: 0.584002584334347
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0820448478011535
+      euclidean_error: 0.5804161591082148
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.083802703877391
+      euclidean_error: 0.5812920767629165
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086978456742161
+      euclidean_error: 0.5785773784675158
+    base_right_marker_pose:
+      angle_rotation_error: 3.132877704976923
+      euclidean_error: 0.576527765549003
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0884481739873433
+      euclidean_error: 0.5839499377095649
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.120482081428937
+      euclidean_error: 0.5805383726384191
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.116352384746232
+      euclidean_error: 0.5816047575876326
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0943323480344995
+      euclidean_error: 0.5785380707394975
+    base_right_marker_pose:
+      angle_rotation_error: 3.1322300436407353
+      euclidean_error: 0.5767910930124845
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0781270997867924
+      euclidean_error: 0.5839134535953813
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.093319460342669
+      euclidean_error: 0.5803128889749508
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.116192270343634
+      euclidean_error: 0.5806450144292656
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0825648748210495
+      euclidean_error: 0.57862916593771
+    base_right_marker_pose:
+      angle_rotation_error: 3.128282973245364
+      euclidean_error: 0.5769276917975894
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081160760774237
+      euclidean_error: 0.5838847209816536
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0775307255191606
+      euclidean_error: 0.5804888409565613
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1102996949474946
+      euclidean_error: 0.5815556861040311
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0824443415143183
+      euclidean_error: 0.5786294225751328
+    base_right_marker_pose:
+      angle_rotation_error: 3.1410079475846064
+      euclidean_error: 0.5768817218875154
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0879102927910895
+      euclidean_error: 0.5838993595862226
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0845021436049938
+      euclidean_error: 0.5805389076586058
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.073162645815764
+      euclidean_error: 0.5814728750727175
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095971886687654
+      euclidean_error: 0.5787436568500658
+    base_right_marker_pose:
+      angle_rotation_error: 3.140731079876038
+      euclidean_error: 0.5769088996827569
+    shoulder_marker_pose:
+      angle_rotation_error: 3.068532562379129
+      euclidean_error: 0.5836717677415773
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.097150043016312
+      euclidean_error: 0.5802698257533466
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.13483890533246
+      euclidean_error: 0.5815257446313992
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1039314558076034
+      euclidean_error: 0.5787643050434698
+    base_right_marker_pose:
+      angle_rotation_error: 3.120266574493799
+      euclidean_error: 0.5767464323853917
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0965708726258248
+      euclidean_error: 0.58389319037615
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0742010534456017
+      euclidean_error: 0.5805830972248982
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1151202518253434
+      euclidean_error: 0.581170907933675
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.089617589797581
+      euclidean_error: 0.5786387340417403
+    base_right_marker_pose:
+      angle_rotation_error: 3.136812866146041
+      euclidean_error: 0.5770012313825016
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0707657746864716
+      euclidean_error: 0.5837909606964071
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.092780473136354
+      euclidean_error: 0.5807004881292492
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1240751625029524
+      euclidean_error: 0.5820281538397359
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0840931517129975
+      euclidean_error: 0.5785634690072459
+    base_right_marker_pose:
+      angle_rotation_error: 3.1353128894127105
+      euclidean_error: 0.5767631869456329
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0885334611043964
+      euclidean_error: 0.5839058727007067
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.100866580417842
+      euclidean_error: 0.5803990468518178
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0952672764882565
+      euclidean_error: 0.581828336383891
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087976931781909
+      euclidean_error: 0.5785651142035864
+    base_right_marker_pose:
+      angle_rotation_error: 3.1201372877083906
+      euclidean_error: 0.5768835707933017
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0878214082184265
+      euclidean_error: 0.5837584765345765
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1076457802032507
+      euclidean_error: 0.580489580245589
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.133520056565886
+      euclidean_error: 0.5817145382848289
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0899433699299736
+      euclidean_error: 0.5786961656162969
+    base_right_marker_pose:
+      angle_rotation_error: 3.1312237646674146
+      euclidean_error: 0.5769593114640876
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0824749165604937
+      euclidean_error: 0.5837041835937782
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.106199489900262
+      euclidean_error: 0.5806784464747723
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1262955944789677
+      euclidean_error: 0.5818784822992319
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0915365365599916
+      euclidean_error: 0.5785933812000265
+    base_right_marker_pose:
+      angle_rotation_error: 3.127503268675457
+      euclidean_error: 0.5770092266436383
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0943843433631284
+      euclidean_error: 0.5839028676360348
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0884475221742487
+      euclidean_error: 0.580362028586405
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.118933566332485
+      euclidean_error: 0.5814243180731871
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0826488865050545
+      euclidean_error: 0.5787024761747906
+    base_right_marker_pose:
+      angle_rotation_error: 3.124289846884014
+      euclidean_error: 0.5768323254122474
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0810406787422604
+      euclidean_error: 0.5838213477778136
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1326354390808007
+      euclidean_error: 0.5805273781170539
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1210114975220886
+      euclidean_error: 0.581528631673562
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.094675510527124
+      euclidean_error: 0.578709347236918
+    base_right_marker_pose:
+      angle_rotation_error: 3.1388110843844053
+      euclidean_error: 0.5767628626688496
+    shoulder_marker_pose:
+      angle_rotation_error: 3.117145749446174
+      euclidean_error: 0.5839075432999036
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0818560968866526
+      euclidean_error: 0.5804304151850518
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.127382410856755
+      euclidean_error: 0.5813173650826646
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0913480947525787
+      euclidean_error: 0.5787695209069191
+    base_right_marker_pose:
+      angle_rotation_error: 3.1134839213297725
+      euclidean_error: 0.5768513562577101
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0944634175033667
+      euclidean_error: 0.5839943240130707
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.089839762068361
+      euclidean_error: 0.5805610544850391
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1029093575230795
+      euclidean_error: 0.5816935518021975
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1004989562129044
+      euclidean_error: 0.5786825748802303
+    base_right_marker_pose:
+      angle_rotation_error: 3.129473983695868
+      euclidean_error: 0.5770971583474075
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0602251566510073
+      euclidean_error: 0.5837724806888762
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0892628094470385
+      euclidean_error: 0.5803162646254116
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.112301223746177
+      euclidean_error: 0.581504996537812
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.089131448922081
+      euclidean_error: 0.5786531166971584
+    base_right_marker_pose:
+      angle_rotation_error: 3.132385726681003
+      euclidean_error: 0.5769438103307829
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086077829284979
+      euclidean_error: 0.5838457187788059
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.093582039682296
+      euclidean_error: 0.5806029425360727
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1025909498722495
+      euclidean_error: 0.5812436235731776
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0895790642918937
+      euclidean_error: 0.5786296556815455
+    base_right_marker_pose:
+      angle_rotation_error: 3.141278988389936
+      euclidean_error: 0.5768176875149299
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0681618469703267
+      euclidean_error: 0.583785631533739
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1325058963985613
+      euclidean_error: 0.5805673827110251
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.063516503231499
+      euclidean_error: 0.5814469705259901
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0929130962473574
+      euclidean_error: 0.5786563889348981
+    base_right_marker_pose:
+      angle_rotation_error: 3.13925826778022
+      euclidean_error: 0.5769172224232892
+    shoulder_marker_pose:
+      angle_rotation_error: 3.078933764557193
+      euclidean_error: 0.5838843614063826
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.133569713474895
+      euclidean_error: 0.5804267922491904
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0670295059569774
+      euclidean_error: 0.5818146006058771
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091442055270421
+      euclidean_error: 0.5785720538286835
+    base_right_marker_pose:
+      angle_rotation_error: 3.141066557144053
+      euclidean_error: 0.5769112598014912
+    shoulder_marker_pose:
+      angle_rotation_error: 3.09265449773807
+      euclidean_error: 0.5838690585623182
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.105231214189016
+      euclidean_error: 0.580340889887641
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.106095095185775
+      euclidean_error: 0.5816351086107685
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.076617243608911
+      euclidean_error: 0.578552783812503
+    base_right_marker_pose:
+      angle_rotation_error: 3.140981138460315
+      euclidean_error: 0.5766657005921538
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0785417719154653
+      euclidean_error: 0.5837409818508348
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1157375599731223
+      euclidean_error: 0.5804406463062651
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0583966596685697
+      euclidean_error: 0.5814145583205872
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.095028340150963
+      euclidean_error: 0.5786486491614603
+    base_right_marker_pose:
+      angle_rotation_error: 3.128198494997229
+      euclidean_error: 0.5767731999523625
+    shoulder_marker_pose:
+      angle_rotation_error: 3.082306787691165
+      euclidean_error: 0.5837987238462992
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1081519641905575
+      euclidean_error: 0.5804839605034777
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.11589654674057
+      euclidean_error: 0.5816767749835032
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0844968722083865
+      euclidean_error: 0.5785903351786883
+    base_right_marker_pose:
+      angle_rotation_error: 3.1376369268198885
+      euclidean_error: 0.5769286498043864
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0800148607606994
+      euclidean_error: 0.5839090837318385
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1065052471625534
+      euclidean_error: 0.5804655541269541
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.086685505490669
+      euclidean_error: 0.5814904690413538
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.065665532512567
+      euclidean_error: 0.5785781359327324
+    base_right_marker_pose:
+      angle_rotation_error: 3.1407347414342532
+      euclidean_error: 0.577043208463028
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0653996123458636
+      euclidean_error: 0.5837378044374626
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.092826852169886
+      euclidean_error: 0.5805399323002107
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1176431617775155
+      euclidean_error: 0.5814405193522265
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0878718684377455
+      euclidean_error: 0.5787433473980703
+    base_right_marker_pose:
+      angle_rotation_error: 3.13157185655523
+      euclidean_error: 0.5767283688794628
+    shoulder_marker_pose:
+      angle_rotation_error: 3.060020042375995
+      euclidean_error: 0.5836863976348271
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083898640132552
+      euclidean_error: 0.5804522587613835
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.126803768432873
+      euclidean_error: 0.5817245903557201
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091263959071681
+      euclidean_error: 0.5787170570285814
+    base_right_marker_pose:
+      angle_rotation_error: 3.135437929921045
+      euclidean_error: 0.5770077892341591
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0580059231119545
+      euclidean_error: 0.5837724006909074
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0990071327387883
+      euclidean_error: 0.5807156818161432
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.097572961654408
+      euclidean_error: 0.581688295560517
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088688088942755
+      euclidean_error: 0.5786532343140558
+    base_right_marker_pose:
+      angle_rotation_error: 3.1321492332237213
+      euclidean_error: 0.5766099574059951
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0615534042013732
+      euclidean_error: 0.5837531544128008
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0872047370850635
+      euclidean_error: 0.5803092226754261
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1260992871601485
+      euclidean_error: 0.5818025509007043
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093891109954975
+      euclidean_error: 0.578620397404109
+    base_right_marker_pose:
+      angle_rotation_error: 3.135835866502824
+      euclidean_error: 0.5767803281906089
+    shoulder_marker_pose:
+      angle_rotation_error: 3.070812382638209
+      euclidean_error: 0.5836227756520379
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.082589885796229
+      euclidean_error: 0.580631254039476
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.102041529976148
+      euclidean_error: 0.5816274573912588
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0893933916251877
+      euclidean_error: 0.5786479886385675
+    base_right_marker_pose:
+      angle_rotation_error: 3.128438704512102
+      euclidean_error: 0.5770089085300424
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0998000715159972
+      euclidean_error: 0.5837880747685036
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0935558164355137
+      euclidean_error: 0.5804624312459687
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1012473218321346
+      euclidean_error: 0.5816882446974887
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0827754371520113
+      euclidean_error: 0.5787906060378423
+    base_right_marker_pose:
+      angle_rotation_error: 3.1296166066387086
+      euclidean_error: 0.5768719146658371
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0770532339283645
+      euclidean_error: 0.5838697379790151
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.085143351645482
+      euclidean_error: 0.5802582549340896
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.100423136886305
+      euclidean_error: 0.5813094966773845
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0865365649719605
+      euclidean_error: 0.5786622383517589
+    base_right_marker_pose:
+      angle_rotation_error: 3.125866110845041
+      euclidean_error: 0.5772514659682363
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07453667020602
+      euclidean_error: 0.5838820070070357
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.109597365085219
+      euclidean_error: 0.5805918450793888
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0689748914160817
+      euclidean_error: 0.5815175391458574
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088966490209778
+      euclidean_error: 0.5786507068225234
+    base_right_marker_pose:
+      angle_rotation_error: 3.1359203810763328
+      euclidean_error: 0.576944787571702
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0851226915626344
+      euclidean_error: 0.5839377228178617
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0889805602087637
+      euclidean_error: 0.580464721084104
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1019425406770775
+      euclidean_error: 0.5814944284790396
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0808411771087774
+      euclidean_error: 0.5786268493401169
+    base_right_marker_pose:
+      angle_rotation_error: 3.1400599849632855
+      euclidean_error: 0.5770298251990701
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0893442547757144
+      euclidean_error: 0.5837849124067652
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0741593134544556
+      euclidean_error: 0.5804820385657881
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1238473459115483
+      euclidean_error: 0.5814167448252519
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0988056720405095
+      euclidean_error: 0.5786567413683141
+    base_right_marker_pose:
+      angle_rotation_error: 3.1348840906485487
+      euclidean_error: 0.576861538019269
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079301052427536
+      euclidean_error: 0.5837540395927202
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0928244031062704
+      euclidean_error: 0.5804726272099677
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.115439410529544
+      euclidean_error: 0.5814404459337315
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0862961194395973
+      euclidean_error: 0.5786705179820327
+    base_right_marker_pose:
+      angle_rotation_error: 3.138365432378393
+      euclidean_error: 0.5767967516010664
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0630686608459428
+      euclidean_error: 0.5836479201454498
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1063273552365076
+      euclidean_error: 0.5805014869805807
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1238735532727677
+      euclidean_error: 0.5815015583510648
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.097757406324004
+      euclidean_error: 0.5786825887803031
+    base_right_marker_pose:
+      angle_rotation_error: 3.1382979347544655
+      euclidean_error: 0.5769196149505624
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063178408287783
+      euclidean_error: 0.5837479760602347
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.078256769954123
+      euclidean_error: 0.5805741693312972
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1005028540462773
+      euclidean_error: 0.5818653378117282
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0965763389691263
+      euclidean_error: 0.5788615831953106
+    base_right_marker_pose:
+      angle_rotation_error: 3.1389029676801807
+      euclidean_error: 0.5769951324689481
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07103332673221
+      euclidean_error: 0.5838990754888217
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.112180436649513
+      euclidean_error: 0.580452341968336
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.094226673507466
+      euclidean_error: 0.5817444914838756
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0821044755921325
+      euclidean_error: 0.578731195420618
+    base_right_marker_pose:
+      angle_rotation_error: 3.1339282097605055
+      euclidean_error: 0.5767968168416976
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0782314625497156
+      euclidean_error: 0.5838356479097668
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0947776108802714
+      euclidean_error: 0.5805221505831364
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1230036556917815
+      euclidean_error: 0.5812627053823475
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0972390803278755
+      euclidean_error: 0.5786827276647235
+    base_right_marker_pose:
+      angle_rotation_error: 3.132316986365554
+      euclidean_error: 0.5769401479293541
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080572022991068
+      euclidean_error: 0.5837746878642786
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0846300856867126
+      euclidean_error: 0.5803368095311008
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1072549914291154
+      euclidean_error: 0.581777524573939
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0894919115388504
+      euclidean_error: 0.5785587195167474
+    base_right_marker_pose:
+      angle_rotation_error: 3.1386879477311753
+      euclidean_error: 0.5768999987038834
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0825958703168133
+      euclidean_error: 0.5839082566152939
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.098970240995103
+      euclidean_error: 0.5806193014471703
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0980983858046782
+      euclidean_error: 0.5816013181279284
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0995437486747273
+      euclidean_error: 0.5786853343813833
+    base_right_marker_pose:
+      angle_rotation_error: 3.1188056957818246
+      euclidean_error: 0.5769628047627999
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086423672693669
+      euclidean_error: 0.5838684966735408
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0770539993941166
+      euclidean_error: 0.5806177408160363
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1379664615338205
+      euclidean_error: 0.5816317209492633
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0918005616910906
+      euclidean_error: 0.5786940211853215
+    base_right_marker_pose:
+      angle_rotation_error: 3.1380612716541765
+      euclidean_error: 0.5770389431748812
+    shoulder_marker_pose:
+      angle_rotation_error: 3.093566265308787
+      euclidean_error: 0.5839439298093607
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.078653912645412
+      euclidean_error: 0.5804362322175207
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1307869545572324
+      euclidean_error: 0.5817155886923823
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086499098429998
+      euclidean_error: 0.5786272628465524
+    base_right_marker_pose:
+      angle_rotation_error: 3.1241791386844926
+      euclidean_error: 0.576615707802184
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0591808880386844
+      euclidean_error: 0.5835236171501756
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.096060717073132
+      euclidean_error: 0.580661027242993
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.085518019684486
+      euclidean_error: 0.5817776540090225
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0887163669714957
+      euclidean_error: 0.5787807091834051
+    base_right_marker_pose:
+      angle_rotation_error: 3.1279233117380234
+      euclidean_error: 0.577006663812878
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0883868958913494
+      euclidean_error: 0.5837567357979286
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0920544593722354
+      euclidean_error: 0.5805042498029362
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.140486468463837
+      euclidean_error: 0.581735455905528
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0843334414489076
+      euclidean_error: 0.5786801288112012
+    base_right_marker_pose:
+      angle_rotation_error: 3.1405015835144017
+      euclidean_error: 0.5768091234095789
+    shoulder_marker_pose:
+      angle_rotation_error: 3.070253662710038
+      euclidean_error: 0.5837536073568312
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0685274330288546
+      euclidean_error: 0.5804455017813578
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1137448326229853
+      euclidean_error: 0.5814265502480485
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.085621004022091
+      euclidean_error: 0.5786304521789051
+    base_right_marker_pose:
+      angle_rotation_error: 3.135798097692286
+      euclidean_error: 0.5767445443760068
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0750602858430938
+      euclidean_error: 0.5836730237722363
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.085253344114448
+      euclidean_error: 0.5804343881465202
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1216178704618662
+      euclidean_error: 0.58156612159019
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0837238919236163
+      euclidean_error: 0.5787393499684437
+    base_right_marker_pose:
+      angle_rotation_error: 3.137726752021242
+      euclidean_error: 0.5768301478263169
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089008846180416
+      euclidean_error: 0.5836845922931955
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0923658863961196
+      euclidean_error: 0.5803843843699108
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0821298426474173
+      euclidean_error: 0.5816954763171441
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0974351782944503
+      euclidean_error: 0.5786591297469823
+    base_right_marker_pose:
+      angle_rotation_error: 3.1276208622362764
+      euclidean_error: 0.5771045184061364
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0642325916332327
+      euclidean_error: 0.5836371542234178
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.108238781321797
+      euclidean_error: 0.5803065050084135
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.099421262325219
+      euclidean_error: 0.5817312129000343
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090389906045077
+      euclidean_error: 0.5785476506285505
+    base_right_marker_pose:
+      angle_rotation_error: 3.1289953591152337
+      euclidean_error: 0.5770435332789585
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088808229987158
+      euclidean_error: 0.5838229012030371
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1032982708011816
+      euclidean_error: 0.5804553953327991
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.14118880037827
+      euclidean_error: 0.5813997259824718
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081780769432529
+      euclidean_error: 0.5786190807986363
+    base_right_marker_pose:
+      angle_rotation_error: 3.1280246829460348
+      euclidean_error: 0.5767050038684592
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0863536028884453
+      euclidean_error: 0.583648044978572
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1093168572472663
+      euclidean_error: 0.5802757636526865
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.126140659244634
+      euclidean_error: 0.5819380567880172
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.104487818220772
+      euclidean_error: 0.5786355703992806
+    base_right_marker_pose:
+      angle_rotation_error: 3.1358569180827103
+      euclidean_error: 0.5769005636894311
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0758154211272926
+      euclidean_error: 0.5838374938324232
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0650600655318
+      euclidean_error: 0.5803896429704202
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1306998453698185
+      euclidean_error: 0.5815115779598098
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102553332718414
+      euclidean_error: 0.5787540658536731
+    base_right_marker_pose:
+      angle_rotation_error: 3.1404581122628956
+      euclidean_error: 0.5767297100721076
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0750328350792726
+      euclidean_error: 0.5839000557914373
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0732687307901734
+      euclidean_error: 0.580446346064142
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1349655518930692
+      euclidean_error: 0.5816505807513316
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0997164050169665
+      euclidean_error: 0.578478721947115
+    base_right_marker_pose:
+      angle_rotation_error: 3.1280144389408564
+      euclidean_error: 0.5768523621220311
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0685246634404
+      euclidean_error: 0.5836739628805304
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1065655904230107
+      euclidean_error: 0.580617630265254
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0883629721466996
+      euclidean_error: 0.5815715659974453
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0953038097403236
+      euclidean_error: 0.5786120425826472
+    base_right_marker_pose:
+      angle_rotation_error: 3.1241993787840867
+      euclidean_error: 0.5770676119069815
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0883605747028757
+      euclidean_error: 0.5837841842894536
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.081100643306326
+      euclidean_error: 0.5804988061622149
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1016999962360976
+      euclidean_error: 0.5814769997807238
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088034666584738
+      euclidean_error: 0.5785642644496084
+    base_right_marker_pose:
+      angle_rotation_error: 3.127639093126607
+      euclidean_error: 0.5768722549281963
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0682257452735153
+      euclidean_error: 0.5836311553719801
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0898300070956206
+      euclidean_error: 0.5804724201641939
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.077579200650768
+      euclidean_error: 0.5815208321493673
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.098291389655388
+      euclidean_error: 0.5787194695912574
+    base_right_marker_pose:
+      angle_rotation_error: 3.1277805577893782
+      euclidean_error: 0.5770782952841675
+    shoulder_marker_pose:
+      angle_rotation_error: 3.102329702041932
+      euclidean_error: 0.583958125583935
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0617962846826225
+      euclidean_error: 0.5805033326418731
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1175810036137195
+      euclidean_error: 0.5819137720233309
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0751500477302462
+      euclidean_error: 0.578611621949738
+    base_right_marker_pose:
+      angle_rotation_error: 3.1361259768604155
+      euclidean_error: 0.5768284065481563
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0736514446008383
+      euclidean_error: 0.5837907739518633
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.082913610509166
+      euclidean_error: 0.5804970384277276
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1412308026590745
+      euclidean_error: 0.5819531434005076
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0876681757204016
+      euclidean_error: 0.5786414065434822
+    base_right_marker_pose:
+      angle_rotation_error: 3.1403948214806228
+      euclidean_error: 0.5769782707465588
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0463274294550136
+      euclidean_error: 0.5835416358697565
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0621380336421526
+      euclidean_error: 0.5804993837915611
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1349547403931104
+      euclidean_error: 0.5817451197948671
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0887198341851207
+      euclidean_error: 0.5787480148397649
+    base_right_marker_pose:
+      angle_rotation_error: 3.1327449099450813
+      euclidean_error: 0.5769403204377924
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0807632748822193
+      euclidean_error: 0.583680893379772
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1112857368684192
+      euclidean_error: 0.5805856641724236
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1043392536823022
+      euclidean_error: 0.5816797295130534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0902458222123648
+      euclidean_error: 0.5787584868956905
+    base_right_marker_pose:
+      angle_rotation_error: 3.130447186491284
+      euclidean_error: 0.5768034381022125
+    shoulder_marker_pose:
+      angle_rotation_error: 3.078979585851974
+      euclidean_error: 0.583965943836491
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0945283225916618
+      euclidean_error: 0.580247168355846
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.125436683021267
+      euclidean_error: 0.581319887817415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0808548957629824
+      euclidean_error: 0.5787208082192776
+    base_right_marker_pose:
+      angle_rotation_error: 3.1315457437009164
+      euclidean_error: 0.5768347746525738
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086547482864932
+      euclidean_error: 0.5838276226339421
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1025937121852576
+      euclidean_error: 0.5806349428420174
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1185870131262514
+      euclidean_error: 0.5819604771921822
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081381274658307
+      euclidean_error: 0.578567919408267
+    base_right_marker_pose:
+      angle_rotation_error: 3.1362756712044866
+      euclidean_error: 0.5770021899115371
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0698882984903877
+      euclidean_error: 0.583769719284961
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.064825094677262
+      euclidean_error: 0.5804639139717556
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0586229924945068
+      euclidean_error: 0.5809794905106562
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0854412288943753
+      euclidean_error: 0.5786745038299845
+    base_right_marker_pose:
+      angle_rotation_error: 3.1206895709733047
+      euclidean_error: 0.5769963089281588
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063852135778508
+      euclidean_error: 0.5836434692544936
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.106254595184063
+      euclidean_error: 0.5805816208118589
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1184922199090197
+      euclidean_error: 0.5819364652972295
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0959053322820442
+      euclidean_error: 0.5787613685069077
+    base_right_marker_pose:
+      angle_rotation_error: 3.127645523808834
+      euclidean_error: 0.5767285412163329
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0565927387876797
+      euclidean_error: 0.5835258581203493
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.095108905743628
+      euclidean_error: 0.5803207179648108
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.138338360604669
+      euclidean_error: 0.581671026394818
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0845888527601444
+      euclidean_error: 0.578750778015963
+    base_right_marker_pose:
+      angle_rotation_error: 3.1291273398196773
+      euclidean_error: 0.5767217377240818
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0629921779567693
+      euclidean_error: 0.5837226882807512
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1303399996141503
+      euclidean_error: 0.5803022371462252
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1147521938068743
+      euclidean_error: 0.5814293652489151
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0781334643357265
+      euclidean_error: 0.5787042229258249
+    base_right_marker_pose:
+      angle_rotation_error: 3.134338385761925
+      euclidean_error: 0.5771073826712907
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0723190378775476
+      euclidean_error: 0.5836734197629955
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0996669079899593
+      euclidean_error: 0.580558543892192
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.131206096803062
+      euclidean_error: 0.5814852125013311
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0856578683511966
+      euclidean_error: 0.57865072735956
+    base_right_marker_pose:
+      angle_rotation_error: 3.1237307701012824
+      euclidean_error: 0.5767513585020977
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0886119694706298
+      euclidean_error: 0.5837923186851729
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090328187058423
+      euclidean_error: 0.5806293438146264
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1214401699564243
+      euclidean_error: 0.5819114399862723
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0716302455659656
+      euclidean_error: 0.5785457614765572
+    base_right_marker_pose:
+      angle_rotation_error: 3.1294523041341824
+      euclidean_error: 0.5768149238209463
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080719538262386
+      euclidean_error: 0.5836885710867908
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1184633501127843
+      euclidean_error: 0.5804447130959984
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.111776423741309
+      euclidean_error: 0.5817747792396866
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0773747222390386
+      euclidean_error: 0.5786874030149791
+    base_right_marker_pose:
+      angle_rotation_error: 3.137074329393222
+      euclidean_error: 0.5769487833113045
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0843912908921887
+      euclidean_error: 0.5836804484213779
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083401324171031
+      euclidean_error: 0.5805113188291808
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.098604070185158
+      euclidean_error: 0.5817675071135354
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08739779798542
+      euclidean_error: 0.5786160974405408
+    base_right_marker_pose:
+      angle_rotation_error: 3.134295479294962
+      euclidean_error: 0.577108165205539
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072242062784947
+      euclidean_error: 0.5839170725580027
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0806659788561954
+      euclidean_error: 0.5803779578716426
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1375360805120747
+      euclidean_error: 0.5820456613918527
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084693876234096
+      euclidean_error: 0.5786088783165648
+    base_right_marker_pose:
+      angle_rotation_error: 3.13219521102807
+      euclidean_error: 0.5769120776082325
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073940216983608
+      euclidean_error: 0.5838561925340827
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.063275001791927
+      euclidean_error: 0.5803841177040109
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.123079491453665
+      euclidean_error: 0.5819988982102925
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.101138088741752
+      euclidean_error: 0.5788101997721894
+    base_right_marker_pose:
+      angle_rotation_error: 3.126439119664747
+      euclidean_error: 0.5771367545662162
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0920570724869383
+      euclidean_error: 0.5839498389872406
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0624770655589093
+      euclidean_error: 0.5804418358667699
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0962725433576668
+      euclidean_error: 0.5817685422801601
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0911631320339907
+      euclidean_error: 0.5787124655611398
+    base_right_marker_pose:
+      angle_rotation_error: 3.1321922728709626
+      euclidean_error: 0.5769253542292704
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083743792698141
+      euclidean_error: 0.5838911274910517
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0928852004087988
+      euclidean_error: 0.5803703109921791
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1383255959843517
+      euclidean_error: 0.5823132556601421
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092702785690242
+      euclidean_error: 0.5788421299645814
+    base_right_marker_pose:
+      angle_rotation_error: 3.1293948074602707
+      euclidean_error: 0.5767453638500086
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0853463700410897
+      euclidean_error: 0.5838903449466484
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1038314360112937
+      euclidean_error: 0.5803117958492502
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.120448113450371
+      euclidean_error: 0.5820727503901977
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096683759501352
+      euclidean_error: 0.5787762575054407
+    base_right_marker_pose:
+      angle_rotation_error: 3.133564314561348
+      euclidean_error: 0.5769469327142552
+    shoulder_marker_pose:
+      angle_rotation_error: 3.059879264153858
+      euclidean_error: 0.5837942322936033
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0881961654888053
+      euclidean_error: 0.5806369044067482
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.133211819025856
+      euclidean_error: 0.5817938539738573
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.074272929930213
+      euclidean_error: 0.5786955635550716
+    base_right_marker_pose:
+      angle_rotation_error: 3.1407183788461333
+      euclidean_error: 0.5769403293000855
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084575213685052
+      euclidean_error: 0.5837999087063364
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.09932093667532
+      euclidean_error: 0.5804637752692049
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1347359201508547
+      euclidean_error: 0.5819506995684289
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090546450042854
+      euclidean_error: 0.5787968589766574
+    base_right_marker_pose:
+      angle_rotation_error: 3.1379942457711807
+      euclidean_error: 0.5768787146719756
+    shoulder_marker_pose:
+      angle_rotation_error: 3.090904072702499
+      euclidean_error: 0.5837590247633403
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1331778369736996
+      euclidean_error: 0.5801448062030655
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.118352863054782
+      euclidean_error: 0.5820595740009696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0905342291851365
+      euclidean_error: 0.5786536161051361
+    base_right_marker_pose:
+      angle_rotation_error: 3.1379575102092474
+      euclidean_error: 0.5771208134687529
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0533101218487526
+      euclidean_error: 0.583662561168269
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.117734996029609
+      euclidean_error: 0.5804808524860804
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.131803162212494
+      euclidean_error: 0.5820648847911916
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087167671647367
+      euclidean_error: 0.5786682250931815
+    base_right_marker_pose:
+      angle_rotation_error: 3.1290074225260285
+      euclidean_error: 0.5768178082808526
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0782575307531403
+      euclidean_error: 0.5839511297308275
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.101361337798502
+      euclidean_error: 0.5805575929204173
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1059369927659786
+      euclidean_error: 0.5820298714677636
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086229654987122
+      euclidean_error: 0.5787170291992395
+    base_right_marker_pose:
+      angle_rotation_error: 3.1299197063969033
+      euclidean_error: 0.5770405020167124
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0687426601504626
+      euclidean_error: 0.583730009379828
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0893026345747017
+      euclidean_error: 0.5805280092349666
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0981765998676014
+      euclidean_error: 0.581767322192221
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0817552109021276
+      euclidean_error: 0.5787474033869886
+    base_right_marker_pose:
+      angle_rotation_error: 3.12453672302703
+      euclidean_error: 0.5769033362491767
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081479569121949
+      euclidean_error: 0.5838184246666632
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.092607386891266
+      euclidean_error: 0.5805076572073041
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.121772020615116
+      euclidean_error: 0.582075633660241
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0783211285212495
+      euclidean_error: 0.5787394174303826
+    base_right_marker_pose:
+      angle_rotation_error: 3.13792578248338
+      euclidean_error: 0.5767950732018574
+    shoulder_marker_pose:
+      angle_rotation_error: 3.078169565105981
+      euclidean_error: 0.5838964483552597
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0962325877165715
+      euclidean_error: 0.5803054377326463
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1257019637925634
+      euclidean_error: 0.5821362719002815
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.074971293394375
+      euclidean_error: 0.5786910817462575
+    base_right_marker_pose:
+      angle_rotation_error: 3.136758932370419
+      euclidean_error: 0.5769377336043523
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0787004493768886
+      euclidean_error: 0.5837484368097103
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.092427075746226
+      euclidean_error: 0.5803327481542563
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.089176152700622
+      euclidean_error: 0.581412677447537
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0925943551928166
+      euclidean_error: 0.5787661751323457
+    base_right_marker_pose:
+      angle_rotation_error: 3.13812596057958
+      euclidean_error: 0.576965993868136
+    shoulder_marker_pose:
+      angle_rotation_error: 3.066425063695813
+      euclidean_error: 0.5838370430046271
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0767666367295936
+      euclidean_error: 0.5803259951720819
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.121513587765681
+      euclidean_error: 0.5821997201408018
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078684898273501
+      euclidean_error: 0.5786643896624292
+    base_right_marker_pose:
+      angle_rotation_error: 3.134709238987902
+      euclidean_error: 0.576929462865391
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0891249832584196
+      euclidean_error: 0.5838486197748851
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.116115955754697
+      euclidean_error: 0.5804041703606095
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.137600569419692
+      euclidean_error: 0.5822485641494192
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0831442455626625
+      euclidean_error: 0.5787858700268407
+    base_right_marker_pose:
+      angle_rotation_error: 3.135555458378669
+      euclidean_error: 0.5768498709728229
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069883799809138
+      euclidean_error: 0.5836657886472362
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0939850832601055
+      euclidean_error: 0.5806073662121511
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.100986252580552
+      euclidean_error: 0.5821155272591659
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081185743074609
+      euclidean_error: 0.5787505845794662
+    base_right_marker_pose:
+      angle_rotation_error: 3.128092997604138
+      euclidean_error: 0.5770072616459946
+    shoulder_marker_pose:
+      angle_rotation_error: 3.066221683399093
+      euclidean_error: 0.5835563170985745
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.108537413346048
+      euclidean_error: 0.5802112387603593
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1102624818917786
+      euclidean_error: 0.5814252242010387
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0807002660659255
+      euclidean_error: 0.5788118537680744
+    base_right_marker_pose:
+      angle_rotation_error: 3.136911649810819
+      euclidean_error: 0.5771090451324944
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0825217109377463
+      euclidean_error: 0.583835987739003
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1389289732033268
+      euclidean_error: 0.5804957493529848
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.128970857485696
+      euclidean_error: 0.5813674840472216
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.097576066895968
+      euclidean_error: 0.578891771770527
+    base_right_marker_pose:
+      angle_rotation_error: 3.1363631846060342
+      euclidean_error: 0.5767920344918843
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0848833206014223
+      euclidean_error: 0.5840030966520962
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.073453323278865
+      euclidean_error: 0.5805353304836809
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1342365914626105
+      euclidean_error: 0.5818986728533531
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.076522788310854
+      euclidean_error: 0.5785028341998011
+    base_right_marker_pose:
+      angle_rotation_error: 3.140021917922596
+      euclidean_error: 0.5769633873986796
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079614488793585
+      euclidean_error: 0.5838091819071423
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.073389940133988
+      euclidean_error: 0.5803742204718219
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130865761808879
+      euclidean_error: 0.5820470830238147
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086598654873766
+      euclidean_error: 0.5786354409120016
+    base_right_marker_pose:
+      angle_rotation_error: 3.1411037709867116
+      euclidean_error: 0.5771042452855489
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0835411052506587
+      euclidean_error: 0.5836644169594071
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.100744643796623
+      euclidean_error: 0.5804411750216706
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1407376550881465
+      euclidean_error: 0.5818525798504507
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0959878076211997
+      euclidean_error: 0.5786481456092405
+    base_right_marker_pose:
+      angle_rotation_error: 3.139843967874903
+      euclidean_error: 0.5769006250359011
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073185881064614
+      euclidean_error: 0.5837464803884355
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.08513757595592
+      euclidean_error: 0.5804746073658245
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1284937874868213
+      euclidean_error: 0.581991531298598
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0859053559850325
+      euclidean_error: 0.5786217645734918
+    base_right_marker_pose:
+      angle_rotation_error: 3.1411311906031343
+      euclidean_error: 0.5771173158060453
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0652400874821124
+      euclidean_error: 0.5838096138219039
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1104172514609227
+      euclidean_error: 0.5806086526852478
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1256378457293112
+      euclidean_error: 0.5815287239939133
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0817234860565303
+      euclidean_error: 0.5786960945213189
+    base_right_marker_pose:
+      angle_rotation_error: 3.130884520510816
+      euclidean_error: 0.5768661815079343
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0817877534282045
+      euclidean_error: 0.5836929389947964
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0562859513490324
+      euclidean_error: 0.5802137522125435
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1075497248572277
+      euclidean_error: 0.5814602298055996
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093461291912456
+      euclidean_error: 0.5786091082428126
+    base_right_marker_pose:
+      angle_rotation_error: 3.1415765972238607
+      euclidean_error: 0.5770919147555785
+    shoulder_marker_pose:
+      angle_rotation_error: 3.04981277328488
+      euclidean_error: 0.5836031854555912
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0950206134868594
+      euclidean_error: 0.5805213374467848
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1220383741168836
+      euclidean_error: 0.5815019493404382
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081720225419193
+      euclidean_error: 0.5786742021703087
+    base_right_marker_pose:
+      angle_rotation_error: 3.136576040392993
+      euclidean_error: 0.5769265844527165
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0767936791790613
+      euclidean_error: 0.5837953537243907
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.08113553156037
+      euclidean_error: 0.5804561744674904
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0913688449683328
+      euclidean_error: 0.5817383970495061
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0778165729888176
+      euclidean_error: 0.578648733122121
+    base_right_marker_pose:
+      angle_rotation_error: 3.140361188430722
+      euclidean_error: 0.5770382573029958
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07607430263179
+      euclidean_error: 0.5837181144653032
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0840164025655743
+      euclidean_error: 0.5804497594618762
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1132256042997155
+      euclidean_error: 0.5817261557004701
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.067895799886971
+      euclidean_error: 0.5786109696062703
+    base_right_marker_pose:
+      angle_rotation_error: 3.133927628883983
+      euclidean_error: 0.5769066657904071
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077244900777548
+      euclidean_error: 0.5836932807535592
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1393363639914766
+      euclidean_error: 0.5802778992990274
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1089784509161063
+      euclidean_error: 0.5818528525594506
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081167784541127
+      euclidean_error: 0.5787181167960206
+    base_right_marker_pose:
+      angle_rotation_error: 3.130579795779895
+      euclidean_error: 0.5768833573278388
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0660764306788804
+      euclidean_error: 0.5836680866035098
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.106600202726081
+      euclidean_error: 0.5801978059482128
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.139679849883268
+      euclidean_error: 0.581576121543922
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0612741151106944
+      euclidean_error: 0.5785665867618991
+    base_right_marker_pose:
+      angle_rotation_error: 3.1278848306633162
+      euclidean_error: 0.5769605030847528
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0613751406444623
+      euclidean_error: 0.5834499393552927
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1239438443968908
+      euclidean_error: 0.5804004446888009
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1277391368271545
+      euclidean_error: 0.5819938651775002
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0662979665050143
+      euclidean_error: 0.5785630580406298
+    base_right_marker_pose:
+      angle_rotation_error: 3.1386436309757726
+      euclidean_error: 0.5767648415396368
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0598243607289732
+      euclidean_error: 0.5834605697423515
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.128322799246065
+      euclidean_error: 0.5802279185695459
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0939676225471016
+      euclidean_error: 0.5818822062347797
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0788214609933973
+      euclidean_error: 0.5787386817803079
+    base_right_marker_pose:
+      angle_rotation_error: 3.1274471691169414
+      euclidean_error: 0.5769745345355402
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0702123640416175
+      euclidean_error: 0.5836704394599008
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088753003646135
+      euclidean_error: 0.5803850332410999
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1321283768800865
+      euclidean_error: 0.5812418909628323
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.082209627330188
+      euclidean_error: 0.5788064419304793
+    base_right_marker_pose:
+      angle_rotation_error: 3.133207536151174
+      euclidean_error: 0.5770048659749321
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0730866968877675
+      euclidean_error: 0.5835098779630831
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1101224718222222
+      euclidean_error: 0.5803340558864524
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.13549871056903
+      euclidean_error: 0.5816424445560447
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0891563635342734
+      euclidean_error: 0.5787067911710054
+    base_right_marker_pose:
+      angle_rotation_error: 3.128193076626456
+      euclidean_error: 0.5770895869863838
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0686610181578593
+      euclidean_error: 0.583742073049736
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.081259243536417
+      euclidean_error: 0.5804630823211832
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1052600509830675
+      euclidean_error: 0.5819780840727423
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.072752248570587
+      euclidean_error: 0.5786505534622467
+    base_right_marker_pose:
+      angle_rotation_error: 3.123358565411307
+      euclidean_error: 0.5770353290311341
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080492916203393
+      euclidean_error: 0.5837937689116743
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0692611152617415
+      euclidean_error: 0.5803112437615374
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.105613715539709
+      euclidean_error: 0.5820246516342945
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0795031443214125
+      euclidean_error: 0.5787868194880341
+    base_right_marker_pose:
+      angle_rotation_error: 3.1362257566175953
+      euclidean_error: 0.5769841568421912
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0660774267170514
+      euclidean_error: 0.5837077393571596
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088580752036906
+      euclidean_error: 0.5805162256955227
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0949031888249574
+      euclidean_error: 0.5818903248851773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0871188820714646
+      euclidean_error: 0.5786897345761407
+    base_right_marker_pose:
+      angle_rotation_error: 3.1280889060708645
+      euclidean_error: 0.5770164786800447
+    shoulder_marker_pose:
+      angle_rotation_error: 3.059477542581038
+      euclidean_error: 0.5835700303774121
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0914277112566673
+      euclidean_error: 0.5801833650106272
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1200542497141215
+      euclidean_error: 0.5819707055770591
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.092471142874998
+      euclidean_error: 0.5787979979863845
+    base_right_marker_pose:
+      angle_rotation_error: 3.1334551183321513
+      euclidean_error: 0.5770646386953373
+    shoulder_marker_pose:
+      angle_rotation_error: 3.090283388326796
+      euclidean_error: 0.5835592641469142
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1115048687658073
+      euclidean_error: 0.5801501567656726
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.078304744181881
+      euclidean_error: 0.5813304845363922
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078469784966763
+      euclidean_error: 0.5786017598002487
+    base_right_marker_pose:
+      angle_rotation_error: 3.1365254701994463
+      euclidean_error: 0.576901355333973
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074962001798142
+      euclidean_error: 0.583494375020378
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1219486031636006
+      euclidean_error: 0.5803662113787408
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1046923682434664
+      euclidean_error: 0.5819280532841403
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0938116247235303
+      euclidean_error: 0.5788215602307224
+    base_right_marker_pose:
+      angle_rotation_error: 3.1345112059670215
+      euclidean_error: 0.5770545424087887
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0635283118279615
+      euclidean_error: 0.5837524214009536
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1071602462098142
+      euclidean_error: 0.5802317976566677
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0979452863498236
+      euclidean_error: 0.5818072470932292
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.072669548998228
+      euclidean_error: 0.5785295483491206
+    base_right_marker_pose:
+      angle_rotation_error: 3.1301997232983543
+      euclidean_error: 0.5769867995254044
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084097350370957
+      euclidean_error: 0.5836493658860612
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1111978812336285
+      euclidean_error: 0.5802610101485008
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1015002148316473
+      euclidean_error: 0.5817082196443426
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.082589333775328
+      euclidean_error: 0.5786606515522426
+    base_right_marker_pose:
+      angle_rotation_error: 3.140401457653541
+      euclidean_error: 0.5769912721816186
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074676790606745
+      euclidean_error: 0.5836682162273328
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1313881829529917
+      euclidean_error: 0.5804367822846037
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.13059589476104
+      euclidean_error: 0.5819084886508763
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080597885251656
+      euclidean_error: 0.5786683566478011
+    base_right_marker_pose:
+      angle_rotation_error: 3.1335056250419084
+      euclidean_error: 0.576980952310086
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0616002998445073
+      euclidean_error: 0.5836908926542987
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1396326790992117
+      euclidean_error: 0.5801071506480356
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.125478388981647
+      euclidean_error: 0.5820408296384624
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0944487097249387
+      euclidean_error: 0.5787782817150043
+    base_right_marker_pose:
+      angle_rotation_error: 3.1325486503233657
+      euclidean_error: 0.5769779163354315
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0646848468017938
+      euclidean_error: 0.5836206814618151
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0851583973690864
+      euclidean_error: 0.5803942129806977
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1206441316725817
+      euclidean_error: 0.5820526085709924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078483371957232
+      euclidean_error: 0.5786495827085739
+    base_right_marker_pose:
+      angle_rotation_error: 3.1396211646211056
+      euclidean_error: 0.5769132766223865
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081643798665998
+      euclidean_error: 0.5836982813767112
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0900857556274923
+      euclidean_error: 0.580300349365911
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1245037426013713
+      euclidean_error: 0.5820404094774615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0907651505819236
+      euclidean_error: 0.5786436107796493
+    base_right_marker_pose:
+      angle_rotation_error: 3.1369219540183515
+      euclidean_error: 0.5769905248636091
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0793270051277757
+      euclidean_error: 0.5837459050365483
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.094605369284855
+      euclidean_error: 0.5802681995696741
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.112522306434036
+      euclidean_error: 0.5815152274717527
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.076737992909707
+      euclidean_error: 0.578655667574696
+    base_right_marker_pose:
+      angle_rotation_error: 3.1311124224771927
+      euclidean_error: 0.57700428097389
+    shoulder_marker_pose:
+      angle_rotation_error: 3.04882310145132
+      euclidean_error: 0.5836825598461267
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0877502116046833
+      euclidean_error: 0.5804545084681404
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1213558177217173
+      euclidean_error: 0.5821588953865042
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088030469275024
+      euclidean_error: 0.5786897270610649
+    base_right_marker_pose:
+      angle_rotation_error: 3.1400056250923756
+      euclidean_error: 0.5770726085287124
+    shoulder_marker_pose:
+      angle_rotation_error: 3.079962459442346
+      euclidean_error: 0.583640939343691
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1413219581206415
+      euclidean_error: 0.5800962335219104
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1127522610690583
+      euclidean_error: 0.5819501091845372
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093520862515053
+      euclidean_error: 0.5786084391664406
+    base_right_marker_pose:
+      angle_rotation_error: 3.137853811903008
+      euclidean_error: 0.5771282270831916
+    shoulder_marker_pose:
+      angle_rotation_error: 3.103054075380241
+      euclidean_error: 0.5839807994401252
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0934189828884273
+      euclidean_error: 0.5801958397703213
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1313056527955423
+      euclidean_error: 0.5818810069388106
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080112341713767
+      euclidean_error: 0.5786211715147392
+    base_right_marker_pose:
+      angle_rotation_error: 3.1271000262554094
+      euclidean_error: 0.5769626859808309
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063070636383567
+      euclidean_error: 0.583685641219148
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1133957133915473
+      euclidean_error: 0.5806294607414945
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1311268947227475
+      euclidean_error: 0.581831093948067
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0758332288237367
+      euclidean_error: 0.5786325115217821
+    base_right_marker_pose:
+      angle_rotation_error: 3.131640791860997
+      euclidean_error: 0.5768808219432595
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0797336739082737
+      euclidean_error: 0.5837710650434349
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1151205928180388
+      euclidean_error: 0.5804967827220513
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.12810339454252
+      euclidean_error: 0.5818275411955575
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.073094707488613
+      euclidean_error: 0.5786280638330435
+    base_right_marker_pose:
+      angle_rotation_error: 3.1339128667148777
+      euclidean_error: 0.5769821959655408
+    shoulder_marker_pose:
+      angle_rotation_error: 3.071933824208153
+      euclidean_error: 0.5838099405873416
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.11218300850323
+      euclidean_error: 0.5802530485540814
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.111271408916261
+      euclidean_error: 0.5815145853254922
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084602179345949
+      euclidean_error: 0.5785954955804395
+    base_right_marker_pose:
+      angle_rotation_error: 3.1347760554697133
+      euclidean_error: 0.5769910627954578
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074448935976531
+      euclidean_error: 0.5837691257090897
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1249766342449417
+      euclidean_error: 0.5803141841445121
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1182615922670776
+      euclidean_error: 0.5820359827435229
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0795816065791572
+      euclidean_error: 0.5787232468391853
+    base_right_marker_pose:
+      angle_rotation_error: 3.1326524379067453
+      euclidean_error: 0.5769866429381696
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1035009569098952
+      euclidean_error: 0.5839622822298441
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090958813909286
+      euclidean_error: 0.5802352884423446
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1400001533262483
+      euclidean_error: 0.5815390832862927
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0796234324305596
+      euclidean_error: 0.5785520480858964
+    base_right_marker_pose:
+      angle_rotation_error: 3.1255323341194514
+      euclidean_error: 0.57716628929268
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0824758545785738
+      euclidean_error: 0.5835394882043226
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1142116501314225
+      euclidean_error: 0.5803344517190628
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130422883322856
+      euclidean_error: 0.5821438124619066
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0796804576544883
+      euclidean_error: 0.5785593739594289
+    base_right_marker_pose:
+      angle_rotation_error: 3.122058420848947
+      euclidean_error: 0.5768897768323978
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07531650751984
+      euclidean_error: 0.5835581359490276
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.077125414111068
+      euclidean_error: 0.580348023010403
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.127298634593774
+      euclidean_error: 0.5821202497919373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0905921237104774
+      euclidean_error: 0.5785918705090712
+    base_right_marker_pose:
+      angle_rotation_error: 3.1208466019380894
+      euclidean_error: 0.5769619220871716
+    shoulder_marker_pose:
+      angle_rotation_error: 3.085575153522939
+      euclidean_error: 0.5837817952775032
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.094898100690645
+      euclidean_error: 0.580455563961625
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.118418244443468
+      euclidean_error: 0.5817059266819267
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088711730159172
+      euclidean_error: 0.578618403201317
+    base_right_marker_pose:
+      angle_rotation_error: 3.1379002287908544
+      euclidean_error: 0.5772097496905874
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0803968381054285
+      euclidean_error: 0.5835430573545688
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.054922713177569
+      euclidean_error: 0.5802004019991855
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0655367961483946
+      euclidean_error: 0.5817597350519464
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.074173780843843
+      euclidean_error: 0.5787164059317456
+    base_right_marker_pose:
+      angle_rotation_error: 3.1374196685432802
+      euclidean_error: 0.5768193653084024
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0790747820628064
+      euclidean_error: 0.5837222541705638
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1068351197384287
+      euclidean_error: 0.5801080556728387
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.107688925161274
+      euclidean_error: 0.5819495165926409
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0816106821584404
+      euclidean_error: 0.5786270869534342
+    base_right_marker_pose:
+      angle_rotation_error: 3.133352078446011
+      euclidean_error: 0.5772252735269625
+    shoulder_marker_pose:
+      angle_rotation_error: 3.072156899301765
+      euclidean_error: 0.5835843267240248
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.073903037460842
+      euclidean_error: 0.58029066671521
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1369499169425317
+      euclidean_error: 0.58152931598052
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.089107586575672
+      euclidean_error: 0.5785906201004747
+    base_right_marker_pose:
+      angle_rotation_error: 3.1336921178807877
+      euclidean_error: 0.5770696035800352
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0705270613442437
+      euclidean_error: 0.5836693982320673
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0991065158740083
+      euclidean_error: 0.580279648173838
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.137173547682316
+      euclidean_error: 0.5818984376007386
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0890988836105966
+      euclidean_error: 0.5787080752360848
+    base_right_marker_pose:
+      angle_rotation_error: 3.129003088711565
+      euclidean_error: 0.576942733667333
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075791154186921
+      euclidean_error: 0.5836564834151166
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1186263491560005
+      euclidean_error: 0.5804889035195016
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1171570722755657
+      euclidean_error: 0.5813265374162193
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078202702944568
+      euclidean_error: 0.5786651727797171
+    base_right_marker_pose:
+      angle_rotation_error: 3.12278355424681
+      euclidean_error: 0.5770563805713858
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083753992331186
+      euclidean_error: 0.5836455047021784
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.079798658921898
+      euclidean_error: 0.5801981321503769
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1158307007689734
+      euclidean_error: 0.5815880718029598
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0824104185273926
+      euclidean_error: 0.5787818955444008
+    base_right_marker_pose:
+      angle_rotation_error: 3.1256392426994135
+      euclidean_error: 0.5769317476886369
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067875581723897
+      euclidean_error: 0.5836716105984538
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.138106354971177
+      euclidean_error: 0.5800083832071118
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1228520827314
+      euclidean_error: 0.5813466291559305
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0860697636785526
+      euclidean_error: 0.5787400662962321
+    base_right_marker_pose:
+      angle_rotation_error: 3.1292348626120012
+      euclidean_error: 0.577024999733448
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088000539666859
+      euclidean_error: 0.5837630774390267
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.099919157847544
+      euclidean_error: 0.5804122529586015
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.125673233579215
+      euclidean_error: 0.5816557347224757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0832405659355664
+      euclidean_error: 0.5786165485645579
+    base_right_marker_pose:
+      angle_rotation_error: 3.1256769820792045
+      euclidean_error: 0.5771611226527362
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0696019312917606
+      euclidean_error: 0.5834649223227422
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.09375114104915
+      euclidean_error: 0.5802866927752386
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.136011913738684
+      euclidean_error: 0.5815508242949232
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0700768240372187
+      euclidean_error: 0.5786545800809262
+    base_right_marker_pose:
+      angle_rotation_error: 3.140189523810109
+      euclidean_error: 0.5770574347406656
+    shoulder_marker_pose:
+      angle_rotation_error: 3.076968203157746
+      euclidean_error: 0.583615398836092
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.10927302904331
+      euclidean_error: 0.5804652040349867
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.127090751191166
+      euclidean_error: 0.5819302030430249
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084540149071267
+      euclidean_error: 0.5788080375347281
+    base_right_marker_pose:
+      angle_rotation_error: 3.130885125746593
+      euclidean_error: 0.5770433573842947
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0650820018364224
+      euclidean_error: 0.5836603714858719
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1394633574863615
+      euclidean_error: 0.5802697808107367
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1354819085299193
+      euclidean_error: 0.581631670397481
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0716375979415127
+      euclidean_error: 0.5787415824472422
+    base_right_marker_pose:
+      angle_rotation_error: 3.1279259603559915
+      euclidean_error: 0.5770240495725466
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0704581144692815
+      euclidean_error: 0.5835607908646997
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1196472225317176
+      euclidean_error: 0.5804696882124747
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1340102533525984
+      euclidean_error: 0.5821202689637103
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.089859812494262
+      euclidean_error: 0.5787135354971944
+    base_right_marker_pose:
+      angle_rotation_error: 3.135677493385477
+      euclidean_error: 0.57681274690494
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0654090205890334
+      euclidean_error: 0.583733580994586
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1384220266048932
+      euclidean_error: 0.5801084483322616
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1413390001401735
+      euclidean_error: 0.5817975716916726
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.066578277783608
+      euclidean_error: 0.5785575100407095
+    base_right_marker_pose:
+      angle_rotation_error: 3.121531206424232
+      euclidean_error: 0.5768638441672893
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0863422146939645
+      euclidean_error: 0.5837282496693164
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0979394192580627
+      euclidean_error: 0.5801022530899426
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.123312231226865
+      euclidean_error: 0.5819371570837971
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0813214937117452
+      euclidean_error: 0.5786953381404027
+    base_right_marker_pose:
+      angle_rotation_error: 3.1099236842588174
+      euclidean_error: 0.5770034368215692
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0980612323104997
+      euclidean_error: 0.5836400713782948
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0887607586067127
+      euclidean_error: 0.5804669283256548
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1301148659407274
+      euclidean_error: 0.5819269762604515
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.077910249422975
+      euclidean_error: 0.578701306127617
+    base_right_marker_pose:
+      angle_rotation_error: 3.136136488963983
+      euclidean_error: 0.5772607190636774
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0693758449379986
+      euclidean_error: 0.5836602301731376
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.120981093287409
+      euclidean_error: 0.5804521124902708
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1169695793960948
+      euclidean_error: 0.5818884243833817
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0760559445552556
+      euclidean_error: 0.5787169570088311
+    base_right_marker_pose:
+      angle_rotation_error: 3.1298473790011907
+      euclidean_error: 0.5769707145507699
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1011433619803332
+      euclidean_error: 0.583933624936345
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0902853137881316
+      euclidean_error: 0.5803323640023392
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0990956417670597
+      euclidean_error: 0.5817402583024939
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0753033880411222
+      euclidean_error: 0.5786983336451057
+    base_right_marker_pose:
+      angle_rotation_error: 3.132995024099068
+      euclidean_error: 0.57692245396398
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0731105864160786
+      euclidean_error: 0.5836964089781462
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1293591565154406
+      euclidean_error: 0.5800879127740518
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.107288599878808
+      euclidean_error: 0.5817582967935182
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0955069300995377
+      euclidean_error: 0.5787004950050015
+    base_right_marker_pose:
+      angle_rotation_error: 3.1373089453470797
+      euclidean_error: 0.5767910527218
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0615093581202264
+      euclidean_error: 0.5837549483199606
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.121521229694405
+      euclidean_error: 0.5802930876296718
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.129127815047973
+      euclidean_error: 0.5817775728211335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0840843267782203
+      euclidean_error: 0.5787656680367738
+    base_right_marker_pose:
+      angle_rotation_error: 3.1386392065428406
+      euclidean_error: 0.5771401380898988
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0888658952928605
+      euclidean_error: 0.5838242415961384
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.070268271641173
+      euclidean_error: 0.5802483901423715
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.139537484615453
+      euclidean_error: 0.5816547038686987
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0873031173961234
+      euclidean_error: 0.5787060528475211
+    base_right_marker_pose:
+      angle_rotation_error: 3.1305294433963593
+      euclidean_error: 0.5769201186081077
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0872693171954944
+      euclidean_error: 0.5836742179804755
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0843055230323655
+      euclidean_error: 0.580347079450521
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1236894072376136
+      euclidean_error: 0.582030227496139
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0861932394885785
+      euclidean_error: 0.5787395007156978
+    base_right_marker_pose:
+      angle_rotation_error: 3.140152074197074
+      euclidean_error: 0.5769076565491146
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086928561090989
+      euclidean_error: 0.5837940056873239
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1163845955493428
+      euclidean_error: 0.5799543455530412
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1230480343731215
+      euclidean_error: 0.5819876084313984
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0785953207251215
+      euclidean_error: 0.5788383445890287
+    base_right_marker_pose:
+      angle_rotation_error: 3.1363536808703687
+      euclidean_error: 0.5770397961207284
+    shoulder_marker_pose:
+      angle_rotation_error: 3.062191314213168
+      euclidean_error: 0.5835543052970977
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.103823649110757
+      euclidean_error: 0.5802716500713557
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130687287709441
+      euclidean_error: 0.5819249002862008
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0854974701253526
+      euclidean_error: 0.5787950269012401
+    base_right_marker_pose:
+      angle_rotation_error: 3.134851503120959
+      euclidean_error: 0.5770109525684577
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0688361609691976
+      euclidean_error: 0.5835395417750966
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1245401955451353
+      euclidean_error: 0.5802435241751813
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1166633378968966
+      euclidean_error: 0.5820291301878716
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0723955768730677
+      euclidean_error: 0.578852619822846
+    base_right_marker_pose:
+      angle_rotation_error: 3.1378051100267688
+      euclidean_error: 0.5770213750729244
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067462371173438
+      euclidean_error: 0.5837493019867946
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.05697161174682
+      euclidean_error: 0.5803169877255602
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.11013070547555
+      euclidean_error: 0.5819217381654664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0834607543014827
+      euclidean_error: 0.5787491553922807
+    base_right_marker_pose:
+      angle_rotation_error: 3.1376284826652046
+      euclidean_error: 0.5771775255754785
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0677874061045927
+      euclidean_error: 0.5836830553449109
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1213273925248486
+      euclidean_error: 0.5802284589336779
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.135226562056273
+      euclidean_error: 0.5818538942437703
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.074120053711474
+      euclidean_error: 0.5787347009780089
+    base_right_marker_pose:
+      angle_rotation_error: 3.1325779241202127
+      euclidean_error: 0.5770644384342498
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0656189152755484
+      euclidean_error: 0.58388743565219
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.123955843236787
+      euclidean_error: 0.5804181406465645
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0580786625963654
+      euclidean_error: 0.5814327859378509
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0913275353582983
+      euclidean_error: 0.5787667431759375
+    base_right_marker_pose:
+      angle_rotation_error: 3.137387959342028
+      euclidean_error: 0.5770305789151052
+    shoulder_marker_pose:
+      angle_rotation_error: 3.092351622605924
+      euclidean_error: 0.5836298323378103
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.121224081368165
+      euclidean_error: 0.5802502555671415
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.100729162276322
+      euclidean_error: 0.5817973510045046
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0802655799277754
+      euclidean_error: 0.5787670157420794
+    base_right_marker_pose:
+      angle_rotation_error: 3.134217452230982
+      euclidean_error: 0.5769642013079395
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080685728778338
+      euclidean_error: 0.5837058855001316
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.106877493839116
+      euclidean_error: 0.580394949671687
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1298335722570396
+      euclidean_error: 0.5813412458422256
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0797270326589268
+      euclidean_error: 0.5787285984835787
+    base_right_marker_pose:
+      angle_rotation_error: 3.1222281753090972
+      euclidean_error: 0.5770397518011285
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0769905456317446
+      euclidean_error: 0.583593918722024
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.128361090374797
+      euclidean_error: 0.5803878616044008
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1365962596579817
+      euclidean_error: 0.581511244353336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0822127500970926
+      euclidean_error: 0.5787566835383772
+    base_right_marker_pose:
+      angle_rotation_error: 3.133202816140286
+      euclidean_error: 0.577237547440588
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073803127574064
+      euclidean_error: 0.5836009011750157
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1085057461646226
+      euclidean_error: 0.5804721482444493
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.11719642972074
+      euclidean_error: 0.5818694329207059
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0685581462751776
+      euclidean_error: 0.5785188531608738
+    base_right_marker_pose:
+      angle_rotation_error: 3.141110240993413
+      euclidean_error: 0.5770294057027684
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0767435363177444
+      euclidean_error: 0.5838082796123657
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.090034539957913
+      euclidean_error: 0.5806597545937578
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0670231001296346
+      euclidean_error: 0.5816008944336245
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081682139405321
+      euclidean_error: 0.5788132875288694
+    base_right_marker_pose:
+      angle_rotation_error: 3.137959053964053
+      euclidean_error: 0.5771575331565314
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073810599102863
+      euclidean_error: 0.5836223050470668
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.081593547426771
+      euclidean_error: 0.5803138480391816
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1313221610424207
+      euclidean_error: 0.5819608990076427
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0743901511433824
+      euclidean_error: 0.5786425720886794
+    base_right_marker_pose:
+      angle_rotation_error: 3.1403796286012056
+      euclidean_error: 0.5770732761799954
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0723843581189696
+      euclidean_error: 0.5836292614724985
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1222316411858912
+      euclidean_error: 0.5803770304201847
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1232491235950643
+      euclidean_error: 0.5818529960110371
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.085124835493936
+      euclidean_error: 0.5787429190305804
+    base_right_marker_pose:
+      angle_rotation_error: 3.130716576833309
+      euclidean_error: 0.5771869125506278
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0548298993894356
+      euclidean_error: 0.5835746872707405
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088241014181947
+      euclidean_error: 0.5803425007740751
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1284218624791404
+      euclidean_error: 0.5820439787825241
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087864373731612
+      euclidean_error: 0.5787098275052884
+    base_right_marker_pose:
+      angle_rotation_error: 3.1382621641554533
+      euclidean_error: 0.5771146953412218
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0772176573404324
+      euclidean_error: 0.5837198284481632
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1342660392023234
+      euclidean_error: 0.5803887474436834
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1357893838382713
+      euclidean_error: 0.5818551976153035
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078968414378737
+      euclidean_error: 0.5786165510483917
+    base_right_marker_pose:
+      angle_rotation_error: 3.132433848918059
+      euclidean_error: 0.5772821036615821
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0704217113291343
+      euclidean_error: 0.5836211268246502
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0947275275389003
+      euclidean_error: 0.5804631207611539
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.103675574997674
+      euclidean_error: 0.5817460763584178
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0813294642869398
+      euclidean_error: 0.578719333259813
+    base_right_marker_pose:
+      angle_rotation_error: 3.140455206099737
+      euclidean_error: 0.5770128216295252
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0891761044933372
+      euclidean_error: 0.5837263665548361
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1058505628513555
+      euclidean_error: 0.5801841724002601
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1192178840141795
+      euclidean_error: 0.5815921329295004
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0654035329585607
+      euclidean_error: 0.5786924565317044
+    base_right_marker_pose:
+      angle_rotation_error: 3.131091486851114
+      euclidean_error: 0.5769328341703632
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0889715650239773
+      euclidean_error: 0.5836158155514005
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1214890728110185
+      euclidean_error: 0.5802040604803733
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.117347978017734
+      euclidean_error: 0.5820819378892658
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080184407499376
+      euclidean_error: 0.5786617926752444
+    base_right_marker_pose:
+      angle_rotation_error: 3.127309063856187
+      euclidean_error: 0.5771252196142066
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0821685387418474
+      euclidean_error: 0.5836283821167602
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.127907606702851
+      euclidean_error: 0.5806662990375078
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1136760276698214
+      euclidean_error: 0.5820034941794537
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0926398670497255
+      euclidean_error: 0.5787593647520695
+    base_right_marker_pose:
+      angle_rotation_error: 3.136099045994723
+      euclidean_error: 0.5769964243244421
+    shoulder_marker_pose:
+      angle_rotation_error: 3.102229426630984
+      euclidean_error: 0.5838426257426351
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.080120000145168
+      euclidean_error: 0.5803256404710369
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1240726632807507
+      euclidean_error: 0.5816448596172394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090818441699418
+      euclidean_error: 0.5788268551784449
+    base_right_marker_pose:
+      angle_rotation_error: 3.1390714095050303
+      euclidean_error: 0.5769942082508389
+    shoulder_marker_pose:
+      angle_rotation_error: 3.050451836473121
+      euclidean_error: 0.5837371614089851
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1350363129162524
+      euclidean_error: 0.5803780406125842
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1117043318128794
+      euclidean_error: 0.5812768635478314
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0875531876317543
+      euclidean_error: 0.5786917655824291
+    base_right_marker_pose:
+      angle_rotation_error: 3.136199223215072
+      euclidean_error: 0.5769203843930549
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077950279056946
+      euclidean_error: 0.583713823764261
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1244624143441784
+      euclidean_error: 0.5804283374450495
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.109330126550788
+      euclidean_error: 0.5815561679636958
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.075958278105287
+      euclidean_error: 0.5786081393838489
+    base_right_marker_pose:
+      angle_rotation_error: 3.1282025397060376
+      euclidean_error: 0.5768551041267901
+    shoulder_marker_pose:
+      angle_rotation_error: 3.085356148299975
+      euclidean_error: 0.5838717893010499
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.109604080055817
+      euclidean_error: 0.5801419481169366
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.134148762431694
+      euclidean_error: 0.5816310250662167
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.077668481750974
+      euclidean_error: 0.5786206820338874
+    base_right_marker_pose:
+      angle_rotation_error: 3.139576689315022
+      euclidean_error: 0.5771015878341612
+    shoulder_marker_pose:
+      angle_rotation_error: 3.063055263116543
+      euclidean_error: 0.5835556674501494
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1163773124246683
+      euclidean_error: 0.580151414449917
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.125494725044941
+      euclidean_error: 0.5819162346675983
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.09139922907387
+      euclidean_error: 0.5787387158926068
+    base_right_marker_pose:
+      angle_rotation_error: 3.13709006826817
+      euclidean_error: 0.5771576791168991
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0694491502156103
+      euclidean_error: 0.5835795653598522
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1328590375507313
+      euclidean_error: 0.5801455588612647
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.119961370806851
+      euclidean_error: 0.5816778155643095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080079789406251
+      euclidean_error: 0.5787415915344317
+    base_right_marker_pose:
+      angle_rotation_error: 3.1332072834229483
+      euclidean_error: 0.5768492978886625
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075196725433328
+      euclidean_error: 0.5836425649148322
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1244731127532703
+      euclidean_error: 0.5801852211351262
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1066983246049262
+      euclidean_error: 0.5820437183738971
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0699562798377684
+      euclidean_error: 0.5786668249300094
+    base_right_marker_pose:
+      angle_rotation_error: 3.140805984127158
+      euclidean_error: 0.5771759186031002
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1014852439516294
+      euclidean_error: 0.5838423184844728
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.121715673443276
+      euclidean_error: 0.5802219019435785
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.138841401375492
+      euclidean_error: 0.5815317637728912
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0787138477689115
+      euclidean_error: 0.5787962138698227
+    base_right_marker_pose:
+      angle_rotation_error: 3.128295210772657
+      euclidean_error: 0.5771616645901805
+    shoulder_marker_pose:
+      angle_rotation_error: 3.050384018440817
+      euclidean_error: 0.5835391170797101
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0907301178442497
+      euclidean_error: 0.5803588572891367
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1289863291868816
+      euclidean_error: 0.5822847880867947
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0736217493141553
+      euclidean_error: 0.5785785398973138
+    base_right_marker_pose:
+      angle_rotation_error: 3.131101124858089
+      euclidean_error: 0.5770941119454573
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0742572975592743
+      euclidean_error: 0.5836258659553991
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0967143530208543
+      euclidean_error: 0.5805713373723137
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.084693282031652
+      euclidean_error: 0.5819040158619742
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0850386735489805
+      euclidean_error: 0.5786094821611313
+    base_right_marker_pose:
+      angle_rotation_error: 3.1351128937420905
+      euclidean_error: 0.5770855963476782
+    shoulder_marker_pose:
+      angle_rotation_error: 3.060984706143764
+      euclidean_error: 0.5837275973034102
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0953679626372934
+      euclidean_error: 0.5804484405465928
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1284066217283084
+      euclidean_error: 0.5821768078909667
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0819685646256363
+      euclidean_error: 0.5787689599670423
+    base_right_marker_pose:
+      angle_rotation_error: 3.1094475682211242
+      euclidean_error: 0.5769535669552329
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077020200868107
+      euclidean_error: 0.5835970313077179
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1037624900316536
+      euclidean_error: 0.5802117942667702
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1170262442283065
+      euclidean_error: 0.5817343464452652
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0954410494441182
+      euclidean_error: 0.5789094776613506
+    base_right_marker_pose:
+      angle_rotation_error: 3.123966101267795
+      euclidean_error: 0.5771214997662781
+    shoulder_marker_pose:
+      angle_rotation_error: 3.100988383249377
+      euclidean_error: 0.5838010088079352
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.087436301061396
+      euclidean_error: 0.5801051806624167
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.106035550865465
+      euclidean_error: 0.5819107441739059
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0782185326066447
+      euclidean_error: 0.5787054939674194
+    base_right_marker_pose:
+      angle_rotation_error: 3.1203183530282983
+      euclidean_error: 0.5771040524793075
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0658251607959084
+      euclidean_error: 0.5836573001895723
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1089845020656877
+      euclidean_error: 0.580132387641208
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1197385249827994
+      euclidean_error: 0.5820299443327615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091749507359728
+      euclidean_error: 0.5788394777688535
+    base_right_marker_pose:
+      angle_rotation_error: 3.136516572660068
+      euclidean_error: 0.5769379253515582
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0813398939485177
+      euclidean_error: 0.5837065756549937
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.112295017601577
+      euclidean_error: 0.5801603471532903
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1384833124337415
+      euclidean_error: 0.5817543235198539
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087341343219096
+      euclidean_error: 0.5786395887338335
+    base_right_marker_pose:
+      angle_rotation_error: 3.135349400344118
+      euclidean_error: 0.577115874876788
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0842295297729323
+      euclidean_error: 0.5837654377956877
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0825720796680973
+      euclidean_error: 0.5804723703684828
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1214706138238895
+      euclidean_error: 0.582152167816361
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086974321904676
+      euclidean_error: 0.5787328999841049
+    base_right_marker_pose:
+      angle_rotation_error: 3.125709396352309
+      euclidean_error: 0.5769973099524461
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0772469372436544
+      euclidean_error: 0.583766519435827
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.088456980866888
+      euclidean_error: 0.5802198929565298
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.106318302886287
+      euclidean_error: 0.5813445015714627
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0760879906108034
+      euclidean_error: 0.5786040009623692
+    base_right_marker_pose:
+      angle_rotation_error: 3.1212095281876704
+      euclidean_error: 0.5769736609401283
+    shoulder_marker_pose:
+      angle_rotation_error: 3.08132259152774
+      euclidean_error: 0.5838977814315041
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.097024618689305
+      euclidean_error: 0.5802503906040253
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1356742043863868
+      euclidean_error: 0.5821706904352013
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0808634339511887
+      euclidean_error: 0.5787879976462329
+    base_right_marker_pose:
+      angle_rotation_error: 3.141516501756945
+      euclidean_error: 0.5770223743485972
+    shoulder_marker_pose:
+      angle_rotation_error: 3.082100150128262
+      euclidean_error: 0.5835605867695133
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1352036247552952
+      euclidean_error: 0.580152435478729
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1000492789629934
+      euclidean_error: 0.5818454245521417
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0816911907802838
+      euclidean_error: 0.5786767242430869
+    base_right_marker_pose:
+      angle_rotation_error: 3.1346790682769763
+      euclidean_error: 0.5770718191369184
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080228142056149
+      euclidean_error: 0.5835144318204603
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1026393191789885
+      euclidean_error: 0.5805156716198262
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.119783372098216
+      euclidean_error: 0.5814465563328496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0860767478781335
+      euclidean_error: 0.5786741142911911
+    base_right_marker_pose:
+      angle_rotation_error: 3.1360789995552327
+      euclidean_error: 0.5771579999783569
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0600309898930957
+      euclidean_error: 0.5836305591314113
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0919371062798002
+      euclidean_error: 0.5800603423949227
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1174021642393996
+      euclidean_error: 0.5819574540509109
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0795394820486175
+      euclidean_error: 0.5787051178987994
+    base_right_marker_pose:
+      angle_rotation_error: 3.139924076469343
+      euclidean_error: 0.5770597676261627
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0739999662134094
+      euclidean_error: 0.5838450046808997
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.116775175436416
+      euclidean_error: 0.580371175672239
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.076558912215832
+      euclidean_error: 0.5817559896875367
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.087819899697617
+      euclidean_error: 0.578628538824576
+    base_right_marker_pose:
+      angle_rotation_error: 3.141583905313619
+      euclidean_error: 0.5773397334089224
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0592699366491836
+      euclidean_error: 0.5837161033816977
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0924294965389376
+      euclidean_error: 0.5803725347493695
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1305481605082073
+      euclidean_error: 0.5818084358995718
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0762896795893795
+      euclidean_error: 0.5787849199253992
+    base_right_marker_pose:
+      angle_rotation_error: 3.139568877268299
+      euclidean_error: 0.5770402807185017
+    shoulder_marker_pose:
+      angle_rotation_error: 3.07307301171752
+      euclidean_error: 0.583741100107426
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0984701320605184
+      euclidean_error: 0.5803619646584659
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.138659497735909
+      euclidean_error: 0.5813818008109218
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08766528587997
+      euclidean_error: 0.5788852234541959
+    base_right_marker_pose:
+      angle_rotation_error: 3.1338910856853044
+      euclidean_error: 0.5770736700447437
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0806774992582304
+      euclidean_error: 0.5837419631497255
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0990235485639506
+      euclidean_error: 0.5804200997182919
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.111808231120515
+      euclidean_error: 0.5818726060030027
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0885582837827577
+      euclidean_error: 0.5787426223589355
+    base_right_marker_pose:
+      angle_rotation_error: 3.134746512089633
+      euclidean_error: 0.5773157303837492
+    shoulder_marker_pose:
+      angle_rotation_error: 3.091120785129997
+      euclidean_error: 0.5836771034903377
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.110787460389725
+      euclidean_error: 0.5802695182244619
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1251241790192745
+      euclidean_error: 0.5819923212963813
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0759547374879523
+      euclidean_error: 0.5787119872672994
+    base_right_marker_pose:
+      angle_rotation_error: 3.134831212209362
+      euclidean_error: 0.5770428920308407
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0727101149677885
+      euclidean_error: 0.5836668981494718
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1350244496487574
+      euclidean_error: 0.5801086960032301
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1358272517454218
+      euclidean_error: 0.582133566333114
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.090010461889438
+      euclidean_error: 0.5786774084821692
+    base_right_marker_pose:
+      angle_rotation_error: 3.1375605181784496
+      euclidean_error: 0.5771347880187548
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073086877155581
+      euclidean_error: 0.5834300197259694
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.08409815223346
+      euclidean_error: 0.5803246367364256
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.11807759676189
+      euclidean_error: 0.5813917793503304
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0730346903503007
+      euclidean_error: 0.5785940801246389
+    base_right_marker_pose:
+      angle_rotation_error: 3.138132969817357
+      euclidean_error: 0.576999340995412
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0606043045495785
+      euclidean_error: 0.5836356175605831
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.117086325457449
+      euclidean_error: 0.580194472414933
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1355873107057315
+      euclidean_error: 0.582197293704317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0691409389010404
+      euclidean_error: 0.5786589432177048
+    base_right_marker_pose:
+      angle_rotation_error: 3.135683488540159
+      euclidean_error: 0.5770329590293338
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0758645507204783
+      euclidean_error: 0.5835416858373149
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.102179351066627
+      euclidean_error: 0.58048150183797
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.102846432492752
+      euclidean_error: 0.5817378349999229
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.084593820262002
+      euclidean_error: 0.5787301829778029
+    base_right_marker_pose:
+      angle_rotation_error: 3.139047986914105
+      euclidean_error: 0.5775522418555454
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0609047857764513
+      euclidean_error: 0.5837297940022123
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1041641340581205
+      euclidean_error: 0.5803720909569756
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1148698112327584
+      euclidean_error: 0.5820183671957783
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.071003005342351
+      euclidean_error: 0.5786533185371042
+    base_right_marker_pose:
+      angle_rotation_error: 3.138254669164616
+      euclidean_error: 0.5771473041153791
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0740350289458327
+      euclidean_error: 0.5835604509867265
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0950554810855833
+      euclidean_error: 0.5803460944089202
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.128771228724959
+      euclidean_error: 0.5821559038228444
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088857286017027
+      euclidean_error: 0.5787545976427911
+    base_right_marker_pose:
+      angle_rotation_error: 3.141472730212758
+      euclidean_error: 0.5772852244250245
+    shoulder_marker_pose:
+      angle_rotation_error: 3.091505089554207
+      euclidean_error: 0.583712116999153
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.116927604226745
+      euclidean_error: 0.5800350343350137
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1041352627064844
+      euclidean_error: 0.5820235803347823
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0761651832688894
+      euclidean_error: 0.5786041922697033
+    base_right_marker_pose:
+      angle_rotation_error: 3.130769245160243
+      euclidean_error: 0.5772327255669859
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073204624147173
+      euclidean_error: 0.5836199982827502
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.121095013219513
+      euclidean_error: 0.5800590412650233
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.126485592014499
+      euclidean_error: 0.5819789113122588
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0713147398583565
+      euclidean_error: 0.5788161999383974
+    base_right_marker_pose:
+      angle_rotation_error: 3.138682019603267
+      euclidean_error: 0.576905869857154
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0503880440354263
+      euclidean_error: 0.5836630870125068
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.116151303621231
+      euclidean_error: 0.5799312169127604
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0958025335097727
+      euclidean_error: 0.5812744471601231
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078376893112738
+      euclidean_error: 0.5788278155708327
+    base_right_marker_pose:
+      angle_rotation_error: 3.1352710512022046
+      euclidean_error: 0.577127280272675
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0621011195960284
+      euclidean_error: 0.5838483428857101
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1140791451580285
+      euclidean_error: 0.5802864971608106
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.122246349727487
+      euclidean_error: 0.5818603774735406
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0758173096771433
+      euclidean_error: 0.5786789342383375
+    base_right_marker_pose:
+      angle_rotation_error: 3.1335908177619163
+      euclidean_error: 0.5768753009975632
+    shoulder_marker_pose:
+      angle_rotation_error: 3.070049678498615
+      euclidean_error: 0.5836078299574387
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0713299258303564
+      euclidean_error: 0.5803642794507534
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1136581675886825
+      euclidean_error: 0.5817787957865267
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0836941535290694
+      euclidean_error: 0.5788242775029717
+    base_right_marker_pose:
+      angle_rotation_error: 3.1367712466254947
+      euclidean_error: 0.5770990091543101
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0724085362673623
+      euclidean_error: 0.5835636577869628
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1005953096110255
+      euclidean_error: 0.5805430666720744
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130028449202197
+      euclidean_error: 0.5819660709299812
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081273548644591
+      euclidean_error: 0.5788838632555142
+    base_right_marker_pose:
+      angle_rotation_error: 3.1234035142550227
+      euclidean_error: 0.5772149283895774
+    shoulder_marker_pose:
+      angle_rotation_error: 3.068371113808222
+      euclidean_error: 0.5837841283945978
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0889434880884314
+      euclidean_error: 0.5801670436838008
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1208132516753264
+      euclidean_error: 0.5817527966967782
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0681795913350447
+      euclidean_error: 0.5786475675155756
+    base_right_marker_pose:
+      angle_rotation_error: 3.130721301431294
+      euclidean_error: 0.5771258118824363
+    shoulder_marker_pose:
+      angle_rotation_error: 3.057100141977248
+      euclidean_error: 0.5836553351125574
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.083172649569595
+      euclidean_error: 0.5804264017713149
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1014996804362274
+      euclidean_error: 0.5818385048566981
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0799010342248705
+      euclidean_error: 0.5790332362367818
+    base_right_marker_pose:
+      angle_rotation_error: 3.1234578676517857
+      euclidean_error: 0.5769744017888591
+    shoulder_marker_pose:
+      angle_rotation_error: 3.061712674635071
+      euclidean_error: 0.5837342377753807
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1108142151973994
+      euclidean_error: 0.5803086755518299
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.122487424050322
+      euclidean_error: 0.5817757048793445
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0768860160049685
+      euclidean_error: 0.578644612254337
+    base_right_marker_pose:
+      angle_rotation_error: 3.1370892222704696
+      euclidean_error: 0.5770098582619795
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0822457899802598
+      euclidean_error: 0.5837764275291798
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0864056412588763
+      euclidean_error: 0.5804753298554518
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.127648163071618
+      euclidean_error: 0.5822379251854268
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0789364517557205
+      euclidean_error: 0.5786977095909213
+    base_right_marker_pose:
+      angle_rotation_error: 3.1238181475646365
+      euclidean_error: 0.5772175528134539
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0579005165791147
+      euclidean_error: 0.5837295730984389
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1220151332151955
+      euclidean_error: 0.5800626298446888
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1169348273158715
+      euclidean_error: 0.58209606798715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.076434355368967
+      euclidean_error: 0.5790071770315129
+    base_right_marker_pose:
+      angle_rotation_error: 3.1273721224361304
+      euclidean_error: 0.5770652525769229
+    shoulder_marker_pose:
+      angle_rotation_error: 3.075564312931579
+      euclidean_error: 0.5838341623475803
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1393102731592455
+      euclidean_error: 0.5799128403681207
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1141189334713495
+      euclidean_error: 0.5821261206854708
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0788657780984052
+      euclidean_error: 0.5789377856486883
+    base_right_marker_pose:
+      angle_rotation_error: 3.139071081314284
+      euclidean_error: 0.5771633641054862
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0660545544707625
+      euclidean_error: 0.5838418784083523
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.093983301088018
+      euclidean_error: 0.5804181993846249
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1085634207164965
+      euclidean_error: 0.5823555602161664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0795068084096626
+      euclidean_error: 0.5788106435290953
+    base_right_marker_pose:
+      angle_rotation_error: 3.134655977866655
+      euclidean_error: 0.5770239232918146
+    shoulder_marker_pose:
+      angle_rotation_error: 3.092647584146073
+      euclidean_error: 0.5838269325335101
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0865127984579077
+      euclidean_error: 0.5802319026562066
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.121380603350909
+      euclidean_error: 0.5820838749786996
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0634693288396777
+      euclidean_error: 0.5785565035334713
+    base_right_marker_pose:
+      angle_rotation_error: 3.1363931511830745
+      euclidean_error: 0.5773355766414616
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0731408374151554
+      euclidean_error: 0.5836334071191772
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.101233196011789
+      euclidean_error: 0.5803556011159471
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.133529940225745
+      euclidean_error: 0.5822569249616056
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.070206037714767
+      euclidean_error: 0.5786775565753638
+    base_right_marker_pose:
+      angle_rotation_error: 3.1211384754770437
+      euclidean_error: 0.5767896817208139
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0825822892058112
+      euclidean_error: 0.5837227619575175
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1060637157569593
+      euclidean_error: 0.580300972420364
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.090697870213129
+      euclidean_error: 0.5818096290132098
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0889278522682733
+      euclidean_error: 0.5787983034018169
+    base_right_marker_pose:
+      angle_rotation_error: 3.1319194837011777
+      euclidean_error: 0.5769123004520913
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088824930089446
+      euclidean_error: 0.5835435394373736
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.112056061662942
+      euclidean_error: 0.5801337208391019
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.141004395354174
+      euclidean_error: 0.5819055176569271
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.072864979250788
+      euclidean_error: 0.578619718700254
+    base_right_marker_pose:
+      angle_rotation_error: 3.1330599823671688
+      euclidean_error: 0.5771053890294516
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0692135340731763
+      euclidean_error: 0.5837515086299887
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1297575371366393
+      euclidean_error: 0.5801425921548262
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0979894203275515
+      euclidean_error: 0.5819658451934723
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0741907182868786
+      euclidean_error: 0.5786627933958778
+    base_right_marker_pose:
+      angle_rotation_error: 3.134930770063428
+      euclidean_error: 0.5770334670873177
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0806542736004694
+      euclidean_error: 0.5838100453643114
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0764174526713317
+      euclidean_error: 0.5802815494700242
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1163445671836345
+      euclidean_error: 0.5820950206649129
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0798299158171907
+      euclidean_error: 0.578740534356221
+    base_right_marker_pose:
+      angle_rotation_error: 3.1340060563364074
+      euclidean_error: 0.5769292380148298
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084872408392644
+      euclidean_error: 0.5835785356123275
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.122746579731935
+      euclidean_error: 0.580420198912264
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.140420184592743
+      euclidean_error: 0.5820527066013168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0823918001675894
+      euclidean_error: 0.5786590383829759
+    base_right_marker_pose:
+      angle_rotation_error: 3.141018799354691
+      euclidean_error: 0.5770934238110014
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069460492356518
+      euclidean_error: 0.5836252225502191
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1174112322877456
+      euclidean_error: 0.5802964551133662
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.119341424253284
+      euclidean_error: 0.5817438849382565
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080368001715103
+      euclidean_error: 0.5787935361656201
+    base_right_marker_pose:
+      angle_rotation_error: 3.1328799423396623
+      euclidean_error: 0.5770393277742012
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0738958110214307
+      euclidean_error: 0.583589509188679
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.120530474811877
+      euclidean_error: 0.5802993812271265
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1096717256560042
+      euclidean_error: 0.5820474057552654
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0863088746616962
+      euclidean_error: 0.578822092907797
+    base_right_marker_pose:
+      angle_rotation_error: 3.1340539010977766
+      euclidean_error: 0.5769955610908007
+    shoulder_marker_pose:
+      angle_rotation_error: 3.073184396068238
+      euclidean_error: 0.5836257968838707
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1243825053145207
+      euclidean_error: 0.5803155477331634
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.109549051039148
+      euclidean_error: 0.5821581360525924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0794998283965325
+      euclidean_error: 0.5787168574538294
+    base_right_marker_pose:
+      angle_rotation_error: 3.136938915678483
+      euclidean_error: 0.5771485374240215
+    shoulder_marker_pose:
+      angle_rotation_error: 3.078352033718764
+      euclidean_error: 0.5836507073475627
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1396982826062767
+      euclidean_error: 0.5800329790106942
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.117205657391917
+      euclidean_error: 0.5819321809448745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.066792979239489
+      euclidean_error: 0.5788339335232523
+    base_right_marker_pose:
+      angle_rotation_error: 3.127140293393002
+      euclidean_error: 0.5772505849393593
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0656493984931914
+      euclidean_error: 0.5836029277472177
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0806552182542046
+      euclidean_error: 0.5801462497212448
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.109697301576287
+      euclidean_error: 0.5818693058142065
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0754868984355475
+      euclidean_error: 0.5786048075978515
+    base_right_marker_pose:
+      angle_rotation_error: 3.125686280961173
+      euclidean_error: 0.5768737827442902
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0824584384725
+      euclidean_error: 0.5838103318070413
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.109923865646786
+      euclidean_error: 0.5801851970022088
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1395432211556757
+      euclidean_error: 0.582152173966344
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0835245703856566
+      euclidean_error: 0.5786530797416705
+    base_right_marker_pose:
+      angle_rotation_error: 3.138831997551011
+      euclidean_error: 0.5772920632300761
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074776290335607
+      euclidean_error: 0.5836209241828546
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.135736561371049
+      euclidean_error: 0.5804420141833443
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.086568298142542
+      euclidean_error: 0.5820048110658449
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1015690102886353
+      euclidean_error: 0.5788297362171365
+    base_right_marker_pose:
+      angle_rotation_error: 3.140208076373378
+      euclidean_error: 0.577141195961654
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0769550072101874
+      euclidean_error: 0.5834386828900063
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.11008857914968
+      euclidean_error: 0.580620925373019
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.109460716768076
+      euclidean_error: 0.5821782576680623
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0749775958115784
+      euclidean_error: 0.5787096789204212
+    base_right_marker_pose:
+      angle_rotation_error: 3.13154218823272
+      euclidean_error: 0.5770284400362676
+    shoulder_marker_pose:
+      angle_rotation_error: 3.092820748744093
+      euclidean_error: 0.5837209125994194
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0965401447119523
+      euclidean_error: 0.5803096072392094
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1295783335870397
+      euclidean_error: 0.5818983889825421
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0780667561652457
+      euclidean_error: 0.5786083299024166
+    base_right_marker_pose:
+      angle_rotation_error: 3.123921724565539
+      euclidean_error: 0.5772776785688504
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0793256861250686
+      euclidean_error: 0.5836918619074234
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1100708727226887
+      euclidean_error: 0.5802457435175011
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.090356830294503
+      euclidean_error: 0.5822235887647208
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0891112374663257
+      euclidean_error: 0.5786944319406735
+    base_right_marker_pose:
+      angle_rotation_error: 3.121461133722406
+      euclidean_error: 0.5770716155888117
+    shoulder_marker_pose:
+      angle_rotation_error: 3.06482071189811
+      euclidean_error: 0.5835290558590142
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1291552762484156
+      euclidean_error: 0.580473868919572
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1360750193646565
+      euclidean_error: 0.5821507512773824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.072442034001894
+      euclidean_error: 0.578697319991949
+    base_right_marker_pose:
+      angle_rotation_error: 3.1278070877628608
+      euclidean_error: 0.5770449345718393
+    shoulder_marker_pose:
+      angle_rotation_error: 3.101669456942881
+      euclidean_error: 0.5837266969970919
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1157544927021585
+      euclidean_error: 0.5802546813623135
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.130992790568543
+      euclidean_error: 0.5822145574212805
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0678654553351774
+      euclidean_error: 0.5784818221045257
+    base_right_marker_pose:
+      angle_rotation_error: 3.129355008585941
+      euclidean_error: 0.5771349391059294
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0913417232072367
+      euclidean_error: 0.583785883543187
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.136313297089608
+      euclidean_error: 0.5799189913381375
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1300206879005894
+      euclidean_error: 0.5823374859258921
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078124694319322
+      euclidean_error: 0.5786382711081843
+    base_right_marker_pose:
+      angle_rotation_error: 3.1369146153352343
+      euclidean_error: 0.5773490172678911
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0879202319560415
+      euclidean_error: 0.5838168504953286
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1001180653900864
+      euclidean_error: 0.5802852234588147
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0942939210659715
+      euclidean_error: 0.5820291834234974
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.070343776166672
+      euclidean_error: 0.5787244242775491
+    base_right_marker_pose:
+      angle_rotation_error: 3.130615832336931
+      euclidean_error: 0.5771324631795514
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0608730466284584
+      euclidean_error: 0.5835311933219395
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.119219396413756
+      euclidean_error: 0.5799757769682966
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.115496312575189
+      euclidean_error: 0.5821541531402576
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0992137338867667
+      euclidean_error: 0.5786288884842928
+    base_right_marker_pose:
+      angle_rotation_error: 3.1237382441906547
+      euclidean_error: 0.5772606461149901
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0821840611236686
+      euclidean_error: 0.5837755383982242
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1411884115602318
+      euclidean_error: 0.5802947955162175
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1362848431872856
+      euclidean_error: 0.5819905155653916
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0773644845287036
+      euclidean_error: 0.5787082045590334
+    base_right_marker_pose:
+      angle_rotation_error: 3.1278932992123663
+      euclidean_error: 0.5770271124217088
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0749023563855435
+      euclidean_error: 0.5836712077094667
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.086874227680471
+      euclidean_error: 0.5803359533065646
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1312590323476215
+      euclidean_error: 0.5819783403893348
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0845792361317135
+      euclidean_error: 0.5785813228806803
+    base_right_marker_pose:
+      angle_rotation_error: 3.127733759139194
+      euclidean_error: 0.5772767610601993
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0844599069189464
+      euclidean_error: 0.583591279019735
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.132557466566806
+      euclidean_error: 0.5804127393543906
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.122110863514091
+      euclidean_error: 0.5821731505943727
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0749849190586533
+      euclidean_error: 0.5786803378971851
+    base_right_marker_pose:
+      angle_rotation_error: 3.1268975775806154
+      euclidean_error: 0.577000835483741
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0796707741865603
+      euclidean_error: 0.5836918104747886
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1193439845681095
+      euclidean_error: 0.5799609946166623
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1367344805142414
+      euclidean_error: 0.5823110141566958
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08303103355396
+      euclidean_error: 0.5786039452948128
+    base_right_marker_pose:
+      angle_rotation_error: 3.139597541347211
+      euclidean_error: 0.5770929944156157
+    shoulder_marker_pose:
+      angle_rotation_error: 3.06968395667542
+      euclidean_error: 0.5836900340511334
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1280791257384295
+      euclidean_error: 0.5799111480604963
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1081534155006927
+      euclidean_error: 0.5819950553926542
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078395914126669
+      euclidean_error: 0.5787640569371432
+    base_right_marker_pose:
+      angle_rotation_error: 3.1306503668741255
+      euclidean_error: 0.5770139624343853
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1000875269091632
+      euclidean_error: 0.5838143576841726
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1347803918401196
+      euclidean_error: 0.5804754744359534
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.109309933426239
+      euclidean_error: 0.5816952275114373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0872109070214266
+      euclidean_error: 0.5785939347171933
+    base_right_marker_pose:
+      angle_rotation_error: 3.1360108131275766
+      euclidean_error: 0.577197149905593
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0728826623064154
+      euclidean_error: 0.5835030269001348
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.12779210595314
+      euclidean_error: 0.5801388376693567
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1280793819424892
+      euclidean_error: 0.5822155528738396
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0612895359329526
+      euclidean_error: 0.5785996030329885
+    base_right_marker_pose:
+      angle_rotation_error: 3.1267749111807706
+      euclidean_error: 0.5773708042752416
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0859923229494814
+      euclidean_error: 0.5836938850800313
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1202985456383607
+      euclidean_error: 0.5802569411013728
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1092938349272106
+      euclidean_error: 0.5819408634334012
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0764606774234196
+      euclidean_error: 0.5784435240049021
+    base_right_marker_pose:
+      angle_rotation_error: 3.1384087073827387
+      euclidean_error: 0.5771051917032745
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0808323717389348
+      euclidean_error: 0.58370395010137
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.113022086061237
+      euclidean_error: 0.5803522259069879
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1141878213785574
+      euclidean_error: 0.5821869411817985
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0876024603175525
+      euclidean_error: 0.5788088652947205
+    base_right_marker_pose:
+      angle_rotation_error: 3.1228223005152795
+      euclidean_error: 0.5773461526511183
+    shoulder_marker_pose:
+      angle_rotation_error: 3.08571005966614
+      euclidean_error: 0.5836326420275759
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.096068731351088
+      euclidean_error: 0.5802535477945858
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.106643728073461
+      euclidean_error: 0.5819116664587796
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0983350982459963
+      euclidean_error: 0.5788360891463377
+    base_right_marker_pose:
+      angle_rotation_error: 3.1282504795294943
+      euclidean_error: 0.5772178315972581
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0564163138501517
+      euclidean_error: 0.5835950387904746
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1129896184273136
+      euclidean_error: 0.5799863477149592
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1319298368247575
+      euclidean_error: 0.5821080497760679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091858176679961
+      euclidean_error: 0.5786991890214496
+    base_right_marker_pose:
+      angle_rotation_error: 3.134983252366156
+      euclidean_error: 0.5772515730492576
+    shoulder_marker_pose:
+      angle_rotation_error: 3.067120542096411
+      euclidean_error: 0.5835880995927378
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1249958090068595
+      euclidean_error: 0.5801286599295371
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1263254431458227
+      euclidean_error: 0.5821980632979111
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.082787956966588
+      euclidean_error: 0.5787133318811694
+    base_right_marker_pose:
+      angle_rotation_error: 3.131428170866737
+      euclidean_error: 0.5769841090782808
+    shoulder_marker_pose:
+      angle_rotation_error: 3.099237020902881
+      euclidean_error: 0.5836778633256413
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1394748583923033
+      euclidean_error: 0.5801142091495951
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.123185320201094
+      euclidean_error: 0.5819739057557275
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080259384081554
+      euclidean_error: 0.5786854647577979
+    base_right_marker_pose:
+      angle_rotation_error: 3.12120761465566
+      euclidean_error: 0.5769814621928696
+    shoulder_marker_pose:
+      angle_rotation_error: 3.080228997879852
+      euclidean_error: 0.5835909901095894
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1387987243394355
+      euclidean_error: 0.5800702774160325
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1326832218474503
+      euclidean_error: 0.5822216042294144
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0762502811797168
+      euclidean_error: 0.5787721390204407
+    base_right_marker_pose:
+      angle_rotation_error: 3.1346935129036972
+      euclidean_error: 0.5771134817418765
+    shoulder_marker_pose:
+      angle_rotation_error: 3.088049313059179
+      euclidean_error: 0.5836479546898901
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1275450953198876
+      euclidean_error: 0.5802896073884953
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0992692794100036
+      euclidean_error: 0.5820470108325734
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.091607481582006
+      euclidean_error: 0.5787015767664583
+    base_right_marker_pose:
+      angle_rotation_error: 3.1291395678441702
+      euclidean_error: 0.5771270746684978
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086262482545374
+      euclidean_error: 0.5836531790567921
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1214337715713163
+      euclidean_error: 0.5800484439821816
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1269597902174286
+      euclidean_error: 0.5819668060887172
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08061081211979
+      euclidean_error: 0.578841652381045
+    base_right_marker_pose:
+      angle_rotation_error: 3.131383392573843
+      euclidean_error: 0.5771330810338797
+    shoulder_marker_pose:
+      angle_rotation_error: 3.076075300670275
+      euclidean_error: 0.5836360123382344
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.136162321758934
+      euclidean_error: 0.5802040771950209
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1331453789056862
+      euclidean_error: 0.5822412614315731
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0748429595939553
+      euclidean_error: 0.5787728077621531
+    base_right_marker_pose:
+      angle_rotation_error: 3.1415351419563424
+      euclidean_error: 0.577235445800151
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0904644275027082
+      euclidean_error: 0.5836909019973789
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.134116750674979
+      euclidean_error: 0.5800829554826966
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.116831407520117
+      euclidean_error: 0.5818255217062757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088590606476272
+      euclidean_error: 0.578691452690685
+    base_right_marker_pose:
+      angle_rotation_error: 3.1380887078053314
+      euclidean_error: 0.5769287845176617
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0763375011134246
+      euclidean_error: 0.583752792811858
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.102175292986046
+      euclidean_error: 0.5799862109574478
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.118377227050183
+      euclidean_error: 0.5821853861844385
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08212905892059
+      euclidean_error: 0.5787409866705603
+    base_right_marker_pose:
+      angle_rotation_error: 3.1293220460089755
+      euclidean_error: 0.577294347520358
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0698230307365786
+      euclidean_error: 0.5835846199808031
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.098220589133479
+      euclidean_error: 0.5802112283280701
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1335048760001696
+      euclidean_error: 0.5821707508746924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0870275158702705
+      euclidean_error: 0.5786701249224059
+    base_right_marker_pose:
+      angle_rotation_error: 3.1349438494915427
+      euclidean_error: 0.5770793203887771
+    shoulder_marker_pose:
+      angle_rotation_error: 3.066840225139875
+      euclidean_error: 0.5837369202423894
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.122611521572828
+      euclidean_error: 0.5800132733417516
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.115983631779596
+      euclidean_error: 0.5821696974344471
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.093892907884936
+      euclidean_error: 0.5788402677054849
+    base_right_marker_pose:
+      angle_rotation_error: 3.1250780223368673
+      euclidean_error: 0.5771949456623137
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0721769312038187
+      euclidean_error: 0.5834856497940851
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1291971871481827
+      euclidean_error: 0.5805345208938982
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.12211698913792
+      euclidean_error: 0.5819556338511033
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.085814890670403
+      euclidean_error: 0.5787985090178309
+    base_right_marker_pose:
+      angle_rotation_error: 3.141530327821539
+      euclidean_error: 0.57713051124588
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0721823085844355
+      euclidean_error: 0.5837766233735151
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1218826477580395
+      euclidean_error: 0.5801440745157098
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1114991093441806
+      euclidean_error: 0.5820308432100045
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0935307183501775
+      euclidean_error: 0.5784379252957841
+    base_right_marker_pose:
+      angle_rotation_error: 3.1193045070427474
+      euclidean_error: 0.5770729836883706
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0838418098875278
+      euclidean_error: 0.5836975973737955
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1173307769495784
+      euclidean_error: 0.5803783771073219
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0915803070685692
+      euclidean_error: 0.5819149370627079
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081725435110716
+      euclidean_error: 0.578564134219947
+    base_right_marker_pose:
+      angle_rotation_error: 3.129807707299174
+      euclidean_error: 0.5769725033788454
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0775012587918313
+      euclidean_error: 0.5835797568638612
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1300139022866578
+      euclidean_error: 0.5804841202848827
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.124332671160403
+      euclidean_error: 0.5822484874174249
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0860786123275963
+      euclidean_error: 0.5788841523280868
+    base_right_marker_pose:
+      angle_rotation_error: 3.126811590299595
+      euclidean_error: 0.5771687764601978
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0765996001826794
+      euclidean_error: 0.5838154199212992
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1325507187300077
+      euclidean_error: 0.5801920906246363
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1317499356719045
+      euclidean_error: 0.582011237073664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.098910868245065
+      euclidean_error: 0.5785673954107565
+    base_right_marker_pose:
+      angle_rotation_error: 3.1203690377297164
+      euclidean_error: 0.5772012378491438
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0721917753952956
+      euclidean_error: 0.5834434958559747
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1060120531155957
+      euclidean_error: 0.5800691979462244
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.129199930229439
+      euclidean_error: 0.5821919606959512
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0875767143396646
+      euclidean_error: 0.578778604911075
+    base_right_marker_pose:
+      angle_rotation_error: 3.130511714040128
+      euclidean_error: 0.5771358134177483
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0617562094805355
+      euclidean_error: 0.5835141487248957
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.139657433655348
+      euclidean_error: 0.5801351805502419
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1401566426455014
+      euclidean_error: 0.5820813206687715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0862141223944763
+      euclidean_error: 0.5786511497011877
+    base_right_marker_pose:
+      angle_rotation_error: 3.121717574959874
+      euclidean_error: 0.5771384844844818
+    shoulder_marker_pose:
+      angle_rotation_error: 3.071901207951503
+      euclidean_error: 0.58352740342904
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.110655309784185
+      euclidean_error: 0.5799876669671422
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0933457009203975
+      euclidean_error: 0.5819779826418424
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.079973740018969
+      euclidean_error: 0.5786697980105255
+    base_right_marker_pose:
+      angle_rotation_error: 3.1351491640792486
+      euclidean_error: 0.5770725954567123
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0869889355995994
+      euclidean_error: 0.583627191529801
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.128851479251316
+      euclidean_error: 0.5802267125549873
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1350279824891265
+      euclidean_error: 0.5820425984530305
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.083983626729152
+      euclidean_error: 0.5787900065300784
+    base_right_marker_pose:
+      angle_rotation_error: 3.134836236674128
+      euclidean_error: 0.577222181885497
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0714464437229854
+      euclidean_error: 0.5835746711143381
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1351485612457823
+      euclidean_error: 0.5802412987133555
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.107865915610112
+      euclidean_error: 0.5820298452498902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0722486994490548
+      euclidean_error: 0.578712240031858
+    base_right_marker_pose:
+      angle_rotation_error: 3.133039280648004
+      euclidean_error: 0.5770801447127326
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0703068449886968
+      euclidean_error: 0.5834796660560146
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.140744478996682
+      euclidean_error: 0.5801021619304856
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1186779831978866
+      euclidean_error: 0.5818882113674726
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0811735722939435
+      euclidean_error: 0.5786098878931036
+    base_right_marker_pose:
+      angle_rotation_error: 3.139921633658248
+      euclidean_error: 0.577172777998429
+    shoulder_marker_pose:
+      angle_rotation_error: 3.086430071175621
+      euclidean_error: 0.5836396364660787
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.141105566562672
+      euclidean_error: 0.5799740544371165
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.114130609259911
+      euclidean_error: 0.5822858706947579
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0770126920138554
+      euclidean_error: 0.5786736757670473
+    base_right_marker_pose:
+      angle_rotation_error: 3.137250525194477
+      euclidean_error: 0.5771396622054109
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0949430023900653
+      euclidean_error: 0.5837773815244469
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1120890199471454
+      euclidean_error: 0.5802420224061681
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1078557365512287
+      euclidean_error: 0.5822680383198247
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0742178429420366
+      euclidean_error: 0.5786809531384578
+    base_right_marker_pose:
+      angle_rotation_error: 3.1372456477012847
+      euclidean_error: 0.5771921253749598
+    shoulder_marker_pose:
+      angle_rotation_error: 3.1003272706400744
+      euclidean_error: 0.583656461071624
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1178033604751336
+      euclidean_error: 0.5803104825492035
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1394239659160643
+      euclidean_error: 0.5823216499539134
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.096798910723184
+      euclidean_error: 0.578679847357831
+    base_right_marker_pose:
+      angle_rotation_error: 3.1176784133061153
+      euclidean_error: 0.5774045535101977
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0821024665225867
+      euclidean_error: 0.5835890879317259
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0896556247527585
+      euclidean_error: 0.580430987848208
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0746407831825433
+      euclidean_error: 0.5817484061973787
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0743358410717945
+      euclidean_error: 0.578809210930398
+    base_right_marker_pose:
+      angle_rotation_error: 3.11179050250589
+      euclidean_error: 0.5771473424479077
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0847973962901176
+      euclidean_error: 0.5836030805401664
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0870717697295254
+      euclidean_error: 0.5799869966435917
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.135388888540176
+      euclidean_error: 0.5823588410700106
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0753470935950333
+      euclidean_error: 0.5786334753374888
+    base_right_marker_pose:
+      angle_rotation_error: 3.125907912894801
+      euclidean_error: 0.5773208184454399
+    shoulder_marker_pose:
+      angle_rotation_error: 3.069304604752657
+      euclidean_error: 0.5836257428731535
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.134337484889892
+      euclidean_error: 0.5804619074888557
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1214976990946695
+      euclidean_error: 0.5824184485477679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0722628887048784
+      euclidean_error: 0.5786313777617905
+    base_right_marker_pose:
+      angle_rotation_error: 3.1382403482501844
+      euclidean_error: 0.577218254106458
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0694777570457283
+      euclidean_error: 0.5835416471358805
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.124795478170704
+      euclidean_error: 0.5801152182000634
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.123984597580135
+      euclidean_error: 0.5823739868729454
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0677103656280496
+      euclidean_error: 0.5786347865118293
+    base_right_marker_pose:
+      angle_rotation_error: 3.1367333732275102
+      euclidean_error: 0.5771406909055966
+    shoulder_marker_pose:
+      angle_rotation_error: 3.085774899279564
+      euclidean_error: 0.5834440704518725
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.114680688258634
+      euclidean_error: 0.5801837685294066
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.110648037233177
+      euclidean_error: 0.5821769123889698
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0893706687193268
+      euclidean_error: 0.578680401520832
+    base_right_marker_pose:
+      angle_rotation_error: 3.1276306892133867
+      euclidean_error: 0.5773527291302767
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081289492776282
+      euclidean_error: 0.5836435488224296
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1373755122552645
+      euclidean_error: 0.5801155692112497
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1074229681448875
+      euclidean_error: 0.5820950974378711
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.094864134609315
+      euclidean_error: 0.5783976169899238
+    base_right_marker_pose:
+      angle_rotation_error: 3.118917086607077
+      euclidean_error: 0.5769948257289494
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0962739826471877
+      euclidean_error: 0.5836726207982582
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1350343614912126
+      euclidean_error: 0.5803751919268461
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1263187358501368
+      euclidean_error: 0.5818264890348108
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0801757172494115
+      euclidean_error: 0.5787149148672677
+    base_right_marker_pose:
+      angle_rotation_error: 3.137143706900296
+      euclidean_error: 0.5770435258117514
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074565006345852
+      euclidean_error: 0.5836040797148792
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1299896888044905
+      euclidean_error: 0.5801613242804786
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.131734804917476
+      euclidean_error: 0.5818497048341688
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0860914458748763
+      euclidean_error: 0.5786262945157501
+    base_right_marker_pose:
+      angle_rotation_error: 3.133605342153697
+      euclidean_error: 0.5770961961717654
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0629421209575542
+      euclidean_error: 0.5835432583414397
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1299042701412563
+      euclidean_error: 0.5803766487802986
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.093915636965951
+      euclidean_error: 0.5820399821943776
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.076140557644455
+      euclidean_error: 0.5784200510018526
+    base_right_marker_pose:
+      angle_rotation_error: 3.1353215151912215
+      euclidean_error: 0.5772240390808382
+    shoulder_marker_pose:
+      angle_rotation_error: 3.074653893891907
+      euclidean_error: 0.5836788168562327
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.110864236581408
+      euclidean_error: 0.5800490855159859
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1108971842584934
+      euclidean_error: 0.5821691919933908
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0878592892801198
+      euclidean_error: 0.5784816960144461
+    base_right_marker_pose:
+      angle_rotation_error: 3.117776271213696
+      euclidean_error: 0.577063553753556
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0785322644720727
+      euclidean_error: 0.5836499573850885
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1120102667818514
+      euclidean_error: 0.5800591180033225
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.094349985253277
+      euclidean_error: 0.5818690937502549
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0709580786282507
+      euclidean_error: 0.5788350519898071
+    base_right_marker_pose:
+      angle_rotation_error: 3.1259150962573403
+      euclidean_error: 0.5770196961357268
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0785627681386196
+      euclidean_error: 0.5837740143898038
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1207891785764743
+      euclidean_error: 0.5804578464066874
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1156697202200454
+      euclidean_error: 0.5819851753444875
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0892623425709727
+      euclidean_error: 0.5787041043498864
+    base_right_marker_pose:
+      angle_rotation_error: 3.137474773388551
+      euclidean_error: 0.5771061453790867
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0707817112766658
+      euclidean_error: 0.583478746858271
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.132027188023453
+      euclidean_error: 0.5798791602865686
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.124341727500605
+      euclidean_error: 0.5820945154861833
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08981896902945
+      euclidean_error: 0.5787673228455343
+    base_right_marker_pose:
+      angle_rotation_error: 3.139766157801721
+      euclidean_error: 0.5771074629598577
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0708118170009677
+      euclidean_error: 0.583590096413391
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.126864198246042
+      euclidean_error: 0.5800732338924579
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.107180244248115
+      euclidean_error: 0.5820347097608485
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080279278146286
+      euclidean_error: 0.5785280945719778
+    base_right_marker_pose:
+      angle_rotation_error: 3.141002110012999
+      euclidean_error: 0.5772316286418764
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0855492137323135
+      euclidean_error: 0.5835672930814346
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.127256514347107
+      euclidean_error: 0.5800657329553041
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.105536578104033
+      euclidean_error: 0.5819292296680563
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.081972081298912
+      euclidean_error: 0.5785144349629474
+    base_right_marker_pose:
+      angle_rotation_error: 3.1241646283867235
+      euclidean_error: 0.5771012346156148
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0862593283785906
+      euclidean_error: 0.5837778103894015
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.138788976783548
+      euclidean_error: 0.5803583445477142
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1254181387147844
+      euclidean_error: 0.582301164822667
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0827737286872714
+      euclidean_error: 0.5783822248810198
+    base_right_marker_pose:
+      angle_rotation_error: 3.1373657818910794
+      euclidean_error: 0.5772669398076552
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0887254573962153
+      euclidean_error: 0.5837567164086379
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.140155080703752
+      euclidean_error: 0.5803043115960655
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1269913691443403
+      euclidean_error: 0.5821849380465225
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0941323309803215
+      euclidean_error: 0.5784317163083791
+    base_right_marker_pose:
+      angle_rotation_error: 3.134907698638015
+      euclidean_error: 0.577028180626394
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0566630297690955
+      euclidean_error: 0.583476804208505
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1378233725460043
+      euclidean_error: 0.5803425304849817
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1246998242251482
+      euclidean_error: 0.5821896196672303
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.088140816534542
+      euclidean_error: 0.5783819132698349
+    base_right_marker_pose:
+      angle_rotation_error: 3.138292169021946
+      euclidean_error: 0.5773856382045465
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0909236074237088
+      euclidean_error: 0.5836902877330105
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.13089310131061
+      euclidean_error: 0.5802170166186131
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1379362390281376
+      euclidean_error: 0.5823518213275616
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0839689877655716
+      euclidean_error: 0.5786462220699343
+    base_right_marker_pose:
+      angle_rotation_error: 3.139208417592283
+      euclidean_error: 0.57715609764849
+    shoulder_marker_pose:
+      angle_rotation_error: 3.08579532959096
+      euclidean_error: 0.5838058950864224
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1269979377177846
+      euclidean_error: 0.5801096615194256
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.134127041142952
+      euclidean_error: 0.582248399519814
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0887348524184826
+      euclidean_error: 0.5786541434153083
+    base_right_marker_pose:
+      angle_rotation_error: 3.141160585407378
+      euclidean_error: 0.576974226991738
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081437234714673
+      euclidean_error: 0.5835014789431583
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1336876847369153
+      euclidean_error: 0.579845738339904
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.133711333277617
+      euclidean_error: 0.5824827029263467
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.080374454927261
+      euclidean_error: 0.5784212919770984
+    base_right_marker_pose:
+      angle_rotation_error: 3.136902749447116
+      euclidean_error: 0.5767644525029195
+    shoulder_marker_pose:
+      angle_rotation_error: 3.066112920662292
+      euclidean_error: 0.5835551899528463
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1362206147653597
+      euclidean_error: 0.5799449986145337
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1266010052429456
+      euclidean_error: 0.5822232998596965
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0778324058466886
+      euclidean_error: 0.5785881171634871
+    base_right_marker_pose:
+      angle_rotation_error: 3.1001178646745196
+      euclidean_error: 0.577219127709287
+    shoulder_marker_pose:
+      angle_rotation_error: 3.077166455702694
+      euclidean_error: 0.5834659991915131
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1374693834730882
+      euclidean_error: 0.5798523924895866
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0881845370188534
+      euclidean_error: 0.581926974157428
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.083098391032991
+      euclidean_error: 0.5787055783780638
+    base_right_marker_pose:
+      angle_rotation_error: 3.1405939521221775
+      euclidean_error: 0.5772010617564539
+    shoulder_marker_pose:
+      angle_rotation_error: 3.081384157123812
+      euclidean_error: 0.5835612688022869
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1301517835525634
+      euclidean_error: 0.5798603028409227
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1326950232374005
+      euclidean_error: 0.5820997850223831
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0736865649640253
+      euclidean_error: 0.5787503973660058
+    base_right_marker_pose:
+      angle_rotation_error: 3.139130639907234
+      euclidean_error: 0.5773079028225662
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0876638062573414
+      euclidean_error: 0.583567634748267
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1364618429829103
+      euclidean_error: 0.5799918278542674
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.086068546525214
+      euclidean_error: 0.5819348115799972
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0886504125361802
+      euclidean_error: 0.5785148261794792
+    base_right_marker_pose:
+      angle_rotation_error: 3.1414560548620303
+      euclidean_error: 0.5771055641844306
+    shoulder_marker_pose:
+      angle_rotation_error: 3.05596724607962
+      euclidean_error: 0.5833764359598513
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.137283847805441
+      euclidean_error: 0.5800097632546677
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1150963574216988
+      euclidean_error: 0.5818754268022215
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0503900279800176
+      euclidean_error: 0.5786823851568942
+    base_right_marker_pose:
+      angle_rotation_error: 3.1280262961030574
+      euclidean_error: 0.577132142909968
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0660013252685197
+      euclidean_error: 0.5835183994677269
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1133280712826865
+      euclidean_error: 0.5799523172353891
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1343999555651267
+      euclidean_error: 0.5822262315168535
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0661322553485957
+      euclidean_error: 0.5789573369782859
+    base_right_marker_pose:
+      angle_rotation_error: 3.1258273625619637
+      euclidean_error: 0.5771161668071967
+    shoulder_marker_pose:
+      angle_rotation_error: 3.092222421073772
+      euclidean_error: 0.5834570860433987
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.134527543078413
+      euclidean_error: 0.5800987798935062
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1274671076588
+      euclidean_error: 0.5814344817521968
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0935145346516544
+      euclidean_error: 0.5782851581992096
+    base_right_marker_pose:
+      angle_rotation_error: 3.1289700022701035
+      euclidean_error: 0.5772871223258464
+    shoulder_marker_pose:
+      angle_rotation_error: 3.062681010751474
+      euclidean_error: 0.5834832801728528
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1346690704901685
+      euclidean_error: 0.5800949163562611
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.132621940132816
+      euclidean_error: 0.5822499326466264
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.067871264904001
+      euclidean_error: 0.5785706900803209
+    base_right_marker_pose:
+      angle_rotation_error: 3.12876980696015
+      euclidean_error: 0.5772725783408926
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0749295764349167
+      euclidean_error: 0.5833732981251476
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1267362867970685
+      euclidean_error: 0.5797431538694403
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1212842913006815
+      euclidean_error: 0.5819502261080842
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.08795480786217
+      euclidean_error: 0.5784821702857866
+    base_right_marker_pose:
+      angle_rotation_error: 3.127647796444643
+      euclidean_error: 0.5770409395753621
+    shoulder_marker_pose:
+      angle_rotation_error: 3.083114145120427
+      euclidean_error: 0.5836450420193395
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1375060334331586
+      euclidean_error: 0.5803051239409334
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.138158424563187
+      euclidean_error: 0.5820213621963516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.078534028472378
+      euclidean_error: 0.5785661704819259
+    base_right_marker_pose:
+      angle_rotation_error: 3.1377992897830147
+      euclidean_error: 0.5772277443465473
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084194069268355
+      euclidean_error: 0.583632109824438
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1116535804512075
+      euclidean_error: 0.5799897268894552
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.094680545408591
+      euclidean_error: 0.5819969493080753
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0720913192690067
+      euclidean_error: 0.5787738140204096
+    base_right_marker_pose:
+      angle_rotation_error: 3.131380639935916
+      euclidean_error: 0.5773839354411257
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0864194587443023
+      euclidean_error: 0.5837078295351569
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.132707274594636
+      euclidean_error: 0.5802129219396384
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1277161666865934
+      euclidean_error: 0.5822349518782555
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.066020888218525
+      euclidean_error: 0.5787133736837694
+    base_right_marker_pose:
+      angle_rotation_error: 3.132019104843558
+      euclidean_error: 0.5772608785326124
+    shoulder_marker_pose:
+      angle_rotation_error: 3.064773581887935
+      euclidean_error: 0.5834501277850902
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.102910050045379
+      euclidean_error: 0.580507671359776
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.088080820107455
+      euclidean_error: 0.5819100329770218
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0978608435151607
+      euclidean_error: 0.5783961872052744
+    base_right_marker_pose:
+      angle_rotation_error: 3.1295355307999078
+      euclidean_error: 0.5774112745923872
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0768683791807323
+      euclidean_error: 0.5835393324047421
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.110509790196378
+      euclidean_error: 0.5801654224396853
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1331911939957484
+      euclidean_error: 0.5822516166589605
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0807118940331515
+      euclidean_error: 0.5788668694707062
+    base_right_marker_pose:
+      angle_rotation_error: 3.128746133626414
+      euclidean_error: 0.5772088088232532
+    shoulder_marker_pose:
+      angle_rotation_error: 3.089125043009717
+      euclidean_error: 0.5835439106518617
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.119348765392269
+      euclidean_error: 0.5806582332629311
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1216717266099665
+      euclidean_error: 0.5822336729984197
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086081736697016
+      euclidean_error: 0.5786567985334736
+    base_right_marker_pose:
+      angle_rotation_error: 3.1380575431820215
+      euclidean_error: 0.577082933362217
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0779002661492587
+      euclidean_error: 0.5836583787568026
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.126493402896276
+      euclidean_error: 0.5801410229311685
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.127571466532377
+      euclidean_error: 0.5819866519161994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0904937982776195
+      euclidean_error: 0.5784109834480956
+    base_right_marker_pose:
+      angle_rotation_error: 3.1324770274647937
+      euclidean_error: 0.577020553582311
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0810590086920886
+      euclidean_error: 0.583641733986262
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1159353548763695
+      euclidean_error: 0.5800939153350516
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1222402742705677
+      euclidean_error: 0.5820207032730162
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0895213844533194
+      euclidean_error: 0.5784682639437108
+    base_right_marker_pose:
+      angle_rotation_error: 3.1138188266790916
+      euclidean_error: 0.5773617237686776
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0976056125457343
+      euclidean_error: 0.5837022769635325
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1242044355581076
+      euclidean_error: 0.5803383216837743
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.129664305779978
+      euclidean_error: 0.5821852657088875
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0654011491906172
+      euclidean_error: 0.5786607533041049
+    base_right_marker_pose:
+      angle_rotation_error: 3.138349879234561
+      euclidean_error: 0.577334365751734
+    shoulder_marker_pose:
+      angle_rotation_error: 3.070381299115348
+      euclidean_error: 0.5837164328505308
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.129934760611769
+      euclidean_error: 0.5799940220441048
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1281139883762785
+      euclidean_error: 0.5822402632827599
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.0657072165868526
+      euclidean_error: 0.5785747805557673
+    base_right_marker_pose:
+      angle_rotation_error: 3.135961238362565
+      euclidean_error: 0.5771902266818979
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0854447424303317
+      euclidean_error: 0.5836894208243467
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1190254410407023
+      euclidean_error: 0.5802941512422582
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1053193714647316
+      euclidean_error: 0.5823130843976247
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.086727521194344
+      euclidean_error: 0.5787817982724393
+    base_right_marker_pose:
+      angle_rotation_error: 3.1299180279526007
+      euclidean_error: 0.5772373341410024
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0942577731271563
+      euclidean_error: 0.5836107567056322
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.1335076626477543
+      euclidean_error: 0.5803891519995185
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.0891169443135884
+      euclidean_error: 0.5820634749190281
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.102228867243201
+      euclidean_error: 0.5781461225800825
+    base_right_marker_pose:
+      angle_rotation_error: 3.137742859483867
+      euclidean_error: 0.5770231603769956
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0795212519902124
+      euclidean_error: 0.5835098578308469
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.111495775510778
+      euclidean_error: 0.5800919105171066
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1339510549891925
+      euclidean_error: 0.5821190691156535
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.083558668375363
+      euclidean_error: 0.5785848404421748
+    base_right_marker_pose:
+      angle_rotation_error: 3.1360756884548726
+      euclidean_error: 0.5769919685569989
+    shoulder_marker_pose:
+      angle_rotation_error: 3.068614711529924
+      euclidean_error: 0.5836056129888922
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.137708745909825
+      euclidean_error: 0.5800828009160104
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.1399582133373296
+      euclidean_error: 0.5821535555393182
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.1014436148273417
+      euclidean_error: 0.5783097420605835
+    base_right_marker_pose:
+      angle_rotation_error: 3.1388533337607383
+      euclidean_error: 0.5772988083787539
+    shoulder_marker_pose:
+      angle_rotation_error: 3.0932243199983818
+      euclidean_error: 0.5836512263507061
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.0920852376679315
+      euclidean_error: 0.5801221464265783
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.131959115257363
+      euclidean_error: 0.5820794656012184
+- error_data:
+    base_left_marker_pose:
+      angle_rotation_error: 3.100293595779899
+      euclidean_error: 0.5784426758218538
+    base_right_marker_pose:
+      angle_rotation_error: 3.1250627851163997
+      euclidean_error: 0.5773097021116753
+    shoulder_marker_pose:
+      angle_rotation_error: 3.084481923807461
+      euclidean_error: 0.5835225551698254
+    wrist_inside_marker_pose:
+      angle_rotation_error: 3.08417620367218
+      euclidean_error: 0.5804332012635788
+    wrist_top_marker_pose:
+      angle_rotation_error: 3.087507665534963
+      euclidean_error: 0.5818761818609761
diff --git a/stretch_camera_testrig/data/results/testrig_results_202203091216.yaml b/stretch_camera_testrig/data/results/testrig_results_202203091216.yaml
index ad6a7be..76a3e1b 100644
--- a/stretch_camera_testrig/data/results/testrig_results_202203091216.yaml
+++ b/stretch_camera_testrig/data/results/testrig_results_202203091216.yaml
@@ -1,29 +1,65 @@
 Realsense Details: ''
 capture_id: '202203091216'
-lighting_condition: {brightness: null, temperature: null}
-null_frames: {base_left_marker_pose: 0, base_right_marker_pose: 0, shoulder_marker_pose: 0,
-  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: 0
+  wrist_inside_marker_pose: 0
+  wrist_top_marker_pose: 0
 number_samples: 600
 performance_metrics:
   angle_rotation_error:
-    base_left_marker_pose: {maximum: 3.1258228069143574, mean: 3.090495677559066,
-      median: 3.0898352426275784, rmse: 3.090518944468393}
-    base_right_marker_pose: {maximum: 3.141583905313619, mean: 3.13170178989854, median: 3.1330645842886318,
-      rmse: 3.131710155183963}
-    shoulder_marker_pose: {maximum: 3.117145749446174, mean: 3.07786045902488, median: 3.0775851890028987,
-      rmse: 3.077881724110398}
-    wrist_inside_marker_pose: {maximum: 3.141327402355638, mean: 3.1058216452255563,
-      median: 3.1062270425421623, rmse: 3.1058908098530496}
-    wrist_top_marker_pose: {maximum: 3.141473924121154, mean: 3.1082500276239067,
-      median: 3.112768283406675, rmse: 3.1083324817414675}
+    base_left_marker_pose:
+      maximum: 3.1258228069143574
+      mean: 3.090495677559066
+      median: 3.0898352426275784
+      rmse: 3.090518944468393
+    base_right_marker_pose:
+      maximum: 3.141583905313619
+      mean: 3.13170178989854
+      median: 3.1330645842886318
+      rmse: 3.131710155183963
+    shoulder_marker_pose:
+      maximum: 3.117145749446174
+      mean: 3.07786045902488
+      median: 3.0775851890028987
+      rmse: 3.077881724110398
+    wrist_inside_marker_pose:
+      maximum: 3.141327402355638
+      mean: 3.1058216452255563
+      median: 3.1062270425421623
+      rmse: 3.1058908098530496
+    wrist_top_marker_pose:
+      maximum: 3.141473924121154
+      mean: 3.1082500276239067
+      median: 3.112768283406675
+      rmse: 3.1083324817414675
   euclidean_error:
-    base_left_marker_pose: {maximum: 0.5790332362367818, mean: 0.5786669509096053,
-      median: 0.5786675250115955, rmse: 0.5786669620339555}
-    base_right_marker_pose: {maximum: 0.5775522418555454, mean: 0.5768582518676268,
-      median: 0.5768797683076176, rmse: 0.5768583085342299}
-    shoulder_marker_pose: {maximum: 0.5841755924455108, mean: 0.583766495075335, median: 0.5837691236193006,
-      rmse: 0.5837665124825672}
-    wrist_inside_marker_pose: {maximum: 0.5809248639389007, mean: 0.5804067895137061,
-      median: 0.5804198165198842, rmse: 0.5804068348609547}
-    wrist_top_marker_pose: {maximum: 0.5824827029263467, mean: 0.5817229397175923,
-      median: 0.5817343124317399, rmse: 0.5817230226763274}
+    base_left_marker_pose:
+      maximum: 0.5790332362367818
+      mean: 0.5786669509096053
+      median: 0.5786675250115955
+      rmse: 0.5786669620339555
+    base_right_marker_pose:
+      maximum: 0.5775522418555454
+      mean: 0.5768582518676268
+      median: 0.5768797683076176
+      rmse: 0.5768583085342299
+    shoulder_marker_pose:
+      maximum: 0.5841755924455108
+      mean: 0.583766495075335
+      median: 0.5837691236193006
+      rmse: 0.5837665124825672
+    wrist_inside_marker_pose:
+      maximum: 0.5809248639389007
+      mean: 0.5804067895137061
+      median: 0.5804198165198842
+      rmse: 0.5804068348609547
+    wrist_top_marker_pose:
+      maximum: 0.5824827029263467
+      mean: 0.5817229397175923
+      median: 0.5817343124317399
+      rmse: 0.5817230226763274
diff --git a/stretch_camera_testrig/nodes/testrig_analyze_data.py b/stretch_camera_testrig/nodes/testrig_analyze_data.py
index 7092b3b..7191082 100644
--- a/stretch_camera_testrig/nodes/testrig_analyze_data.py
+++ b/stretch_camera_testrig/nodes/testrig_analyze_data.py
@@ -22,9 +22,9 @@ data_file = None
 
 class TestRig_Analyze:
     def __init__(self, data_filename=None):
-        self.data_directory = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig/data')
-        self.nominal_poses_filename = os.path.expanduser(
-            '~/catkin_ws/src/stretch_ros/stretch_camera_testrig/config/testrig_marker_info.yaml')
+        self.ros_package_dir = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig')
+        self.data_directory = self.ros_package_dir+'/data'
+        self.nominal_poses_filename = self.ros_package_dir+'/config/testrig_marker_info.yaml'
         self.data_keys = ['base_left_marker_pose',
                           'base_right_marker_pose',
                           'wrist_inside_marker_pose',
diff --git a/stretch_camera_testrig/nodes/testrig_dashboard.py b/stretch_camera_testrig/nodes/testrig_dashboard.py
index 8dfeb00..34d64aa 100755
--- a/stretch_camera_testrig/nodes/testrig_dashboard.py
+++ b/stretch_camera_testrig/nodes/testrig_dashboard.py
@@ -13,11 +13,10 @@ import copy
 
 class TestRig_dashboard():
     def __init__(self):
-        self.data_directory = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig/data')
-        self.nominal_poses_filename = os.path.expanduser(
-            '~/catkin_ws/src/stretch_ros/stretch_camera_testrig/config/testrig_marker_info.yaml')
-        self.nominal_poses_filename = os.path.expanduser(
-            '~/catkin_ws/src/stretch_ros/stretch_camera_testrig/config/testrig_marker_info.yaml')
+        self.ros_package_dir = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig')
+        self.data_directory = self.ros_package_dir + '/data'
+        self.nominal_poses_filename = self.ros_package_dir + '/config/testrig_marker_info.yaml'
+        self.nominal_poses_filename = self.ros_package_dir + '/config/testrig_marker_info.yaml'
 
         self.data_keys = ['base_left_marker_pose',
                           'base_right_marker_pose',
@@ -73,11 +72,12 @@ class TestRig_dashboard():
         self.update_nominal_poses_btn.place(x=x_off + 20, y=y_off + 280)
 
         self.nominal_poses_radiobuttons = []
-        self.nominal_poses_selector_vars = []
+        self.radio_var = IntVar()
+        vi = 0
         for key in self.data_keys:
-            self.nominal_poses_selector_vars.append(IntVar)
-            r = Radiobutton(self.window, text=key, value=0,
+            r = Radiobutton(self.window, text=key, value=vi, var=self.radio_var,
                             command=self.radiobutton_sel)
+            vi = vi + 1
             self.nominal_poses_radiobuttons.append(r)
         for i in range(len(self.nominal_poses_radiobuttons)):
             self.nominal_poses_radiobuttons[i].place(x=x_off + 155, y=y_off + 150 + i * 20)
@@ -184,7 +184,7 @@ class TestRig_dashboard():
         print(ros_log)
 
     def radiobutton_sel(self):
-        print('Radio Button')
+        print('selected {}'.format(self.data_keys[self.radio_var.get()]))
 
     def update_nominal_poses(self):
         self.log('Updated new Nominal Poses File.')