Add files using upload-large-folder tool

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/README.md

@@ -0,0 +1,209 @@
+# JHU-MIRACLELab/prepare-to-pierce - README
+
+---
+
+## 📋 At a Glance
+
+*Teleoperated demonstrations of a da Vinci robot grasping the tissue to prepare for piercing.*
+
+---
+
+## 📖 Dataset Overview
+
+*This dataset contains TODO trajectory of a trained researcher using the dVRK to grasp the tissue and prepare for piercing.*
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `2` |
+| **Total Hours** | `[Number]` |
+| **Data Type** | `[ ] Clinical` `[ ] Ex-Vivo` `[V] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` |
+| **License** | CC BY 4.0 |
+| **Version** | `[1.0]` |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+*Select the primary domain for this dataset.*
+
+- [x] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics** (Please specify: `[Your Domain]`)
+
+### Demonstrated Skills
+
+*List the primary skills or procedures demonstrated in this dataset.*
+
+- Tissue-stabilization
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+*How was the data collected?*
+
+- [x] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify: `[Your Method]`)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `1` |
+| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[V] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | From `[2025-12-15]` to `[2025-12-31]` |
+
+### Recovery Demonstrations
+
+*Does this dataset include examples of recovering from failure?*
+
+- [x] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+*The operator will keep trying until the tissue is probably stabilized.*
+
+---
+
+## 💡 Diversity Dimensions
+
+*Check all dimensions that were intentionally varied during data collection.*
+
+- [ ] **Camera Position / Angle**
+- [ ] **Lighting Conditions**
+- [ ] **Target Object** (e.g., different phantom models, suture types)
+- [x] **Spatial Layout** (e.g., placing the target suture needle in various locations)
+- [x] **Robot Embodiment** (if multiple robots were used)
+- [x] **Task Execution** (e.g., different techniques for the same task)
+- [ ] **Background / Scene**
+- [ ] **Other** (Please specify: `[Your Dimension]`)
+
+*If you checked any of the above please briefly elaborate below.*
+
+The needle is initially in a random configuration.  
+
+The trajectories contain 50% of a large needle driver as PSM2 and 50% of a cadiere forcep as PSM2. 
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform(s)
+
+*List the primary robot(s) used.*
+
+- **Robot 1:** `dVRK (da Vinci Research Kit)`
+
+### Sensors & Cameras
+
+*List the sensors and cameras used. Specify model names where possible. (Add and remove rows as needed)*
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | `[e.g., Endoscopic Camera, 1920x1080 @ 30fps]` |
+| **Room/3rd Person Camera** | `N/A` |
+| **Force/Torque Sensor** | `N/A` |
+| **Medical Imager** | `N/A` |
+| **Other** | `N/A` |
+
+---
+
+## 🎯 Action & State Space Representation
+
+*Describe how actions and robot states are represented in your dataset. This is crucial for understanding data compatibility and enabling effective policy learning.*
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [ ] **Absolute Cartesian** (position/orientation relative to robot base)
+- [ ] **Relative Cartesian** (delta position/orientation from current pose)
+- [x] **Joint Space** (direct joint angle commands)
+- [ ] **Other** (Please specify: `[Your Representation]`)
+
+**Orientation Representation:**
+- [ ] **Quaternions** (x, y, z, w)
+- [ ] **Euler Angles** (roll, pitch, yaw)
+- [ ] **Axis-Angle** (rotation vector)
+- [ ] **Rotation Matrix** (3x3 matrix)
+- [ ] **Other** (Please specify: `[Your Representation]`)
+
+**Reference Frame:**
+- [ ] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [ ] **Camera Frame**
+- [ ] **Other** (Please specify: `[Your Frame]`)
+
+**Action Dimensions:**
+*List the action space dimensions and their meanings.*
+
+```
+action: [PSM1 j1, PSM1 j2, PSM1 j3, PSM1 j4, PSM1 j5, PSM1 j6, PSM1 jaw, PSM2 j1, PSM2 j2, PSM2 j3, PSM2 j4, PSM2 j5, PSM2 j6, PSM2 jaw]
+- j1-j6: Delta joint angles for the 6 joints of a PSM (radians)
+- jaw: Delta jaw angle (radians)
+```
+
+### State Space Representation
+
+**State Information Included:**
+- [x] **Joint Positions** (all articulated joints)
+- [ ] **Joint Velocities**
+- [x] **End-Effector Pose** (Cartesian position/orientation)
+- [ ] **Force/Torque Readings**
+- [x] **Gripper State** (position, force, etc.)
+- [ ] **Other** (Please specify: `[Your State Info]`)
+
+**State Dimensions:**
+*List the state space dimensions and their meanings.*
+
+```
+observation.state: [ECM j1, ECM j2, ECM j3, ECM j4, ECM x, ECM y, ECM z, ECM qx, ECM qy, ECM qz, ECM qw, PSM1 j1, PSM1 j2, PSM1 j3, PSM1 j4, PSM1 j5, PSM1 j6, PSM1 jaw, 
+PSM1 x, PSM1 y, PSM1 z, PSM1 qx, PSM1 qy, PSM1 qz, PSM1 qw, 
+PSM2 j1, PSM2 j2, PSM2 j3, PSM2 j4, PSM2 j5, PSM2 j6, PSM2 jaw, 
+PSM2 x, PSM2 y, PSM2 z, PSM2 qx, PSM2 qy, PSM2 qz, PSM2 qw]
+```
+
+### 📋 Recommended Additional Representations
+
+*Even if not your primary action/state representation, we strongly encourage including these standardized formats for maximum compatibility:*
+
+**Recommended Action Fields:**
+- **`action.cartesian_absolute`**: Absolute Cartesian pose with absolute quaternions
+  ```
+  [x, y, z, qx, qy, qz, qw, gripper_angle]
+  ```
+
+**Recommended State Fields:**
+- **`observation.state.joint_positions`**: Absolute positions for all articulated joints
+  ```
+  [joint_1, joint_2, ..., joint_n]
+  ```
+
+
+---
+
+## ⏱️ Data Synchronization Approach
+
+*Describe how you achieved proper data synchronization across different sensors, cameras, and robotic systems during data collection. This is crucial for ensuring temporal alignment of all modalities in your dataset.*
+
+**Example:** *We collect joint kinematics from our Franka Research 3 and RGB-D frames from Intel RealSense D435 cameras, all running in ROS 2 Galactic on the same workstation clocked with ROS Time. Both drivers stamp their outgoing messages’ header.stamp fields with the shared system clock, and we record /joint_states, /camera/*/image_raw, and /camera/*/camera_info in a single rosbag2 session. During export to LeRobot, each data point’s ROS header.stamp is written verbatim into the timestamp attribute. Offline checks show inter-sensor skew stays below ±2 ms across a 2-minute capture.*
+
+---
+
+## 👥 Attribution & Contact
+
+*Please provide attribution for the dataset creators and a point of contact.*
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | `[Chang Liu, Zih-Yun Chiu]` |
+| **Institution** | `[Johns Hopkins University]` |
+| **Contact Email** | `[cliu250@jh.edu, zchiu@jhu.edu]` |
+| **Citation (BibTeX)** | <pre><code>@misc{[your_dataset_name_2025],<br>  author = {[Your Name(s)]},<br>  title = {[Your Dataset Title]},<br>  year = {2025},<br>  publisher = {Open-H-Embodiment},<br>  note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}<br>}</code></pre> |

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/episodes.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "tasks": ["prepare-to-pierce"], "length": 381}
+{"episode_index": 1, "tasks": ["prepare-to-pierce"], "length": 201}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/episodes_stats.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "stats": {"observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45559202614379085]], [[0.425263401416122]], [[0.3310840196078431]]], "std": [[[0.20486364048000688]], [[0.19176952824831878]], [[0.18367387787489142]]], "count": [100]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4636471704793028]], [[0.42658733932461873]], [[0.32667903867102394]]], "std": [[[0.20013071490233517]], [[0.18490687030879646]], [[0.18425371400734797]]], "count": [100]}, "observation.state": {"min": [0.0640866756439209, -0.8141142725944519, 0.045394133776426315, -0.0873173326253891, 0.036083851009607315, 0.9801591634750366, 0.33114707469940186, 0.978137731552124, 0.04523783177137375, 0.00284928479231894, 0.20295800268650055, 1.3104238510131836, -0.4144996702671051, 0.12905733287334442, -1.4146543741226196, -0.03938351199030876, 0.3298197388648987, -0.34369558095932007, -0.003097533481195569, 0.005926093086600304, 0.04036877304315567, 0.481783926486969, -0.18746232986450195, 0.7484643459320068, -0.2900097668170929, -1.4947952032089233, -0.3846718370914459, 0.19662517309188843, -0.18953461945056915, -0.4538370668888092, -0.23215016722679138, -0.35034239292144775, -0.06241622567176819, -0.005968209356069565, 0.05006733536720276, -0.11334763467311859, -0.6271971464157104, -0.6154943108558655, 0.6612745523452759], "max": [0.0640866756439209, -0.8141142725944519, 0.045394133776426315, -0.0873173326253891, 0.036083851009607315, 0.9801591634750366, 0.33114707469940186, 0.978137731552124, 0.04523783177137375, 0.00284928479231894, 0.20295800268650055, 1.3934613466262817, -0.36744073033332825, 0.13681747019290924, -0.880648136138916, 0.5203257203102112, 0.8150696158409119, -0.32237038016319275, 0.006205495446920395, 0.009167145006358624, 0.04880155995488167, 0.5909321904182434, 0.11385536193847656, 0.8213438987731934, -0.10140910744667053, -1.3866338729858398, -0.3393806219100952, 0.2211446315050125, 1.2742584943771362, 0.25900450348854065, 0.24587616324424744, 0.5476696491241455, -0.04573554918169975, -0.0016469546826556325, 0.07647266238927841, 0.3484012186527252, -0.230345219373703, -0.11135058104991913, 0.9377469420433044], "mean": [0.06408687680959702, -0.8141166567802429, 0.04539406672120094, -0.08731701970100403, 0.036083951592445374, 0.9801615476608276, 0.33114635944366455, 0.9781395792961121, 0.04523777961730957, 0.0028492864221334457, 0.20295734703540802, 1.3525614738464355, -0.38059791922569275, 0.13237230479717255, -1.104143500328064, 0.2327062487602234, 0.6175177693367004, -0.32784610986709595, -0.0006776503869332373, 0.007678736932575703, 0.04405521601438522, 0.5700656175613403, -0.06512260437011719, 0.7890396118164062, -0.19269031286239624, -1.420267105102539, -0.36058369278907776, 0.2167159765958786, 0.31857767701148987, -0.29670318961143494, 0.1673610657453537, -0.15806981921195984, -0.05898837000131607, -0.0028687603771686554, 0.0697132796049118, 0.17940416932106018, -0.31858864426612854, -0.4453498125076294, 0.7571667432785034], "std": [2.0116567611694336e-07, 2.384185791015625e-06, 6.705522537231445e-08, 3.129243850708008e-07, 1.0058283805847168e-07, 2.384185791015625e-06, 7.152557373046875e-07, 1.8477439880371094e-06, 5.21540641784668e-08, 1.6298145055770874e-09, 6.556510925292969e-07, 0.018009232357144356, 0.010223789140582085, 0.002536643063649535, 0.15323372185230255, 0.13089901208877563, 0.14710555970668793, 0.005185137502849102, 0.001661650137975812, 0.0007967316778376698, 0.0023003683891147375, 0.015362806618213654, 0.093185193836689, 0.01970430463552475, 0.04198681563138962, 0.0387694388628006, 0.008768587373197079, 0.006550638470798731, 0.5811678767204285, 0.1706392914056778, 0.10174114257097244, 0.28642627596855164, 0.0027035395614802837, 0.0011418662033975124, 0.009262881241738796, 0.18696705996990204, 0.1157279834151268, 0.1895575225353241, 0.1019676998257637], "count": [381]}, "action": {"min": [-0.004694938659667969, -0.003278195858001709, -0.0007596462965011597, -0.047107815742492676, -0.012162566184997559, -0.0430753231048584, -0.0027695000171661377, -0.0028357505798339844, -0.0024832487106323242, -0.0006658434867858887, -0.07706928253173828, -0.04100518673658371, -0.04327354580163956, -0.2895517647266388], "max": [0.002312898635864258, 0.004544198513031006, 0.0005323588848114014, 0.023287177085876465, 0.03961518406867981, 0.035336852073669434, 0.0037388503551483154, 0.003076910972595215, 0.0019725263118743896, 0.0009666383266448975, 0.09677252173423767, 0.024672597646713257, 0.040739983320236206, 0.29702943563461304], "mean": [-0.00019249421893619, 4.604552668752149e-05, -1.8568958921605372e-06, -0.0008598975837230682, 0.0011364491656422615, -0.0002280854678247124, -3.489139999146573e-05, 0.00017294639837928116, -6.5200597418879624e-06, 6.389864574884996e-05, -0.002269031247124076, -0.0016648455057293177, 0.0007456484599970281, -0.001510870293714106], "std": [0.0010800783056765795, 0.0008387133129872382, 0.00012218310439493507, 0.006921939551830292, 0.006618159357458353, 0.007248689420521259, 0.0005913348286412656, 0.0008769684936851263, 0.0006056327256374061, 0.00019993135356344283, 0.016561277210712433, 0.006966681219637394, 0.008416099473834038, 0.05317571759223938], "count": [381]}, "timestamp": {"min": [0.0], "max": [25.333333333333332], "mean": [12.666666666666666], "std": [7.332323162747464], "count": [381]}, "frame_index": {"min": [0], "max": [380], "mean": [190.0], "std": [109.98484744121194], "count": [381]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [381]}, "index": {"min": [0], "max": [380], "mean": [190.0], "std": [109.98484744121194], "count": [381]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [381]}}}
+{"episode_index": 1, "stats": {"observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44665095043572983]], [[0.4166828267973856]], [[0.32305820261437906]]], "std": [[[0.21108647283511114]], [[0.1973094748415905]], [[0.1867296278577707]]], "count": [100]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45892343681917214]], [[0.42009568627450977]], [[0.3247327450980392]]], "std": [[[0.20515815944055366]], [[0.19002127760940885]], [[0.18563806437256244]]], "count": [100]}, "observation.state": {"min": [0.0640866756439209, -0.8141142725944519, 0.045394133776426315, -0.0873173326253891, 0.036083851009607315, 0.9801591634750366, 0.33114707469940186, 0.978137731552124, 0.04523783177137375, 0.00284928479231894, 0.20295800268650055, 1.204450249671936, -0.41967007517814636, 0.14520636200904846, -1.8503565788269043, 0.366150826215744, 0.2899433672428131, -0.3418954014778137, -0.0038257138803601265, 0.005400363821536303, 0.0641237199306488, 0.4886397123336792, -0.06776215136051178, 0.8215978741645813, -0.14213354885578156, -1.4311668872833252, -0.40785661339759827, 0.21193064749240875, -0.3272828757762909, -0.6449629664421082, -0.1164916530251503, -0.3511732518672943, -0.05937201902270317, -0.009031547233462334, 0.06748849898576736, -0.21193473041057587, -0.5563264489173889, -0.5842220783233643, 0.6110979914665222], "max": [0.0640866756439209, -0.8141142725944519, 0.045394133776426315, -0.0873173326253891, 0.036083851009607315, 0.9801591634750366, 0.33114707469940186, 0.978137731552124, 0.04523783177137375, 0.00284928479231894, 0.20295800268650055, 1.2129454612731934, -0.4098462760448456, 0.1471175104379654, -1.2690647840499878, 0.5265807509422302, 0.6627263426780701, -0.05774418264627457, -0.002129229949787259, 0.008125926367938519, 0.06639814376831055, 0.5484429597854614, 0.1177639439702034, 0.8629489541053772, 0.051838114857673645, -1.3241901397705078, -0.3587890863418579, 0.22416655719280243, 1.3070391416549683, 0.20734260976314545, 0.5714367628097534, 1.0681980848312378, -0.05466529726982117, -0.0016130800358951092, 0.089358851313591, 0.5047576427459717, -0.15216754376888275, -0.12861181795597076, 0.9374729990959167], "mean": [0.06408683955669403, -0.8141160011291504, 0.04539404436945915, -0.0873173400759697, 0.036083802580833435, 0.9801597595214844, 0.3311464786529541, 0.978135347366333, 0.045237865298986435, 0.00284928223118186, 0.20295752584934235, 1.2079681158065796, -0.4144021272659302, 0.14621104300022125, -1.4526115655899048, 0.4197717308998108, 0.5412086844444275, -0.3204827904701233, -0.0031223678961396217, 0.007161224260926247, 0.06543527543544769, 0.5277666449546814, -0.004844346083700657, 0.8413068652153015, -0.08172519505023956, -1.3663206100463867, -0.3859267830848694, 0.22040176391601562, 0.46125733852386475, -0.3638780117034912, 0.12326078116893768, -0.006109439767897129, -0.05671673268079758, -0.006005451083183289, 0.08131818473339081, 0.17472559213638306, -0.30367374420166016, -0.382278174161911, 0.7707977890968323], "std": [1.6391277313232422e-07, 1.7285346984863281e-06, 8.940696716308594e-08, 7.450580596923828e-09, 4.842877388000488e-08, 5.960464477539062e-07, 5.960464477539062e-07, 2.384185791015625e-06, 3.3527612686157227e-08, 2.561137080192566e-09, 4.76837158203125e-07, 0.002421642653644085, 0.0023349581751972437, 0.0006046163034625351, 0.17429092526435852, 0.04624136537313461, 0.10916739702224731, 0.027388611808419228, 0.000488959951326251, 0.0008930019102990627, 0.0006776920636184514, 0.018026426434516907, 0.05442735552787781, 0.01428512018173933, 0.05891769006848335, 0.030549485236406326, 0.012588835321366787, 0.0034953178837895393, 0.6586335897445679, 0.2573395073413849, 0.13828982412815094, 0.45764023065567017, 0.0013025799999013543, 0.0022795379627496004, 0.006252058781683445, 0.2798748016357422, 0.12278836965560913, 0.1757669597864151, 0.11263363063335419], "count": [201]}, "action": {"min": [-0.001059412956237793, -0.0010070204734802246, -9.731948375701904e-05, -0.0010665655136108398, -0.014826714992523193, -0.003928005695343018, -0.2498093545436859, -0.007513165473937988, -0.004617273807525635, -0.0007120221853256226, -0.1387944221496582, -0.13714729249477386, -0.12571030855178833, -0.9049358367919922], "max": [0.001517653465270996, 0.0009068548679351807, 0.00018200278282165527, 0.03519749641418457, 0.010540872812271118, 0.021596819162368774, 0.05802112817764282, 0.004392147064208984, 0.005209207534790039, 0.0006919950246810913, 0.0852644294500351, 0.06961613893508911, 0.1367611289024353, 0.6959766745567322], "mean": [1.6571277228649706e-05, -9.73260830505751e-06, 9.144494470092468e-06, 0.0028911142144352198, -0.0007163259433582425, 0.001853231922723353, 9.920614684233442e-05, 0.00012893641542177647, -0.00011585897300392389, -4.7505790234936285e-07, 0.00047538249054923654, -0.0002403124381089583, 0.0004784433403983712, -0.0005222100880928338], "std": [0.00029905379051342607, 0.00025668361922726035, 3.9557631680509076e-05, 0.005191352218389511, 0.0023891956079751253, 0.0034036028664559126, 0.019656384363770485, 0.0016412395052611828, 0.0015084854094311595, 0.00022303145669866353, 0.03323424234986305, 0.0222123134881258, 0.021248366683721542, 0.13453704118728638], "count": [201]}, "timestamp": {"min": [0.0], "max": [13.333333333333334], "mean": [6.666666666666667], "std": [3.8681989301176025], "count": [201]}, "frame_index": {"min": [0], "max": [200], "mean": [100.0], "std": [58.02298395176403], "count": [201]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [201]}, "index": {"min": [381], "max": [581], "mean": [481.0], "std": [58.02298395176403], "count": [201]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [201]}}}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/info.json

@@ -0,0 +1,168 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "dvrk",
+    "total_episodes": 2,
+    "total_frames": 582,
+    "total_tasks": 1,
+    "total_videos": 4,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.left": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                39
+            ],
+            "names": [
+                "ECM j1",
+                "ECM j2",
+                "ECM j3",
+                "ECM j4",
+                "ECM x",
+                "ECM y",
+                "ECM z",
+                "ECM qx",
+                "ECM qy",
+                "ECM qz",
+                "ECM qw",
+                "PSM1 j1",
+                "PSM1 j2",
+                "PSM1 j3",
+                "PSM1 j4",
+                "PSM1 j5",
+                "PSM1 j6",
+                "PSM1 jaw",
+                "PSM1 x",
+                "PSM1 y",
+                "PSM1 z",
+                "PSM1 qx",
+                "PSM1 qy",
+                "PSM1 qz",
+                "PSM1 qw",
+                "PSM2 j1",
+                "PSM2 j2",
+                "PSM2 j3",
+                "PSM2 j4",
+                "PSM2 j5",
+                "PSM2 j6",
+                "PSM2 jaw",
+                "PSM2 x",
+                "PSM2 y",
+                "PSM2 z",
+                "PSM2 qx",
+                "PSM2 qy",
+                "PSM2 qz",
+                "PSM2 qw"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "PSM1 j1",
+                "PSM1 j2",
+                "PSM1 j3",
+                "PSM1 j4",
+                "PSM1 j5",
+                "PSM1 j6",
+                "PSM1 jaw",
+                "PSM2 j1",
+                "PSM2 j2",
+                "PSM2 j3",
+                "PSM2 j4",
+                "PSM2 j5",
+                "PSM2 j6",
+                "PSM2 jaw"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/modality.json

@@ -0,0 +1,59 @@
+{
+  "state": {
+    "psm1_pose": {
+      "start": 18,
+      "end": 25,
+      "original_key": "observation.state"
+    },
+    "psm1_gripper": {
+      "start": 17,
+      "end": 18,
+      "original_key": "observation.state"
+    },
+    "psm2_pose": {
+      "start": 32,
+      "end": 39,
+      "original_key": "observation.state"
+    },
+    "psm2_gripper": {
+      "start": 31,
+      "end": 32,
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "psm1_pose": {
+      "start": 18,
+      "end": 25,
+      "original_key": "observation.state"
+    },
+    "psm1_gripper": {
+      "start": 6,
+      "end": 7,
+      "original_key": "action"
+    },
+    "psm2_pose": {
+      "start": 32,
+      "end": 39,
+      "original_key": "observation.state"
+    },
+    "psm2_gripper": {
+      "start": 13,
+      "end": 14,
+      "original_key": "action"
+    }
+  },
+  "video": {
+    "camera_left": {
+      "original_key": "observation.images.left"
+    },
+    "camera_right": {
+      "original_key": "observation.images.right"
+    }
+  },
+  "annotation": {
+    "task": {
+      "original_key": "task_index"
+    }
+  }
+}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/percentile_stats.json

@@ -0,0 +1,3478 @@
+{
+  "state": {
+    "psm1_pose": {
+      "q01": [
+        -0.00379728163825348,
+        0.005401065107434988,
+        0.04072714317589998,
+        0.4886679947376251,
+        -0.18574596747756003,
+        0.7505091512203217,
+        -0.247647253125906
+      ],
+      "q02": [
+        -0.003786404002457857,
+        0.005401065107434988,
+        0.04100368373095989,
+        0.4886679947376251,
+        -0.1849990889430046,
+        0.7506396853923798,
+        -0.24155425310134887
+      ],
+      "q98": [
+        0.0017842218885198234,
+        0.008904155790805817,
+        0.06603247627615928,
+        0.5876843440532684,
+        0.11771225184202194,
+        0.8629368543624878,
+        0.05176179468631745
+      ],
+      "q99": [
+        0.002652813536114939,
+        0.00899380180053413,
+        0.06610552474856377,
+        0.588330739736557,
+        0.11773268178105355,
+        0.8629409074783325,
+        0.051772285252809525
+      ],
+      "mean": [
+        -0.001530735637061298,
+        0.007491156458854675,
+        0.05087979882955551,
+        0.5555578470230103,
+        -0.047952476888895035,
+        0.8059835433959961,
+        -0.1561151146888733
+      ],
+      "std": [
+        0.001793361152522266,
+        0.0009034801041707397,
+        0.010296027176082134,
+        0.026998603716492653,
+        0.08802527189254761,
+        0.03186046704649925,
+        0.07471244037151337
+      ],
+      "min": [
+        -0.0038257138803601265,
+        0.005400363821536303,
+        0.04036877304315567,
+        0.481783926486969,
+        -0.18746232986450195,
+        0.7484643459320068,
+        -0.2900097668170929
+      ],
+      "max": [
+        0.006205495446920395,
+        0.009167145006358624,
+        0.06614291667938232,
+        0.5909321904182434,
+        0.1177639439702034,
+        0.8629489541053772,
+        0.051838114857673645
+      ]
+    },
+    "psm1_gripper": {
+      "q01": [
+        -0.3418954014778137
+      ],
+      "q02": [
+        -0.3417569398880005
+      ],
+      "q98": [
+        -0.32181650400161743
+      ],
+      "q99": [
+        -0.3118891963362702
+      ],
+      "mean": [
+        -0.3248923718929291
+      ],
+      "std": [
+        0.01758500002324581
+      ],
+      "min": [
+        -0.34369558095932007
+      ],
+      "max": [
+        -0.05774418264627457
+      ]
+    },
+    "psm2_pose": {
+      "q01": [
+        -0.062292840220034125,
+        -0.008661417411640287,
+        0.050593700483441355,
+        -0.18607189014554024,
+        -0.6259386897087097,
+        -0.6144497466087341,
+        0.6111643314361572
+      ],
+      "q02": [
+        -0.06214617982506752,
+        -0.00842899715527892,
+        0.051179467141628264,
+        -0.1671145176887512,
+        -0.6204351222515107,
+        -0.6129174387454986,
+        0.6112481355667114
+      ],
+      "q98": [
+        -0.052894125655293465,
+        -0.0017889932077378035,
+        0.08907568901777267,
+        0.5046435594558716,
+        -0.15482259273529053,
+        -0.12110963866114617,
+        0.9363242089748383
+      ],
+      "q99": [
+        -0.0493881411477924,
+        -0.0017107774748001251,
+        0.08931352227926254,
+        0.5047088861465454,
+        -0.15359763473272323,
+        -0.11327017895877364,
+        0.9372615253925324
+      ],
+      "mean": [
+        -0.05824542045593262,
+        -0.0038141661789268255,
+        0.0729033499956131,
+        0.15716245770454407,
+        -0.32485005259513855,
+        -0.40843987464904785,
+        0.7699147462844849
+      ],
+      "std": [
+        0.002576290164142847,
+        0.002015280770137906,
+        0.00990903377532959,
+        0.22204715013504028,
+        0.11698225885629654,
+        0.18883465230464935,
+        0.10738659650087357
+      ],
+      "min": [
+        -0.06241622567176819,
+        -0.009008199907839298,
+        0.05006733536720276,
+        -0.21193473041057587,
+        -0.6271971464157104,
+        -0.6154943108558655,
+        0.6110979914665222
+      ],
+      "max": [
+        -0.04573554918169975,
+        -0.0016130800358951092,
+        0.089358851313591,
+        0.5047576427459717,
+        -0.15307366847991943,
+        -0.11135058104991913,
+        0.9377469420433044
+      ]
+    },
+    "psm2_gripper": {
+      "q01": [
+        -0.35034239292144775
+      ],
+      "q02": [
+        -0.3499795937538147
+      ],
+      "q98": [
+        0.8234763324260711
+      ],
+      "q99": [
+        0.9445258426666259
+      ],
+      "mean": [
+        -0.08330222964286804
+      ],
+      "std": [
+        0.3712312877178192
+      ],
+      "min": [
+        -0.3511732518672943
+      ],
+      "max": [
+        1.0681980848312378
+      ]
+    }
+  },
+  "action": {
+    "psm1_pose": {
+      "q01": [
+        [
+          -0.0007053560228087008,
+          -0.0002972679166123271,
+          -0.000285981148481369
+        ],
+        [
+          -0.0013919075834564864,
+          -0.0005579904094338416,
+          -0.0005927000194787978
+        ],
+        [
+          -0.0020113339088857173,
+          -0.0007657773839309811,
+          -0.000878014750778675
+        ],
+        [
+          -0.002654076865874231,
+          -0.0009256170410662889,
+          -0.0011833538487553597
+        ],
+        [
+          -0.0032242028322070834,
+          -0.0010109809273853897,
+          -0.0014585167914628982
+        ],
+        [
+          -0.0037782229017466304,
+          -0.001162531031295657,
+          -0.0017328722029924391
+        ],
+        [
+          -0.0040228728484362365,
+          -0.0012821891391649842,
+          -0.002000488862395286
+        ],
+        [
+          -0.004237053557299077,
+          -0.0014443629840388893,
+          -0.0021771203354001047
+        ],
+        [
+          -0.0043968446832150215,
+          -0.0015265109995380043,
+          -0.0024572926387190818
+        ],
+        [
+          -0.0045360047230497,
+          -0.00168391075450927,
+          -0.0024830557033419607
+        ],
+        [
+          -0.0047011084994301195,
+          -0.0017884524445980787,
+          -0.002503317631781101
+        ],
+        [
+          -0.004893192010931671,
+          -0.001928204596042633,
+          -0.0025358319655060767
+        ],
+        [
+          -0.005097735607996583,
+          -0.001984027321450412,
+          -0.0025763065740466115
+        ],
+        [
+          -0.0052846600767225025,
+          -0.0020439097192138434,
+          -0.0025923265516757965
+        ],
+        [
+          -0.005455629122443497,
+          -0.002019586581736803,
+          -0.002610579170286655
+        ],
+        [
+          -0.005580880031920969,
+          -0.0019998371694236994,
+          -0.0026133276894688604
+        ],
+        [
+          -0.005667191408574581,
+          -0.0020019886223599315,
+          -0.002582229897379875
+        ],
+        [
+          -0.005711686536669731,
+          -0.0020182589627802372,
+          -0.0025686455890536306
+        ],
+        [
+          -0.005742587880231439,
+          -0.0020424192771315575,
+          -0.0025376273691654202
+        ],
+        [
+          -0.0057404602319002145,
+          -0.0020632904907688498,
+          -0.002498229444026947
+        ],
+        [
+          -0.0056935097090899936,
+          -0.002038677749224007,
+          -0.0024889238551259038
+        ],
+        [
+          -0.005613048700615763,
+          -0.0020249190181493757,
+          -0.0025075087696313854
+        ],
+        [
+          -0.0055414282483980054,
+          -0.0020326185319572685,
+          -0.002521596997976303
+        ],
+        [
+          -0.005492907986044883,
+          -0.002030323687940836,
+          -0.0025197820737957954
+        ],
+        [
+          -0.005450450950302183,
+          -0.0020293077174574135,
+          -0.0025162592530250548
+        ]
+      ],
+      "q02": [
+        [
+          -0.0003289268619846552,
+          -0.00016901111230254172,
+          -0.00020285017788410184
+        ],
+        [
+          -0.0005877354799304158,
+          -0.00028258806094527244,
+          -0.00039429694414138794
+        ],
+        [
+          -0.0008166619075927884,
+          -0.0004109903052449226,
+          -0.0005308227241039277
+        ],
+        [
+          -0.0009911589324474335,
+          -0.0004814688023179768,
+          -0.0006728371977806091
+        ],
+        [
+          -0.0011277363891713322,
+          -0.0006270726583898068,
+          -0.0007919412106275559
+        ],
+        [
+          -0.0012544846814125776,
+          -0.0007259417790919541,
+          -0.0008192457258701325
+        ],
+        [
+          -0.0013936715410090982,
+          -0.0007981643639504909,
+          -0.00084162138402462
+        ],
+        [
+          -0.0015902342717163264,
+          -0.0007642488088458777,
+          -0.0008330132812261581
+        ],
+        [
+          -0.0017773038172163068,
+          -0.000727984057739377,
+          -0.0008230263739824295
+        ],
+        [
+          -0.0019319944386370477,
+          -0.0007592666242271661,
+          -0.0008301254361867905
+        ],
+        [
+          -0.002047759259585291,
+          -0.0009073655679821966,
+          -0.0008274983614683151
+        ],
+        [
+          -0.002116245264187455,
+          -0.001114006983116269,
+          -0.0008149708807468414
+        ],
+        [
+          -0.002158600562252104,
+          -0.00124497196637094,
+          -0.0008014741539955139
+        ],
+        [
+          -0.0021806709002703427,
+          -0.0014435431826859712,
+          -0.0007960423827171326
+        ],
+        [
+          -0.0021651702607050536,
+          -0.0015916999522596594,
+          -0.0007913248240947724
+        ],
+        [
+          -0.0021031622844748196,
+          -0.00176784741692245,
+          -0.000791315957903862
+        ],
+        [
+          -0.0020227056066505606,
+          -0.0018602757528424262,
+          -0.0007967077940702438
+        ],
+        [
+          -0.00195991592714563,
+          -0.0018807177431881428,
+          -0.0008037546277046203
+        ],
+        [
+          -0.0019148403522558507,
+          -0.0019099518470466136,
+          -0.0008176986873149871
+        ],
+        [
+          -0.0018707799096591767,
+          -0.0019021767377853393,
+          -0.000845469981431961
+        ],
+        [
+          -0.0018186070793308313,
+          -0.0019214219972491264,
+          -0.0008581429719924927
+        ],
+        [
+          -0.0017504836828447874,
+          -0.0019117856118828058,
+          -0.0008763331919908523
+        ],
+        [
+          -0.0016732538235373791,
+          -0.0019209293369203805,
+          -0.0008843658119440078
+        ],
+        [
+          -0.0015752789773978287,
+          -0.001937265172600746,
+          -0.0009065409004688263
+        ],
+        [
+          -0.0014730627951212224,
+          -0.001949399234727025,
+          -0.0009154395014047622
+        ]
+      ],
+      "q98": [
+        [
+          0.00014640006469562636,
+          0.00014649606309831138,
+          0.00032846771180629727
+        ],
+        [
+          0.00027063493384048336,
+          0.000277900630608201,
+          0.0006582635641098022
+        ],
+        [
+          0.0003519340325146913,
+          0.0004217647202312946,
+          0.001007477045059204
+        ],
+        [
+          0.0004356586828362196,
+          0.0004940626770257949,
+          0.001305767074227333
+        ],
+        [
+          0.0005679100670386097,
+          0.0005923442449420689,
+          0.0016374521702527999
+        ],
+        [
+          0.000675962276291102,
+          0.0006713085435330866,
+          0.0019154370576143264
+        ],
+        [
+          0.0008815496833994965,
+          0.0007361012045294046,
+          0.002179737985134124
+        ],
+        [
+          0.001110412520356475,
+          0.0008242373634129762,
+          0.002356102690100669
+        ],
+        [
+          0.0013527807127684346,
+          0.0008330625388771292,
+          0.0026390928030014037
+        ],
+        [
+          0.0015003306278958892,
+          0.000859267571941018,
+          0.0027978636324405668
+        ],
+        [
+          0.0017785872425884002,
+          0.0008320365753024814,
+          0.003028656765818595
+        ],
+        [
+          0.0020333410101011375,
+          0.0008294049929827451,
+          0.0032245993614196775
+        ],
+        [
+          0.002121954550966619,
+          0.0008734916523098946,
+          0.003330848813056945
+        ],
+        [
+          0.0024330582283437242,
+          0.0008939452935010194,
+          0.003398932442069053
+        ],
+        [
+          0.0025514555955305674,
+          0.0009244932513684034,
+          0.0035051392763853066
+        ],
+        [
+          0.0027158090565353623,
+          0.0009361760783940553,
+          0.003553161025047302
+        ],
+        [
+          0.0028353474987670778,
+          0.0009481407795101404,
+          0.0036467887461185448
+        ],
+        [
+          0.0028822973230853673,
+          0.0009526377171278,
+          0.003712790012359619
+        ],
+        [
+          0.0029034086642786856,
+          0.0010081905126571656,
+          0.003722903504967689
+        ],
+        [
+          0.0029194793058559296,
+          0.0010219219699501988,
+          0.0038336323201656336
+        ],
+        [
+          0.0029427283303812145,
+          0.0010406208317726847,
+          0.0038469915837049482
+        ],
+        [
+          0.0029698642529547214,
+          0.0010663927439600227,
+          0.003776707276701927
+        ],
+        [
+          0.002982684229500592,
+          0.0011458525341004131,
+          0.0037093755602836606
+        ],
+        [
+          0.0030030959658324716,
+          0.00120129813440144,
+          0.0037080531567335127
+        ],
+        [
+          0.0030256810411810873,
+          0.0012340475805103775,
+          0.003697784692049026
+        ]
+      ],
+      "q99": [
+        [
+          0.0003780982457101328,
+          0.00019415029790252413,
+          0.00039363697171210975
+        ],
+        [
+          0.0007966285705333434,
+          0.00033885248936712706,
+          0.0007327383756637571
+        ],
+        [
+          0.0011142242979258297,
+          0.00044010888319462505,
+          0.0011205968260765056
+        ],
+        [
+          0.0014703602995723257,
+          0.0005760103929787865,
+          0.0014823208376765241
+        ],
+        [
+          0.0017319779028184667,
+          0.0006771878805011505,
+          0.0018156082555651643
+        ],
+        [
+          0.002048823584336766,
+          0.0008045287430286394,
+          0.002154593095183372
+        ],
+        [
+          0.0022518523130565828,
+          0.0009114967612549622,
+          0.0024951153993606518
+        ],
+        [
+          0.0026017800555564194,
+          0.001009246581234029,
+          0.0027426223084330535
+        ],
+        [
+          0.002764452998526394,
+          0.0010429405560716917,
+          0.0029685058072209313
+        ],
+        [
+          0.00310363697819409,
+          0.001043672617524861,
+          0.0032406390830874428
+        ],
+        [
+          0.0032505792542360697,
+          0.0011419443227350678,
+          0.0034609752893447806
+        ],
+        [
+          0.003486083424650115,
+          0.001143079511821268,
+          0.00360652487725019
+        ],
+        [
+          0.0035977012524381143,
+          0.0011817225674167254,
+          0.003725748248398299
+        ],
+        [
+          0.0036492635286413115,
+          0.001186165930703279,
+          0.003874729797244064
+        ],
+        [
+          0.0037049669679254274,
+          0.001206578426063055,
+          0.0039296469464898095
+        ],
+        [
+          0.0037417229264974563,
+          0.001230458049103612,
+          0.004006122052669525
+        ],
+        [
+          0.003750377690885213,
+          0.0011056114546954539,
+          0.004028796479105942
+        ],
+        [
+          0.003763434602878984,
+          0.001128551345318544,
+          0.00407897468656301
+        ],
+        [
+          0.003777944515459235,
+          0.0011782119795679933,
+          0.004140924811363214
+        ],
+        [
+          0.0037736351112835076,
+          0.0012489544227719267,
+          0.004180515073239799
+        ],
+        [
+          0.003790536061860617,
+          0.0012968198629096147,
+          0.004060656055808067
+        ],
+        [
+          0.0038139589014463083,
+          0.0014000176312401811,
+          0.0039942505583167075
+        ],
+        [
+          0.0038272911752574115,
+          0.0014632969535887186,
+          0.003963726758956906
+        ],
+        [
+          0.0038420709874480946,
+          0.0014856294495984846,
+          0.003993088379502296
+        ],
+        [
+          0.0038550721202045674,
+          0.0015088708186522086,
+          0.004072296805679791
+        ]
+      ],
+      "mean": [
+        [
+          -1.2668700037465896e-05,
+          6.603873771382496e-06,
+          6.405146450561006e-06
+        ],
+        [
+          -2.464586214045994e-05,
+          1.3290036804392003e-05,
+          1.2614953448064625e-05
+        ],
+        [
+          -3.547818778315559e-05,
+          1.9750277715502307e-05,
+          1.890248677227646e-05
+        ],
+        [
+          -4.4857501052320004e-05,
+          2.607889473438263e-05,
+          2.5446548534091562e-05
+        ],
+        [
+          -5.268196764518507e-05,
+          3.232726521673612e-05,
+          3.2607738830847666e-05
+        ],
+        [
+          -5.889282692805864e-05,
+          3.867644045385532e-05,
+          4.065603934577666e-05
+        ],
+        [
+          -6.333071360131726e-05,
+          4.492210064199753e-05,
+          4.959429134032689e-05
+        ],
+        [
+          -6.604412192245945e-05,
+          5.0940703658852726e-05,
+          5.9473699366208166e-05
+        ],
+        [
+          -6.719421071466058e-05,
+          5.670120663125999e-05,
+          7.027409446891397e-05
+        ],
+        [
+          -6.70805384288542e-05,
+          6.228795973584056e-05,
+          8.1985468568746e-05
+        ],
+        [
+          -6.59552970319055e-05,
+          6.786786980228499e-05,
+          9.413725638296455e-05
+        ],
+        [
+          -6.400348502211273e-05,
+          7.335760892601684e-05,
+          0.00010664841101970524
+        ],
+        [
+          -6.146568193798885e-05,
+          7.867567182984203e-05,
+          0.00011942511628149077
+        ],
+        [
+          -5.8674639149103314e-05,
+          8.351990982191637e-05,
+          0.00013239039981272072
+        ],
+        [
+          -5.556705218623392e-05,
+          8.831763989292085e-05,
+          0.0001455293531762436
+        ],
+        [
+          -5.234589480096474e-05,
+          9.3439819465857e-05,
+          0.0001586968282936141
+        ],
+        [
+          -4.901742795482278e-05,
+          9.875051910057664e-05,
+          0.00017208568169735372
+        ],
+        [
+          -4.570568853523582e-05,
+          0.00010424470383441076,
+          0.0001857327442849055
+        ],
+        [
+          -4.216426896164194e-05,
+          0.00010992464376613498,
+          0.00019957777112722397
+        ],
+        [
+          -3.8311798562062904e-05,
+          0.00011572553921723738,
+          0.00021354654745664448
+        ],
+        [
+          -3.412214937270619e-05,
+          0.00012153853458585218,
+          0.0002275868901051581
+        ],
+        [
+          -2.9891169106122106e-05,
+          0.00012714324111584574,
+          0.00024179578758776188
+        ],
+        [
+          -2.532325561332982e-05,
+          0.00013280255370773375,
+          0.0002558609703555703
+        ],
+        [
+          -2.0570787455653772e-05,
+          0.000138514515128918,
+          0.0002698074094951153
+        ],
+        [
+          -1.5593619536957704e-05,
+          0.0001441538770450279,
+          0.0002836259372998029
+        ]
+      ],
+      "std": [
+        [
+          0.0001225457526743412,
+          6.244894029805437e-05,
+          9.406333265360445e-05
+        ],
+        [
+          0.0002415007329545915,
+          0.00011791000724770129,
+          0.00018471719522494823
+        ],
+        [
+          0.00035527627915143967,
+          0.0001674695813562721,
+          0.00027168550877831876
+        ],
+        [
+          0.0004617894592229277,
+          0.00021110064699314535,
+          0.00035408043186180294
+        ],
+        [
+          0.0005600606673397124,
+          0.0002491258201189339,
+          0.0004312329401727766
+        ],
+        [
+          0.0006487937644124031,
+          0.0002821011876221746,
+          0.000502769136801362
+        ],
+        [
+          0.000726603320799768,
+          0.00031057678279466927,
+          0.000568317889701575
+        ],
+        [
+          0.0007924779783934355,
+          0.0003354661457706243,
+          0.0006277604843489826
+        ],
+        [
+          0.000847082061227411,
+          0.00035742769250646234,
+          0.0006811495986767113
+        ],
+        [
+          0.0008926489390432835,
+          0.0003768839524127543,
+          0.0007288359338417649
+        ],
+        [
+          0.0009321216493844986,
+          0.0003943817282561213,
+          0.0007716749678365886
+        ],
+        [
+          0.0009663476957939565,
+          0.00041043071541935205,
+          0.0008103913278318942
+        ],
+        [
+          0.0009968921076506376,
+          0.00042562177986837924,
+          0.0008457040530629456
+        ],
+        [
+          0.0010240506380796432,
+          0.00044057314516976476,
+          0.0008783185039646924
+        ],
+        [
+          0.0010488778352737427,
+          0.00045557876001112163,
+          0.000909014604985714
+        ],
+        [
+          0.0010720943100750446,
+          0.0004708435735665262,
+          0.0009382702992297709
+        ],
+        [
+          0.0010933091398328543,
+          0.0004862896748818457,
+          0.0009660568903200328
+        ],
+        [
+          0.0011120346607640386,
+          0.0005018382798880339,
+          0.0009923971956595778
+        ],
+        [
+          0.0011277900775894523,
+          0.0005173590034246445,
+          0.0010171959875151515
+        ],
+        [
+          0.001140847452916205,
+          0.0005327110411599278,
+          0.0010407899972051382
+        ],
+        [
+          0.0011510016629472375,
+          0.0005478099919855595,
+          0.001063354080542922
+        ],
+        [
+          0.001158763188868761,
+          0.000562520232051611,
+          0.001085034105926752
+        ],
+        [
+          0.0011645896593108773,
+          0.0005769768031314015,
+          0.0011063894489780068
+        ],
+        [
+          0.001169176073744893,
+          0.0005910409963689744,
+          0.0011274028802290559
+        ],
+        [
+          0.0011724852956831455,
+          0.0006048445357009768,
+          0.0011482874397188425
+        ]
+      ],
+      "min": [
+        [
+          -0.0008988822810351849,
+          -0.0003481768071651459,
+          -0.00048456713557243347
+        ],
+        [
+          -0.0017740000039339066,
+          -0.0006878324784338474,
+          -0.000939439982175827
+        ],
+        [
+          -0.002594276797026396,
+          -0.0010006367228925228,
+          -0.001391477882862091
+        ],
+        [
+          -0.00339956721290946,
+          -0.001325275283306837,
+          -0.001797553151845932
+        ],
+        [
+          -0.004172058310359716,
+          -0.0016348259523510933,
+          -0.0021643266081809998
+        ],
+        [
+          -0.0049152313731610775,
+          -0.0018931673839688301,
+          -0.002456996589899063
+        ],
+        [
+          -0.005536413751542568,
+          -0.0020859851501882076,
+          -0.002717025578022003
+        ],
+        [
+          -0.006108212284743786,
+          -0.0022579901851713657,
+          -0.0029411502182483673
+        ],
+        [
+          -0.006523625459522009,
+          -0.0023438502103090286,
+          -0.003097333014011383
+        ],
+        [
+          -0.006897281389683485,
+          -0.002326137386262417,
+          -0.0032487064599990845
+        ],
+        [
+          -0.00725341634824872,
+          -0.0023017795756459236,
+          -0.003353353589773178
+        ],
+        [
+          -0.007503379136323929,
+          -0.002284066751599312,
+          -0.0034138113260269165
+        ],
+        [
+          -0.0077362037263810635,
+          -0.002198178321123123,
+          -0.0034561194479465485
+        ],
+        [
+          -0.007908886298537254,
+          -0.0021658726036548615,
+          -0.0034560561180114746
+        ],
+        [
+          -0.008039982989430428,
+          -0.00220684427767992,
+          -0.0034746527671813965
+        ],
+        [
+          -0.008197091519832611,
+          -0.002212480641901493,
+          -0.0034986212849617004
+        ],
+        [
+          -0.008379991166293621,
+          -0.0021947678178548813,
+          -0.0035501569509506226
+        ],
+        [
+          -0.00859251618385315,
+          -0.0021799574606120586,
+          -0.0035660117864608765
+        ],
+        [
+          -0.008779295720160007,
+          -0.002164650708436966,
+          -0.0035823993384838104
+        ],
+        [
+          -0.008966542780399323,
+          -0.0021773413754999638,
+          -0.0036048032343387604
+        ],
+        [
+          -0.009101279079914093,
+          -0.0022632014006376266,
+          -0.0035638026893138885
+        ],
+        [
+          -0.009205415844917297,
+          -0.002238782122731209,
+          -0.0035547465085983276
+        ],
+        [
+          -0.009252051822841167,
+          -0.0022211307659745216,
+          -0.0035310834646224976
+        ],
+        [
+          -0.009291783906519413,
+          -0.0021298611536622047,
+          -0.0034836940467357635
+        ],
+        [
+          -0.00930302869528532,
+          -0.0020944620482623577,
+          -0.003462083637714386
+        ]
+      ],
+      "max": [
+        [
+          0.0005649356753565371,
+          0.0003671608865261078,
+          0.00045333802700042725
+        ],
+        [
+          0.0011197207495570183,
+          0.0006977468729019165,
+          0.000875178724527359
+        ],
+        [
+          0.001602698815986514,
+          0.0009336452931165695,
+          0.0012731477618217468
+        ],
+        [
+          0.0020773352589458227,
+          0.001054101623594761,
+          0.001680813729763031
+        ],
+        [
+          0.0025607291609048843,
+          0.0011306824162602425,
+          0.002007022500038147
+        ],
+        [
+          0.0029478995129466057,
+          0.001208963803946972,
+          0.002325955778360367
+        ],
+        [
+          0.0033058051485568285,
+          0.0013310182839632034,
+          0.002652164548635483
+        ],
+        [
+          0.003550697350874543,
+          0.0014866190031170845,
+          0.00295860692858696
+        ],
+        [
+          0.003739338368177414,
+          0.0016305837780237198,
+          0.0032041706144809723
+        ],
+        [
+          0.003829076886177063,
+          0.001753019168972969,
+          0.0034473761916160583
+        ],
+        [
+          0.0039174798876047134,
+          0.0018295999616384506,
+          0.0036447644233703613
+        ],
+        [
+          0.003959559369832277,
+          0.0018561738543212414,
+          0.003808293491601944
+        ],
+        [
+          0.0039849188178777695,
+          0.0018797996453940868,
+          0.003966823220252991
+        ],
+        [
+          0.004006172996014357,
+          0.0017488212324678898,
+          0.004080101847648621
+        ],
+        [
+          0.004015635699033737,
+          0.0016014045104384422,
+          0.004228085279464722
+        ],
+        [
+          0.004031545948237181,
+          0.0016472339630126953,
+          0.0043217577040195465
+        ],
+        [
+          0.004049523267894983,
+          0.0016798516735434532,
+          0.004415411502122879
+        ],
+        [
+          0.00403949897736311,
+          0.001706425566226244,
+          0.004429761320352554
+        ],
+        [
+          0.0040639350190758705,
+          0.0017304192297160625,
+          0.004362303763628006
+        ],
+        [
+          0.00408518873155117,
+          0.0017428775317966938,
+          0.004447262734174728
+        ],
+        [
+          0.0040920451283454895,
+          0.0017489469610154629,
+          0.004562057554721832
+        ],
+        [
+          0.0040987515822052956,
+          0.0017515779472887516,
+          0.0046431683003902435
+        ],
+        [
+          0.004105543717741966,
+          0.0017530187033116817,
+          0.004774179309606552
+        ],
+        [
+          0.004113953560590744,
+          0.0017537721432745457,
+          0.004855290055274963
+        ],
+        [
+          0.004123467952013016,
+          0.0017539090476930141,
+          0.0047932639718055725
+        ]
+      ]
+    },
+    "psm1_gripper": {
+      "q01": [
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0017572563886642455
+        ],
+        [
+          -0.0016617178916931152
+        ],
+        [
+          -0.0016617086529731751
+        ],
+        [
+          -0.0016616880893707275
+        ],
+        [
+          -0.0016616880893707275
+        ],
+        [
+          -0.0016616880893707275
+        ],
+        [
+          -0.0016616880893707275
+        ],
+        [
+          -0.0016616880893707275
+        ]
+      ],
+      "q02": [
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.0015232264995574951
+        ],
+        [
+          -0.001437380313873291
+        ],
+        [
+          -0.0013847649097442627
+        ],
+        [
+          -0.0013847464323043822
+        ],
+        [
+          -0.001384735107421875
+        ],
+        [
+          -0.001384735107421875
+        ],
+        [
+          -0.001384735107421875
+        ],
+        [
+          -0.001384735107421875
+        ]
+      ],
+      "q98": [
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015758532285690301
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0013515341281890856
+        ],
+        [
+          0.0012462848424911498
+        ],
+        [
+          0.001160427331924438
+        ],
+        [
+          0.0011077934503555297
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ],
+        [
+          0.0011077821254730225
+        ]
+      ],
+      "q99": [
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.00937615633010816
+        ],
+        [
+          0.0033524963259696223
+        ],
+        [
+          0.002449623942375175
+        ],
+        [
+          0.0022252976894378417
+        ],
+        [
+          0.0018527948856353596
+        ],
+        [
+          0.0016187855601310648
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0015232264995574951
+        ],
+        [
+          0.0014373803138732746
+        ]
+      ],
+      "mean": [
+        [
+          1.4576360626961105e-05
+        ],
+        [
+          9.891122317640111e-06
+        ],
+        [
+          9.11019742488861e-06
+        ],
+        [
+          9.370533916808199e-06
+        ],
+        [
+          9.370533916808199e-06
+        ],
+        [
+          9.37047752813669e-06
+        ],
+        [
+          1.0932284567388706e-05
+        ],
+        [
+          1.0932242730632424e-05
+        ],
+        [
+          9.630799468141049e-06
+        ],
+        [
+          1.0932298209809233e-05
+        ],
+        [
+          9.891107765724882e-06
+        ],
+        [
+          1.0411654329800513e-05
+        ],
+        [
+          -1.1192508281965274e-05
+        ],
+        [
+          -0.00010281526920152828
+        ],
+        [
+          -0.00020328792743384838
+        ],
+        [
+          -0.0003102678747382015
+        ],
+        [
+          -0.00041516550118103623
+        ],
+        [
+          -0.0005234468844719231
+        ],
+        [
+          -5.362009324016981e-05
+        ],
+        [
+          -2.6810046620084904e-05
+        ],
+        [
+          -1.8480688595445827e-05
+        ],
+        [
+          -1.639839138078969e-05
+        ],
+        [
+          -1.8220478523289785e-05
+        ],
+        [
+          -1.7699834643281065e-05
+        ],
+        [
+          -1.8480744984117337e-05
+        ]
+      ],
+      "std": [
+        [
+          0.012092352844774723
+        ],
+        [
+          0.012092414312064648
+        ],
+        [
+          0.012092419900000095
+        ],
+        [
+          0.012092480435967445
+        ],
+        [
+          0.012092525139451027
+        ],
+        [
+          0.012092525139451027
+        ],
+        [
+          0.012092536315321922
+        ],
+        [
+          0.012092536315321922
+        ],
+        [
+          0.0120925884693861
+        ],
+        [
+          0.01209256611764431
+        ],
+        [
+          0.01209255401045084
+        ],
+        [
+          0.012092560529708862
+        ],
+        [
+          0.012081529013812542
+        ],
+        [
+          0.011900101788341999
+        ],
+        [
+          0.01166735403239727
+        ],
+        [
+          0.011404906399548054
+        ],
+        [
+          0.011141899041831493
+        ],
+        [
+          0.010849508456885815
+        ],
+        [
+          0.0008251106482930481
+        ],
+        [
+          0.0005549106281250715
+        ],
+        [
+          0.0005286470986902714
+        ],
+        [
+          0.0005252960836514831
+        ],
+        [
+          0.000523551891092211
+        ],
+        [
+          0.0005235009011812508
+        ],
+        [
+          0.0005156694096513093
+        ]
+      ],
+      "min": [
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.2498093545436859
+        ],
+        [
+          -0.014124482870101929
+        ],
+        [
+          -0.003877311944961548
+        ],
+        [
+          -0.0027695000171661377
+        ],
+        [
+          -0.0027695000171661377
+        ],
+        [
+          -0.0027695000171661377
+        ],
+        [
+          -0.0027695000171661377
+        ],
+        [
+          -0.0027695000171661377
+        ]
+      ],
+      "max": [
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.05802112817764282
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ],
+        [
+          0.0037388503551483154
+        ]
+      ]
+    },
+    "psm2_pose": {
+      "q01": [
+        [
+          -0.0009691692516207694,
+          -0.0004155850317329168,
+          -0.0008505406230688095
+        ],
+        [
+          -0.0019021929427981376,
+          -0.0007968761958181857,
+          -0.0016748781502246856
+        ],
+        [
+          -0.002774067856371403,
+          -0.0011364656616933643,
+          -0.0024608485400676727
+        ],
+        [
+          -0.0036756424605846405,
+          -0.0014836774789728224,
+          -0.003221374824643135
+        ],
+        [
+          -0.004468508325517178,
+          -0.00177005187375471,
+          -0.003956952020525932
+        ],
+        [
+          -0.005372223593294621,
+          -0.002063708817586303,
+          -0.004873257875442505
+        ],
+        [
+          -0.006103248186409473,
+          -0.0023054760484956206,
+          -0.0058903123438358304
+        ],
+        [
+          -0.006883905977010727,
+          -0.002567546993959695,
+          -0.006643341928720474
+        ],
+        [
+          -0.007476392574608326,
+          -0.002773401187732816,
+          -0.007321052998304367
+        ],
+        [
+          -0.008215922750532626,
+          -0.002906177039258182,
+          -0.007812103256583214
+        ],
+        [
+          -0.008419469222426415,
+          -0.0029969669738784434,
+          -0.00831631600856781
+        ],
+        [
+          -0.008514353297650814,
+          -0.0030566572584211824,
+          -0.009012942761182785
+        ],
+        [
+          -0.008554158173501492,
+          -0.003139354703016579,
+          -0.00942405678331852
+        ],
+        [
+          -0.008573287427425384,
+          -0.003174559692852199,
+          -0.010116699039936065
+        ],
+        [
+          -0.00857358232140541,
+          -0.003302776273339987,
+          -0.010659636929631233
+        ],
+        [
+          -0.00855684857815504,
+          -0.0033181770192459224,
+          -0.011315882652997971
+        ],
+        [
+          -0.008543514311313628,
+          -0.003357671496924013,
+          -0.011817345470190048
+        ],
+        [
+          -0.00854554783552885,
+          -0.0034104011603631077,
+          -0.012319028005003929
+        ],
+        [
+          -0.008530496731400489,
+          -0.0034167512250132858,
+          -0.012579069286584855
+        ],
+        [
+          -0.008432889245450496,
+          -0.003232560472097248,
+          -0.012864378914237022
+        ],
+        [
+          -0.008221560940146446,
+          -0.003494053371250629,
+          -0.013169832602143288
+        ],
+        [
+          -0.007823316156864166,
+          -0.003725889949128032,
+          -0.013610327318310737
+        ],
+        [
+          -0.007200060263276099,
+          -0.00379696624353528,
+          -0.014006179869174957
+        ],
+        [
+          -0.006416294276714324,
+          -0.00385039507644251,
+          -0.014349278882145882
+        ],
+        [
+          -0.005699669234454631,
+          -0.003913352317176759,
+          -0.014674008041620255
+        ]
+      ],
+      "q02": [
+        [
+          -0.000664948895573616,
+          -0.00038828552700579164,
+          -0.0006912055611610412
+        ],
+        [
+          -0.0012105831503868103,
+          -0.0007488853204995394,
+          -0.0014467008411884307
+        ],
+        [
+          -0.0017481418699026104,
+          -0.0010623858775943517,
+          -0.0021316970884799956
+        ],
+        [
+          -0.002390647903084755,
+          -0.0013632296957075596,
+          -0.0027216309309005737
+        ],
+        [
+          -0.0028795917332172386,
+          -0.0016366864833980799,
+          -0.003248064219951629
+        ],
+        [
+          -0.003044034168124198,
+          -0.0018634576350450515,
+          -0.003844962120056152
+        ],
+        [
+          -0.0031422106921672813,
+          -0.002039067461155355,
+          -0.004321245104074478
+        ],
+        [
+          -0.0033471969515085215,
+          -0.002152444962412119,
+          -0.004793038964271545
+        ],
+        [
+          -0.003506684303283691,
+          -0.00222386097535491,
+          -0.005450675636529922
+        ],
+        [
+          -0.0036383168399333954,
+          -0.002436744305305183,
+          -0.006057677417993545
+        ],
+        [
+          -0.003728400021791458,
+          -0.0026320305513218047,
+          -0.006665871888399124
+        ],
+        [
+          -0.0038264353573322298,
+          -0.002769076935946941,
+          -0.007295044809579849
+        ],
+        [
+          -0.003921123370528221,
+          -0.002937617544084787,
+          -0.007942721396684647
+        ],
+        [
+          -0.003991138562560082,
+          -0.0030492076370865107,
+          -0.00845370128750801
+        ],
+        [
+          -0.004073081165552139,
+          -0.003107575522735715,
+          -0.008882711380720137
+        ],
+        [
+          -0.00415725328028202,
+          -0.0031423722859472035,
+          -0.009437180757522583
+        ],
+        [
+          -0.004228916987776756,
+          -0.0031501717865467073,
+          -0.009954944252967834
+        ],
+        [
+          -0.004257623478770256,
+          -0.0031367528531700373,
+          -0.010492682605981827
+        ],
+        [
+          -0.004316075295209884,
+          -0.0031412205193191768,
+          -0.01107892170548439
+        ],
+        [
+          -0.004377006888389588,
+          -0.0031421026727184655,
+          -0.011815769523382187
+        ],
+        [
+          -0.004361643642187119,
+          -0.0033228660421445967,
+          -0.012525598257780074
+        ],
+        [
+          -0.004412426427006721,
+          -0.0035022998973727225,
+          -0.013001206517219543
+        ],
+        [
+          -0.0043927812576293945,
+          -0.0035744373919442294,
+          -0.013257655948400497
+        ],
+        [
+          -0.004432378262281418,
+          -0.0036474880296736957,
+          -0.013529646545648574
+        ],
+        [
+          -0.004401744827628135,
+          -0.003621828220784664,
+          -0.013744862526655197
+        ]
+      ],
+      "q98": [
+        [
+          0.00032449223101139064,
+          0.00031029629521071904,
+          0.0005578556656837463
+        ],
+        [
+          0.000628722682595253,
+          0.000587089518085122,
+          0.0011044228076934814
+        ],
+        [
+          0.0009329497069120405,
+          0.0008008075272664427,
+          0.0016693706810474395
+        ],
+        [
+          0.0012245736271142959,
+          0.001052234275266528,
+          0.0020818740129470823
+        ],
+        [
+          0.0015073400735855097,
+          0.0012473474955186248,
+          0.002542404234409332
+        ],
+        [
+          0.0018408957868814467,
+          0.0014434821344912051,
+          0.002879483699798584
+        ],
+        [
+          0.0020369782298803327,
+          0.0016523153288289902,
+          0.003283160328865051
+        ],
+        [
+          0.00234828419983387,
+          0.0018316384032368658,
+          0.0036564880609512326
+        ],
+        [
+          0.0025592513382434842,
+          0.0019562396081164476,
+          0.0040280213952064515
+        ],
+        [
+          0.0027789218723773953,
+          0.002158412430435419,
+          0.004266849458217621
+        ],
+        [
+          0.0029390876740217208,
+          0.002227007038891315,
+          0.004496853649616241
+        ],
+        [
+          0.003119809329509735,
+          0.002489103609696029,
+          0.0046283906698226926
+        ],
+        [
+          0.003266647309064865,
+          0.0025593514135107396,
+          0.0046837575733661655
+        ],
+        [
+          0.0033444438129663465,
+          0.0027797047374770014,
+          0.004899969398975372
+        ],
+        [
+          0.003429388329386711,
+          0.00311154103372246,
+          0.005361769199371338
+        ],
+        [
+          0.003530520275235176,
+          0.003162379404529928,
+          0.005710567235946655
+        ],
+        [
+          0.0035910747200250622,
+          0.003268882753327489,
+          0.006118356287479401
+        ],
+        [
+          0.0035933315753936762,
+          0.003289161943830549,
+          0.0063637855648994435
+        ],
+        [
+          0.0036161185801029203,
+          0.0034043691726401443,
+          0.006756533533334732
+        ],
+        [
+          0.0035939143598079674,
+          0.0034768822323530913,
+          0.006997154951095581
+        ],
+        [
+          0.0035781746357679365,
+          0.0035554438875988123,
+          0.007278115451335907
+        ],
+        [
+          0.003499113321304321,
+          0.0036632155859842894,
+          0.007355784773826599
+        ],
+        [
+          0.0034169014543294907,
+          0.0036493930779397487,
+          0.0074712616205215455
+        ],
+        [
+          0.003356279283761978,
+          0.003610739256255328,
+          0.007522993981838226
+        ],
+        [
+          0.0032765323668718337,
+          0.0037593692122027274,
+          0.007595668435096741
+        ]
+      ],
+      "q99": [
+        [
+          0.0004942717403173347,
+          0.00035591699415817794,
+          0.0006599181890487645
+        ],
+        [
+          0.000864391624927516,
+          0.000786655463743944,
+          0.0012719028443097995
+        ],
+        [
+          0.0014061556383967132,
+          0.0011269892589188997,
+          0.001780162677168841
+        ],
+        [
+          0.0017369931936263919,
+          0.0016777577996253661,
+          0.0024540114402770816
+        ],
+        [
+          0.0022522113472222952,
+          0.002115131677128358,
+          0.0027741004526615127
+        ],
+        [
+          0.002590587288141224,
+          0.0025841990089974973,
+          0.0035120102763175768
+        ],
+        [
+          0.0030113546922802678,
+          0.002946212051901949,
+          0.003707600533962245
+        ],
+        [
+          0.0033182680234312575,
+          0.003418369458522609,
+          0.004307604879140836
+        ],
+        [
+          0.00355438333004713,
+          0.003727341115009024,
+          0.004363143444061276
+        ],
+        [
+          0.003951245546340909,
+          0.003979726303368773,
+          0.00477149561047552
+        ],
+        [
+          0.00410809434950348,
+          0.004206802402622992,
+          0.004969393461942646
+        ],
+        [
+          0.004218992590904217,
+          0.004362656581215547,
+          0.005266056358814228
+        ],
+        [
+          0.004263818450272074,
+          0.004472240759059771,
+          0.005525133609771724
+        ],
+        [
+          0.004268402680754658,
+          0.004517456549219765,
+          0.0057550860196352
+        ],
+        [
+          0.004233300313353536,
+          0.004489913280121961,
+          0.0059109821170568325
+        ],
+        [
+          0.004187078028917307,
+          0.004344949931837609,
+          0.005966619625687596
+        ],
+        [
+          0.004135650023817997,
+          0.004123038849793369,
+          0.006394371613860123
+        ],
+        [
+          0.0041131296008825044,
+          0.004017710925545521,
+          0.006764949709177012
+        ],
+        [
+          0.004002236165106286,
+          0.003827936393208794,
+          0.007033163160085673
+        ],
+        [
+          0.0038939802348613725,
+          0.003806829198729246,
+          0.007283217385411262
+        ],
+        [
+          0.0038421706482768014,
+          0.003961176152806723,
+          0.007449038475751873
+        ],
+        [
+          0.0037804935872554767,
+          0.003917809405829756,
+          0.007607609853148458
+        ],
+        [
+          0.003587663248181338,
+          0.003869316380005328,
+          0.007817042097449284
+        ],
+        [
+          0.0034307613596320143,
+          0.004139192677102969,
+          0.00793501861393451
+        ],
+        [
+          0.003413018323481083,
+          0.004250537287443866,
+          0.008056265339255311
+        ]
+      ],
+      "mean": [
+        [
+          -2.1365225620684214e-05,
+          -3.942247985833092e-06,
+          5.684332791133784e-05
+        ],
+        [
+          -4.202172931400128e-05,
+          -7.995698069862556e-06,
+          0.00011362815712345764
+        ],
+        [
+          -6.160230259411037e-05,
+          -1.2131817129557021e-05,
+          0.00017039391968864948
+        ],
+        [
+          -7.98917535576038e-05,
+          -1.6368809156119823e-05,
+          0.0002270753466291353
+        ],
+        [
+          -9.66979714576155e-05,
+          -2.0812716684304178e-05,
+          0.00028358830604702234
+        ],
+        [
+          -0.00011177794658578932,
+          -2.5518276743241586e-05,
+          0.0003398934786673635
+        ],
+        [
+          -0.00012496962153818458,
+          -3.0487673939205706e-05,
+          0.0003959994646720588
+        ],
+        [
+          -0.000136276546982117,
+          -3.556853698682971e-05,
+          0.00045187657815404236
+        ],
+        [
+          -0.00014554541849065572,
+          -4.0765804442344233e-05,
+          0.0005076003144495189
+        ],
+        [
+          -0.0001528628054074943,
+          -4.608791641658172e-05,
+          0.0005631172098219395
+        ],
+        [
+          -0.0001582707482157275,
+          -5.153195888851769e-05,
+          0.0006183465593494475
+        ],
+        [
+          -0.0001618093519937247,
+          -5.7025074056582525e-05,
+          0.0006733053596690297
+        ],
+        [
+          -0.00016387715004384518,
+          -6.272593600442633e-05,
+          0.0007282206206582487
+        ],
+        [
+          -0.00016464265354443341,
+          -6.868254422442988e-05,
+          0.0007829974056221545
+        ],
+        [
+          -0.00016416818834841251,
+          -7.438498141709715e-05,
+          0.0008373272721655667
+        ],
+        [
+          -0.00016266320017166436,
+          -7.949427526909858e-05,
+          0.0008911439799703658
+        ],
+        [
+          -0.0001606209116289392,
+          -8.377593621844426e-05,
+          0.0009442096343263984
+        ],
+        [
+          -0.00015792813792359084,
+          -8.805900870356709e-05,
+          0.0009969606762751937
+        ],
+        [
+          -0.00015481558511964977,
+          -9.226459951605648e-05,
+          0.0010494403541088104
+        ],
+        [
+          -0.00015150613035075366,
+          -9.62161720963195e-05,
+          0.001101575093343854
+        ],
+        [
+          -0.00014806869148742408,
+          -9.980796312447637e-05,
+          0.0011533269425854087
+        ],
+        [
+          -0.00014440208906307817,
+          -0.00010335917613701895,
+          0.001204651314765215
+        ],
+        [
+          -0.00014090604963712394,
+          -0.00010644877329468727,
+          0.0012559824390336871
+        ],
+        [
+          -0.00013775417755823582,
+          -0.00010907176329055801,
+          0.0013075758470222354
+        ],
+        [
+          -0.00013480526104103774,
+          -0.00011140151036670431,
+          0.0013597920769825578
+        ]
+      ],
+      "std": [
+        [
+          0.00020390657300595194,
+          0.0001638194953557104,
+          0.000249158387305215
+        ],
+        [
+          0.0004028159019071609,
+          0.0003172022115904838,
+          0.0004920708597637713
+        ],
+        [
+          0.0005939805996604264,
+          0.0004581803223118186,
+          0.0007265632157213986
+        ],
+        [
+          0.0007749789510853589,
+          0.0005860900273546576,
+          0.000951490190345794
+        ],
+        [
+          0.0009436437976546586,
+          0.0007007665117271245,
+          0.0011668020160868764
+        ],
+        [
+          0.0010983127867802978,
+          0.0008030402823351324,
+          0.0013729792553931475
+        ],
+        [
+          0.0012381008127704263,
+          0.0008937578531913459,
+          0.0015706702833995223
+        ],
+        [
+          0.0013628837186843157,
+          0.0009739742381498218,
+          0.0017603932647034526
+        ],
+        [
+          0.0014721476472914219,
+          0.0010451048146933317,
+          0.0019424600759521127
+        ],
+        [
+          0.0015667576808482409,
+          0.0011086370795965195,
+          0.0021171721164137125
+        ],
+        [
+          0.0016473961295560002,
+          0.0011658004950731993,
+          0.002285055350512266
+        ],
+        [
+          0.0017142612487077713,
+          0.0012176764430478215,
+          0.002446901286020875
+        ],
+        [
+          0.0017694610869511962,
+          0.0012654229067265987,
+          0.002603538567200303
+        ],
+        [
+          0.0018143454799428582,
+          0.0013099603820592165,
+          0.0027557131834328175
+        ],
+        [
+          0.001850350759923458,
+          0.0013519071508198977,
+          0.002903975313529372
+        ],
+        [
+          0.0018788191955536604,
+          0.0013915185118094087,
+          0.0030485254246741533
+        ],
+        [
+          0.0019018161110579967,
+          0.0014289082027971745,
+          0.0031893246341496706
+        ],
+        [
+          0.0019199894741177559,
+          0.0014643073081970215,
+          0.003326138947159052
+        ],
+        [
+          0.0019337005214765668,
+          0.0014974587829783559,
+          0.003458741120994091
+        ],
+        [
+          0.0019427998922765255,
+          0.0015280945226550102,
+          0.003586874809116125
+        ],
+        [
+          0.0019472161075100303,
+          0.0015559042803943157,
+          0.0037104093935340643
+        ],
+        [
+          0.0019472598796710372,
+          0.0015817404491826892,
+          0.003829330438748002
+        ],
+        [
+          0.0019430570537224412,
+          0.0016067579854279757,
+          0.00394357880577445
+        ],
+        [
+          0.0019348559435456991,
+          0.0016318239504471421,
+          0.004053072538226843
+        ],
+        [
+          0.00192307960242033,
+          0.0016572572058066726,
+          0.004157979041337967
+        ]
+      ],
+      "min": [
+        [
+          -0.0010939277708530426,
+          -0.0005655018612742424,
+          -0.0011555477976799011
+        ],
+        [
+          -0.002110946923494339,
+          -0.001087453681975603,
+          -0.0022438764572143555
+        ],
+        [
+          -0.0031243450939655304,
+          -0.001329819206148386,
+          -0.003318779170513153
+        ],
+        [
+          -0.0041374340653419495,
+          -0.0016110113356262445,
+          -0.004285991191864014
+        ],
+        [
+          -0.00511622428894043,
+          -0.0019103919621556997,
+          -0.0051183998584747314
+        ],
+        [
+          -0.006099104881286621,
+          -0.0023000254295766354,
+          -0.005844280123710632
+        ],
+        [
+          -0.007046859711408615,
+          -0.0026374063454568386,
+          -0.006490662693977356
+        ],
+        [
+          -0.00787070021033287,
+          -0.0028597177006304264,
+          -0.007217742502689362
+        ],
+        [
+          -0.008659467101097107,
+          -0.003064157906919718,
+          -0.00807642936706543
+        ],
+        [
+          -0.009346064180135727,
+          -0.0031244782730937004,
+          -0.008964724838733673
+        ],
+        [
+          -0.01001112163066864,
+          -0.0032389049883931875,
+          -0.009690605103969574
+        ],
+        [
+          -0.010555405169725418,
+          -0.003339075017720461,
+          -0.010266952216625214
+        ],
+        [
+          -0.01108849048614502,
+          -0.003360459581017494,
+          -0.010778799653053284
+        ],
+        [
+          -0.011492148041725159,
+          -0.0033680538181215525,
+          -0.011206798255443573
+        ],
+        [
+          -0.011828206479549408,
+          -0.003482602071017027,
+          -0.01157303899526596
+        ],
+        [
+          -0.012035943567752838,
+          -0.003731946926563978,
+          -0.011866338551044464
+        ],
+        [
+          -0.012152452021837234,
+          -0.003940593916922808,
+          -0.012142129242420197
+        ],
+        [
+          -0.012199204415082932,
+          -0.0040854220278561115,
+          -0.012436926364898682
+        ],
+        [
+          -0.012223545461893082,
+          -0.004056664649397135,
+          -0.012773022055625916
+        ],
+        [
+          -0.012231074273586273,
+          -0.0040763444267213345,
+          -0.013201013207435608
+        ],
+        [
+          -0.0122152678668499,
+          -0.004047587048262358,
+          -0.013494312763214111
+        ],
+        [
+          -0.01219647005200386,
+          -0.00399602809920907,
+          -0.013771139085292816
+        ],
+        [
+          -0.012195296585559845,
+          -0.004047517664730549,
+          -0.014482177793979645
+        ],
+        [
+          -0.012204468250274658,
+          -0.004320801235735416,
+          -0.015196055173873901
+        ],
+        [
+          -0.012135501950979233,
+          -0.004448208026587963,
+          -0.015813253819942474
+        ]
+      ],
+      "max": [
+        [
+          0.0008609257638454437,
+          0.0008809422142803669,
+          0.0008715987205505371
+        ],
+        [
+          0.0016880854964256287,
+          0.0017132945358753204,
+          0.0016975551843643188
+        ],
+        [
+          0.0024371854960918427,
+          0.002559483051300049,
+          0.0025197863578796387
+        ],
+        [
+          0.003174625337123871,
+          0.003208522219210863,
+          0.0033457428216934204
+        ],
+        [
+          0.0037413425743579865,
+          0.003820359008386731,
+          0.004065290093421936
+        ],
+        [
+          0.004288129508495331,
+          0.004169100429862738,
+          0.004739038646221161
+        ],
+        [
+          0.004610683768987656,
+          0.004396229051053524,
+          0.005329824984073639
+        ],
+        [
+          0.004872910678386688,
+          0.004590838216245174,
+          0.005741402506828308
+        ],
+        [
+          0.005034267902374268,
+          0.004739033058285713,
+          0.0060317665338516235
+        ],
+        [
+          0.005103234201669693,
+          0.004872345365583897,
+          0.006239317357540131
+        ],
+        [
+          0.005154136568307877,
+          0.0049561792984604836,
+          0.006369784474372864
+        ],
+        [
+          0.005144964903593063,
+          0.004959987476468086,
+          0.006358243525028229
+        ],
+        [
+          0.005146138370037079,
+          0.004947408102452755,
+          0.00631820410490036
+        ],
+        [
+          0.005164936184883118,
+          0.004873121157288551,
+          0.006288252770900726
+        ],
+        [
+          0.005180742591619492,
+          0.0049154129810631275,
+          0.006437569856643677
+        ],
+        [
+          0.0051732137799263,
+          0.004997279495000839,
+          0.006717383861541748
+        ],
+        [
+          0.00514887273311615,
+          0.005001087673008442,
+          0.006966806948184967
+        ],
+        [
+          0.005102120339870453,
+          0.00496472604572773,
+          0.007198750972747803
+        ],
+        [
+          0.0049856118857860565,
+          0.004890440031886101,
+          0.007329218089580536
+        ],
+        [
+          0.004842221736907959,
+          0.004685999825596809,
+          0.007522560656070709
+        ],
+        [
+          0.004634484648704529,
+          0.0044652619399130344,
+          0.007838793098926544
+        ],
+        [
+          0.004300232976675034,
+          0.004265366122126579,
+          0.008186042308807373
+        ],
+        [
+          0.0038965754210948944,
+          0.004459376446902752,
+          0.008481599390506744
+        ],
+        [
+          0.0036513060331344604,
+          0.004715729504823685,
+          0.008830934762954712
+        ],
+        [
+          0.0034783966839313507,
+          0.004914389923214912,
+          0.00910864770412445
+        ]
+      ]
+    },
+    "psm2_gripper": {
+      "q01": [
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2814814195036888
+        ],
+        [
+          -0.2619730046391487
+        ],
+        [
+          -0.2619730046391487
+        ],
+        [
+          -0.2619730046391487
+        ],
+        [
+          -0.2619730046391487
+        ],
+        [
+          -0.2619730046391487
+        ],
+        [
+          -0.2619730046391487
+        ],
+        [
+          -0.2619730046391487
+        ]
+      ],
+      "q02": [
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.22337719976902007
+        ],
+        [
+          -0.2169076418876648
+        ],
+        [
+          -0.2169076418876648
+        ],
+        [
+          -0.2169076418876648
+        ],
+        [
+          -0.2169076418876648
+        ],
+        [
+          -0.2169076418876648
+        ],
+        [
+          -0.2169076418876648
+        ],
+        [
+          -0.2092333322763443
+        ]
+      ],
+      "q98": [
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.2207350817322731
+        ],
+        [
+          0.20769350290298452
+        ],
+        [
+          0.19377673536539072
+        ],
+        [
+          0.19377673536539072
+        ],
+        [
+          0.19377673536539072
+        ],
+        [
+          0.18646801143884656
+        ],
+        [
+          0.182507606446743
+        ],
+        [
+          0.182507606446743
+        ],
+        [
+          0.182507606446743
+        ],
+        [
+          0.182507606446743
+        ],
+        [
+          0.182507606446743
+        ]
+      ],
+      "q99": [
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.293337670862674
+        ],
+        [
+          0.27516140788793375
+        ],
+        [
+          0.24930258452892234
+        ],
+        [
+          0.24930258452892234
+        ],
+        [
+          0.24930258452892234
+        ],
+        [
+          0.2368785358965389
+        ],
+        [
+          0.22562603339552845
+        ],
+        [
+          0.22562603339552845
+        ],
+        [
+          0.22562603339552845
+        ],
+        [
+          0.22562603339552845
+        ],
+        [
+          0.22562603339552845
+        ]
+      ],
+      "mean": [
+        [
+          -0.0011697516310960054
+        ],
+        [
+          -0.0010622506961226463
+        ],
+        [
+          -0.0009591752896085382
+        ],
+        [
+          -0.0008555791573598981
+        ],
+        [
+          -0.0007485993555746973
+        ],
+        [
+          -0.0006437018164433539
+        ],
+        [
+          -0.0005390643491409719
+        ],
+        [
+          -0.00043156385072506964
+        ],
+        [
+          -0.0003297898219898343
+        ],
+        [
+          -0.00022853641712572426
+        ],
+        [
+          -0.0001827249798225239
+        ],
+        [
+          -0.00023556406085845083
+        ],
+        [
+          2.6031095785583602e-06
+        ],
+        [
+          3.6440621897781966e-06
+        ],
+        [
+          -5.201961812417721e-07
+        ],
+        [
+          -0.0008417836506851017
+        ],
+        [
+          -0.0021507912315428257
+        ],
+        [
+          -0.0020529215689748526
+        ],
+        [
+          -0.0006244402029551566
+        ],
+        [
+          -0.0011288858950138092
+        ],
+        [
+          -0.0015784098068252206
+        ],
+        [
+          -0.0016617028741165996
+        ],
+        [
+          -0.0016809648368507624
+        ],
+        [
+          -0.0015469144564121962
+        ],
+        [
+          -0.001102596172131598
+        ]
+      ],
+      "std": [
+        [
+          0.09411846846342087
+        ],
+        [
+          0.09408659487962723
+        ],
+        [
+          0.0940573588013649
+        ],
+        [
+          0.09402891248464584
+        ],
+        [
+          0.09399744123220444
+        ],
+        [
+          0.09396723657846451
+        ],
+        [
+          0.09393705427646637
+        ],
+        [
+          0.09390471130609512
+        ],
+        [
+          0.0938747376203537
+        ],
+        [
+          0.09384552389383316
+        ],
+        [
+          0.09383934736251831
+        ],
+        [
+          0.09383049607276917
+        ],
+        [
+          0.09366913884878159
+        ],
+        [
+          0.09366905689239502
+        ],
+        [
+          0.09366898983716965
+        ],
+        [
+          0.0916459709405899
+        ],
+        [
+          0.08651341497898102
+        ],
+        [
+          0.0857808068394661
+        ],
+        [
+          0.07604838162660599
+        ],
+        [
+          0.07493389397859573
+        ],
+        [
+          0.074193075299263
+        ],
+        [
+          0.0741678848862648
+        ],
+        [
+          0.07416608184576035
+        ],
+        [
+          0.07410551607608795
+        ],
+        [
+          0.07339728623628616
+        ]
+      ],
+      "min": [
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.9049358367919922
+        ],
+        [
+          -0.4001934826374054
+        ],
+        [
+          -0.4001934826374054
+        ],
+        [
+          -0.4001934826374054
+        ],
+        [
+          -0.4001934826374054
+        ],
+        [
+          -0.4001934826374054
+        ],
+        [
+          -0.4001934826374054
+        ],
+        [
+          -0.4001934826374054
+        ]
+      ],
+      "max": [
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.6959766745567322
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ],
+        [
+          0.5025267004966736
+        ]
+      ]
+    }
+  }
+}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/relative_stats.json

@@ -0,0 +1,2430 @@
+{
+    "psm1_joints": {
+        "max": [
+            [
+                -1.2043472528457642,
+                0.4199579060077667,
+                -0.12883004546165466,
+                1.8779101371765137,
+                0.051082730293273926,
+                -0.2695673704147339
+            ],
+            [
+                -1.2041438817977905,
+                0.4200914800167084,
+                -0.12867848575115204,
+                1.8795100450515747,
+                0.04818688705563545,
+                -0.26834654808044434
+            ],
+            [
+                -1.204139232635498,
+                0.4200959801673889,
+                -0.12857012450695038,
+                1.8795100450515747,
+                0.04911355674266815,
+                -0.26834654808044434
+            ],
+            [
+                -1.2041594982147217,
+                0.42005807161331177,
+                -0.12852497398853302,
+                1.879332184791565,
+                0.05548441782593727,
+                -0.26834654808044434
+            ],
+            [
+                -1.2042433023452759,
+                0.4200228452682495,
+                -0.12852522730827332,
+                1.879332184791565,
+                0.060812778770923615,
+                -0.26834654808044434
+            ],
+            [
+                -1.2042901515960693,
+                0.42015641927719116,
+                -0.12855736911296844,
+                1.879332184791565,
+                0.06602530181407928,
+                -0.26834654808044434
+            ],
+            [
+                -1.2042882442474365,
+                0.42017993330955505,
+                -0.12859249114990234,
+                1.879332184791565,
+                0.06220278516411781,
+                -0.26841580867767334
+            ],
+            [
+                -1.204289197921753,
+                0.4201844334602356,
+                -0.12861305475234985,
+                1.879332184791565,
+                0.05316774174571037,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043112516403198,
+                0.42014652490615845,
+                -0.12862488627433777,
+                1.879332184791565,
+                0.05571608617901802,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043877840042114,
+                0.4199877083301544,
+                -0.12863607704639435,
+                1.879332184791565,
+                0.053862739354372025,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043923139572144,
+                0.41983339190483093,
+                -0.1286362111568451,
+                1.879332184791565,
+                0.051777731627225876,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043942213058472,
+                0.4199669659137726,
+                -0.1286362111568451,
+                1.8839541673660278,
+                0.046912726014852524,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043942213058472,
+                0.4199714660644531,
+                -0.1286323070526123,
+                1.8855540752410889,
+                0.042047690600156784,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043942213058472,
+                0.419933557510376,
+                -0.1286272257566452,
+                1.8855540752410889,
+                0.03984684869647026,
+                -0.26841580867767334
+            ],
+            [
+                -1.2043840885162354,
+                0.41983339190483093,
+                -0.12861916422843933,
+                1.885376214981079,
+                0.04042601212859154,
+                -0.2716553211212158
+            ],
+            [
+                -1.2042220830917358,
+                0.4196745753288269,
+                -0.12860772013664246,
+                1.885376214981079,
+                0.045175205916166306,
+                -0.2716553211212158
+            ],
+            [
+                -1.2040811777114868,
+                0.41962945461273193,
+                -0.128595232963562,
+                1.885376214981079,
+                0.041236843913793564,
+                -0.2716553211212158
+            ],
+            [
+                -1.2040765285491943,
+                0.41963130235671997,
+                -0.12858572602272034,
+                1.885376214981079,
+                0.04482771083712578,
+                -0.2717245817184448
+            ],
+            [
+                -1.2039542198181152,
+                0.4196655750274658,
+                -0.1285856068134308,
+                1.885376214981079,
+                0.041121017187833786,
+                -0.2717245817184448
+            ],
+            [
+                -1.2038235664367676,
+                0.41967007517814636,
+                -0.12858586013317108,
+                1.885376214981079,
+                0.039036016911268234,
+                -0.2717245817184448
+            ],
+            [
+                -1.2037978172302246,
+                0.4196655750274658,
+                -0.12859314680099487,
+                1.885376214981079,
+                0.03868850693106651,
+                -0.2717245817184448
+            ],
+            [
+                -1.2037959098815918,
+                0.41967007517814636,
+                -0.12860524654388428,
+                1.885376214981079,
+                0.03637182340025902,
+                -0.2717245817184448
+            ],
+            [
+                -1.2037968635559082,
+                0.4197233021259308,
+                -0.12862853705883026,
+                1.885376214981079,
+                0.038804348558187485,
+                -0.2717245817184448
+            ],
+            [
+                -1.203818917274475,
+                0.41985687613487244,
+                -0.12866300344467163,
+                1.885376214981079,
+                0.03892017528414726,
+                -0.2717245817184448
+            ],
+            [
+                -1.2040295600891113,
+                0.4199877083301544,
+                -0.1286846101284027,
+                1.885376214981079,
+                0.035445164889097214,
+                -0.2717245817184448
+            ]
+        ],
+        "min": [
+            [
+                -1.3967314958572388,
+                0.3662487268447876,
+                -0.14695867896080017,
+                0.8699823021888733,
+                -0.5306349396705627,
+                -0.8230823278427124
+            ],
+            [
+                -1.3968336582183838,
+                0.3656739592552185,
+                -0.14697273075580597,
+                0.859494149684906,
+                -0.5331832766532898,
+                -0.8280979990959167
+            ],
+            [
+                -1.3974567651748657,
+                0.3653491139411926,
+                -0.14697960019111633,
+                0.8566498160362244,
+                -0.5373532772064209,
+                -0.8369333744049072
+            ],
+            [
+                -1.3973867893218994,
+                0.36533287167549133,
+                -0.14697960019111633,
+                0.8600273132324219,
+                -0.5414074659347534,
+                -0.8413589000701904
+            ],
+            [
+                -1.3974815607070923,
+                0.3654077649116516,
+                -0.14697907865047455,
+                0.8621605634689331,
+                -0.5388591289520264,
+                -0.8411635756492615
+            ],
+            [
+                -1.3977181911468506,
+                0.36559903621673584,
+                -0.14697490632534027,
+                0.8621605634689331,
+                -0.5363107919692993,
+                -0.8403323292732239
+            ],
+            [
+                -1.3973637819290161,
+                0.3656243085861206,
+                -0.14696919918060303,
+                0.8655380606651306,
+                -0.531561553478241,
+                -0.839198887348175
+            ],
+            [
+                -1.3962980508804321,
+                0.3653680682182312,
+                -0.14696048200130463,
+                0.8637604713439941,
+                -0.5321407318115234,
+                -0.8383739590644836
+            ],
+            [
+                -1.395642638206482,
+                0.3653518259525299,
+                -0.14696112275123596,
+                0.8634048700332642,
+                -0.5344574451446533,
+                -0.8382102847099304
+            ],
+            [
+                -1.3950756788253784,
+                0.3654267191886902,
+                -0.1469612568616867,
+                0.8513169288635254,
+                -0.535268247127533,
+                -0.8380718231201172
+            ],
+            [
+                -1.395015001296997,
+                0.3651045858860016,
+                -0.14696411788463593,
+                0.8408287763595581,
+                -0.5364266037940979,
+                -0.8385494947433472
+            ],
+            [
+                -1.3943835496902466,
+                0.3648870885372162,
+                -0.14696423709392548,
+                0.8365623950958252,
+                -0.5357316136360168,
+                -0.8509877324104309
+            ],
+            [
+                -1.3943504095077515,
+                0.36478784680366516,
+                -0.14696437120437622,
+                0.8335403203964233,
+                -0.5331832766532898,
+                -0.8554132580757141
+            ],
+            [
+                -1.3942915201187134,
+                0.36477160453796387,
+                -0.14696528017520905,
+                0.8369178175926208,
+                -0.5308666229248047,
+                -0.8581449389457703
+            ],
+            [
+                -1.3944066762924194,
+                0.36484649777412415,
+                -0.14696866273880005,
+                0.8408286571502686,
+                -0.5304032564163208,
+                -0.8579496145248413
+            ],
+            [
+                -1.394760012626648,
+                0.3652336001396179,
+                -0.1469687968492508,
+                0.8436729311943054,
+                -0.5310982465744019,
+                -0.8571183681488037
+            ],
+            [
+                -1.394636631011963,
+                0.3658580183982849,
+                -0.14697036147117615,
+                0.8447394967079163,
+                -0.5310982465744019,
+                -0.8559849262237549
+            ],
+            [
+                -1.394887089729309,
+                0.366637647151947,
+                -0.14697673916816711,
+                0.8454505801200867,
+                -0.5310982465744019,
+                -0.8551599979400635
+            ],
+            [
+                -1.394742488861084,
+                0.36688128113746643,
+                -0.14697685837745667,
+                0.8454505801200867,
+                -0.5317932367324829,
+                -0.8549963235855103
+            ],
+            [
+                -1.3945465087890625,
+                0.36681631207466125,
+                -0.14697685837745667,
+                0.8454505801200867,
+                -0.5319091081619263,
+                -0.854857861995697
+            ],
+            [
+                -1.3941184282302856,
+                0.3666872978210449,
+                -0.14697115123271942,
+                0.8454505801200867,
+                -0.5319091081619263,
+                -0.8543731570243835
+            ],
+            [
+                -1.3941093683242798,
+                0.3665844202041626,
+                -0.14696374535560608,
+                0.8454505801200867,
+                -0.5319091081619263,
+                -0.8539576530456543
+            ],
+            [
+                -1.3937134742736816,
+                0.36639493703842163,
+                -0.14695826172828674,
+                0.8454505801200867,
+                -0.5304032564163208,
+                -0.8537499308586121
+            ],
+            [
+                -1.3937954902648926,
+                0.36634260416030884,
+                -0.14696373045444489,
+                0.8454505801200867,
+                -0.5299399495124817,
+                -0.8528497815132141
+            ],
+            [
+                -1.3935009241104126,
+                0.3663317561149597,
+                -0.14699938893318176,
+                0.8456283211708069,
+                -0.5282024145126343,
+                -0.8529190421104431
+            ]
+        ],
+        "q01": [
+            [
+                -1.3846961152553559,
+                0.3682722967863083,
+                -0.14693441033363341,
+                0.8925583958625793,
+                -0.5217945325374603,
+                -0.8117699456214905
+            ],
+            [
+                -1.3859561860561371,
+                0.3680592083930969,
+                -0.14693533822894098,
+                0.8925583958625793,
+                -0.5226435524225235,
+                -0.8119267243146896
+            ],
+            [
+                -1.3870146942138672,
+                0.36799725264310834,
+                -0.1469353836774826,
+                0.8925583958625793,
+                -0.5231462550163269,
+                -0.8122321981191635
+            ],
+            [
+                -1.3867104423046113,
+                0.3679691708087921,
+                -0.14693703323602678,
+                0.8925583958625793,
+                -0.5232215923070908,
+                -0.8122590696811676
+            ],
+            [
+                -1.3866526114940643,
+                0.36771986275911334,
+                -0.14693767368793487,
+                0.885054907798767,
+                -0.523841245174408,
+                -0.8168718129396438
+            ],
+            [
+                -1.3869758903980256,
+                0.3670705971121788,
+                -0.146937245875597,
+                0.8780207830667496,
+                -0.5243034535646438,
+                -0.8232536178827286
+            ],
+            [
+                -1.3868086814880372,
+                0.36678852200508116,
+                -0.14694536298513414,
+                0.8728193861246109,
+                -0.5253077405691147,
+                -0.8275419867038727
+            ],
+            [
+                -1.3865605783462525,
+                0.3668047147989273,
+                -0.14694790035486222,
+                0.8725864863395691,
+                -0.5258857607841492,
+                -0.8290130490064621
+            ],
+            [
+                -1.3858317577838897,
+                0.3669759172201157,
+                -0.14694624304771423,
+                0.8723518288135529,
+                -0.5265077704191208,
+                -0.8291595792770385
+            ],
+            [
+                -1.3854771852493286,
+                0.36684864401817324,
+                -0.14694363489747048,
+                0.8711661565303802,
+                -0.5273580080270768,
+                -0.8307630348205567
+            ],
+            [
+                -1.384722307920456,
+                0.3666618531942368,
+                -0.1469418515264988,
+                0.8709279036521912,
+                -0.5255023247003555,
+                -0.8327104061841964
+            ],
+            [
+                -1.3837928378582,
+                0.36677145153284074,
+                -0.14694288551807402,
+                0.8721083229780198,
+                -0.5255787605047226,
+                -0.8338358587026596
+            ],
+            [
+                -1.383261855840683,
+                0.3669046774506569,
+                -0.1469418439269066,
+                0.8700942981243134,
+                -0.5258880776166915,
+                -0.8341690343618393
+            ],
+            [
+                -1.3825433909893037,
+                0.36743527293205264,
+                -0.14693979948759078,
+                0.8695573604106903,
+                -0.525851017832756,
+                -0.8340222525596619
+            ],
+            [
+                -1.3816997301578522,
+                0.3674359261989594,
+                -0.1469403412938118,
+                0.8696764469146728,
+                -0.5263131666183472,
+                -0.8336518079042434
+            ],
+            [
+                -1.3815347504615785,
+                0.3673961815237999,
+                -0.14694294705986977,
+                0.8697351211309433,
+                -0.5256540775299072,
+                -0.8351692116260528
+            ],
+            [
+                -1.3820413184165954,
+                0.367308523952961,
+                -0.14694342330098153,
+                0.8699734139442444,
+                -0.5263884836435317,
+                -0.8351953893899917
+            ],
+            [
+                -1.3828749775886535,
+                0.3674366757273674,
+                -0.14694452211260794,
+                0.8707466673851013,
+                -0.5265054339170456,
+                -0.8345801681280136
+            ],
+            [
+                -1.3832707023620605,
+                0.36741610914468764,
+                -0.1469404600560665,
+                0.8712817478179932,
+                -0.5267741566896439,
+                -0.8338232600688934
+            ],
+            [
+                -1.3828897178173065,
+                0.3673254996538162,
+                -0.14693868532776833,
+                0.8713990765810012,
+                -0.526389622092247,
+                -0.8332477021217346
+            ],
+            [
+                -1.3833463442325593,
+                0.36726180374622347,
+                -0.14693769127130507,
+                0.8720443552732468,
+                -0.5263513845205307,
+                -0.8332211244106292
+            ],
+            [
+                -1.38314546585083,
+                0.3672186291217804,
+                -0.1469370722770691,
+                0.8729366552829743,
+                -0.5268957799673081,
+                -0.8331035548448562
+            ],
+            [
+                -1.382646038532257,
+                0.36713156431913374,
+                -0.14693703293800353,
+                0.872995309829712,
+                -0.5266201072931289,
+                -0.8328243345022202
+            ],
+            [
+                -1.382510356903076,
+                0.3670123153924942,
+                -0.14693863347172736,
+                0.87311263859272,
+                -0.525615839958191,
+                -0.8321691381931305
+            ],
+            [
+                -1.3825152230262756,
+                0.36692379534244535,
+                -0.14693988665938376,
+                0.8732904189825058,
+                -0.5256540775299072,
+                -0.8310996216535568
+            ]
+        ],
+        "q99": [
+            [
+                -1.2044873237609863,
+                0.4192082196474075,
+                -0.12911600947380067,
+                1.8501787185668945,
+                -0.01179072882980233,
+                -0.2899662232398987
+            ],
+            [
+                -1.2044805836677552,
+                0.4192052683234215,
+                -0.12910654187202453,
+                1.8501787185668945,
+                -0.017333377450706035,
+                -0.2899662232398987
+            ],
+            [
+                -1.2044608867168427,
+                0.41932165920734404,
+                -0.12910586208105088,
+                1.8501787185668945,
+                -0.02254590349271992,
+                -0.2900126278400421
+            ],
+            [
+                -1.204435452222824,
+                0.41950048089027403,
+                -0.12908829018473625,
+                1.8501787185668945,
+                -0.021450117174537157,
+                -0.2900126278400421
+            ],
+            [
+                -1.2043892598152162,
+                0.41952576518058776,
+                -0.12901519134640693,
+                1.8501787185668945,
+                -0.02337991209700821,
+                -0.2900126278400421
+            ],
+            [
+                -1.2044429230690001,
+                0.41949869483709334,
+                -0.12890223279595375,
+                1.8514853143692016,
+                -0.02638231851160655,
+                -0.289940764605999
+            ],
+            [
+                -1.204459935426712,
+                0.41940379977226255,
+                -0.12879217222332956,
+                1.8518977129459382,
+                -0.031247333958746293,
+                -0.2892870703339577
+            ],
+            [
+                -1.204460654258728,
+                0.41920434087514874,
+                -0.12875008463859558,
+                1.8530283057689667,
+                -0.03523318612948178,
+                -0.28900633215904237
+            ],
+            [
+                -1.204461283683777,
+                0.4193538722395897,
+                -0.12874087408185006,
+                1.8552237260341644,
+                -0.03651662627235162,
+                -0.288837271630764
+            ],
+            [
+                -1.204469497203827,
+                0.41954592198133467,
+                -0.1287410880625248,
+                1.8565214335918425,
+                -0.03456135282293052,
+                -0.28831979244947437
+            ],
+            [
+                -1.2044814789295197,
+                0.41950863420963286,
+                -0.12875346302986146,
+                1.8581799960136414,
+                -0.03267905244603878,
+                -0.28422811895608924
+            ],
+            [
+                -1.2044869470596313,
+                0.41931146681308745,
+                -0.1287676690518856,
+                1.8625245058536526,
+                -0.03413276890292858,
+                -0.2808298772573472
+            ],
+            [
+                -1.2044956409931182,
+                0.4191683828830719,
+                -0.1287823821604252,
+                1.8654114162921904,
+                -0.03295009696856265,
+                -0.27918520271778113
+            ],
+            [
+                -1.2044858872890472,
+                0.4191549700498581,
+                -0.12878944724798203,
+                1.8654114162921904,
+                -0.03612163180485485,
+                -0.2776285326480866
+            ],
+            [
+                -1.2045044589042664,
+                0.41917425990104673,
+                -0.12878962069749833,
+                1.86287651181221,
+                -0.03763326028362027,
+                -0.2791007319092751
+            ],
+            [
+                -1.204465823173523,
+                0.4192791864275932,
+                -0.1287948577105999,
+                1.86287651181221,
+                -0.03863059753552198,
+                -0.27865608304739
+            ],
+            [
+                -1.2044444572925568,
+                0.4193037948012352,
+                -0.12879232555627823,
+                1.8628178179264065,
+                -0.03938004344701866,
+                -0.27865608304739
+            ],
+            [
+                -1.2044570076465606,
+                0.4191904696822166,
+                -0.12878918170928955,
+                1.8628178179264065,
+                -0.0377120275236677,
+                -0.27865608304739
+            ],
+            [
+                -1.2044456708431244,
+                0.41916655778884887,
+                -0.1287832248210907,
+                1.8632870936393737,
+                -0.03878117704764132,
+                -0.27865608304739
+            ],
+            [
+                -1.2044520127773284,
+                0.4191420531272888,
+                -0.12877289697527886,
+                1.8638150632381438,
+                -0.040115582942963614,
+                -0.27865608304739
+            ],
+            [
+                -1.2044336950778962,
+                0.4191014984250069,
+                -0.12876075401902198,
+                1.8614455366134643,
+                -0.03924451375380282,
+                -0.27917213708162314
+            ],
+            [
+                -1.204461898803711,
+                0.41925392746925355,
+                -0.1287608164548874,
+                1.860674101114273,
+                -0.03996731519699186,
+                -0.27990968555212037
+            ],
+            [
+                -1.2044226682186128,
+                0.4193528950214386,
+                -0.12878077164292337,
+                1.8588928174972534,
+                -0.0363637251593183,
+                -0.28301904678344736
+            ],
+            [
+                -1.2044903767108917,
+                0.4191900274157524,
+                -0.12879520878195763,
+                1.8585995054244995,
+                -0.0368884540535522,
+                -0.2843056893348694
+            ],
+            [
+                -1.204460654258728,
+                0.4191692689061165,
+                -0.1288013717532158,
+                1.8571719658374786,
+                -0.038454527053982994,
+                -0.28448989301919936
+            ]
+        ],
+        "mean": [
+            [
+                -1.3062297105789185,
+                0.39103782176971436,
+                -0.13676027953624725,
+                1.217971920967102,
+                -0.2890661358833313,
+                -0.5950125455856323
+            ],
+            [
+                -1.306222677230835,
+                0.3910374939441681,
+                -0.1367599070072174,
+                1.2179940938949585,
+                -0.28909480571746826,
+                -0.5950771570205688
+            ],
+            [
+                -1.3062160015106201,
+                0.39103278517723083,
+                -0.1367592215538025,
+                1.218010425567627,
+                -0.28910842537879944,
+                -0.5951433181762695
+            ],
+            [
+                -1.3062070608139038,
+                0.39102694392204285,
+                -0.13675819337368011,
+                1.2180198431015015,
+                -0.2891290783882141,
+                -0.5951691269874573
+            ],
+            [
+                -1.3061994314193726,
+                0.3910210430622101,
+                -0.13675692677497864,
+                1.2180439233779907,
+                -0.28916454315185547,
+                -0.5951865315437317
+            ],
+            [
+                -1.3061916828155518,
+                0.3910143971443176,
+                -0.13675564527511597,
+                1.2180763483047485,
+                -0.2892022728919983,
+                -0.5952073931694031
+            ],
+            [
+                -1.3061832189559937,
+                0.39100727438926697,
+                -0.13675418496131897,
+                1.2181079387664795,
+                -0.28925418853759766,
+                -0.595228374004364
+            ],
+            [
+                -1.3061754703521729,
+                0.3909996449947357,
+                -0.13675270974636078,
+                1.2181205749511719,
+                -0.2893017530441284,
+                -0.595257580280304
+            ],
+            [
+                -1.3061691522598267,
+                0.3909917175769806,
+                -0.13675129413604736,
+                1.218127727508545,
+                -0.2893325686454773,
+                -0.5952789187431335
+            ],
+            [
+                -1.3061641454696655,
+                0.3909851908683777,
+                -0.13675014674663544,
+                1.2181421518325806,
+                -0.28936436772346497,
+                -0.5952795743942261
+            ],
+            [
+                -1.3061590194702148,
+                0.3909800946712494,
+                -0.13674940168857574,
+                1.2181668281555176,
+                -0.2893919348716736,
+                -0.5952751040458679
+            ],
+            [
+                -1.3061552047729492,
+                0.39097630977630615,
+                -0.13674892485141754,
+                1.2181737422943115,
+                -0.28941574692726135,
+                -0.5952742695808411
+            ],
+            [
+                -1.3061529397964478,
+                0.39097270369529724,
+                -0.1367485225200653,
+                1.2181791067123413,
+                -0.2894299030303955,
+                -0.5952808260917664
+            ],
+            [
+                -1.3061527013778687,
+                0.39096859097480774,
+                -0.1367485225200653,
+                1.2181743383407593,
+                -0.28943750262260437,
+                -0.5952906608581543
+            ],
+            [
+                -1.3061516284942627,
+                0.39096853137016296,
+                -0.13674835860729218,
+                1.2181185483932495,
+                -0.2894441485404968,
+                -0.5953366160392761
+            ],
+            [
+                -1.3061506748199463,
+                0.3909701704978943,
+                -0.13674813508987427,
+                1.2181117534637451,
+                -0.2894518971443176,
+                -0.5953442454338074
+            ],
+            [
+                -1.3061493635177612,
+                0.3909708857536316,
+                -0.13674776256084442,
+                1.218103289604187,
+                -0.2894640564918518,
+                -0.5953476428985596
+            ],
+            [
+                -1.3061504364013672,
+                0.3909720480442047,
+                -0.1367475390434265,
+                1.218102216720581,
+                -0.28946539759635925,
+                -0.595354437828064
+            ],
+            [
+                -1.3061487674713135,
+                0.3909723460674286,
+                -0.1367470920085907,
+                1.2180989980697632,
+                -0.28947409987449646,
+                -0.5953598022460938
+            ],
+            [
+                -1.3061479330062866,
+                0.3909720182418823,
+                -0.13674680888652802,
+                1.2180871963500977,
+                -0.2894729971885681,
+                -0.5953675508499146
+            ],
+            [
+                -1.3061473369598389,
+                0.3909711241722107,
+                -0.1367466300725937,
+                1.218040943145752,
+                -0.28947094082832336,
+                -0.5953914523124695
+            ],
+            [
+                -1.3061449527740479,
+                0.39097145199775696,
+                -0.1367463767528534,
+                1.2180122137069702,
+                -0.2894724905490875,
+                -0.5954106450080872
+            ],
+            [
+                -1.3061426877975464,
+                0.39097198843955994,
+                -0.1367463916540146,
+                1.2179771661758423,
+                -0.28947776556015015,
+                -0.595443844795227
+            ],
+            [
+                -1.306140422821045,
+                0.39097195863723755,
+                -0.13674649596214294,
+                1.2179608345031738,
+                -0.28948110342025757,
+                -0.595459520816803
+            ],
+            [
+                -1.3061394691467285,
+                0.3909722566604614,
+                -0.13674631714820862,
+                1.2179111242294312,
+                -0.2894726097583771,
+                -0.5954844355583191
+            ]
+        ],
+        "std": [
+            [
+                0.07053300738334656,
+                0.018244104459881783,
+                0.0068888296373188496,
+                0.24153950810432434,
+                0.14577125012874603,
+                0.14201442897319794
+            ],
+            [
+                0.07053763419389725,
+                0.018269740045070648,
+                0.0068903714418411255,
+                0.24167968332767487,
+                0.14593560993671417,
+                0.14223596453666687
+            ],
+            [
+                0.07054048031568527,
+                0.01828613691031933,
+                0.006891660857945681,
+                0.24180518090724945,
+                0.14607921242713928,
+                0.14240892231464386
+            ],
+            [
+                0.07054024189710617,
+                0.018296891823410988,
+                0.006892544217407703,
+                0.24190901219844818,
+                0.14619511365890503,
+                0.142574280500412
+            ],
+            [
+                0.0705382376909256,
+                0.018303580582141876,
+                0.006893159821629524,
+                0.24200215935707092,
+                0.1462579369544983,
+                0.1427190601825714
+            ],
+            [
+                0.07053416222333908,
+                0.01830645464360714,
+                0.006893767975270748,
+                0.24205251038074493,
+                0.14626362919807434,
+                0.14283762872219086
+            ],
+            [
+                0.07052793353796005,
+                0.018304580822587013,
+                0.006894327700138092,
+                0.2421022206544876,
+                0.14621876180171967,
+                0.1429332047700882
+            ],
+            [
+                0.07052112370729446,
+                0.01829911582171917,
+                0.006894691381603479,
+                0.24214963614940643,
+                0.14617235958576202,
+                0.14299243688583374
+            ],
+            [
+                0.07051657885313034,
+                0.018290892243385315,
+                0.006894753780215979,
+                0.242194265127182,
+                0.14614824950695038,
+                0.1430283933877945
+            ],
+            [
+                0.0705156922340393,
+                0.018282661214470863,
+                0.006894906982779503,
+                0.24222920835018158,
+                0.1460965871810913,
+                0.1430634707212448
+            ],
+            [
+                0.07051420211791992,
+                0.01827484369277954,
+                0.006895140279084444,
+                0.24224936962127686,
+                0.1460433304309845,
+                0.14309757947921753
+            ],
+            [
+                0.07051187753677368,
+                0.018267396837472916,
+                0.006895348429679871,
+                0.2422768622636795,
+                0.1459912210702896,
+                0.14312714338302612
+            ],
+            [
+                0.07050984352827072,
+                0.018260113894939423,
+                0.00689553190022707,
+                0.24229148030281067,
+                0.14595162868499756,
+                0.14313887059688568
+            ],
+            [
+                0.0705050528049469,
+                0.018252240493893623,
+                0.006896092556416988,
+                0.24229303002357483,
+                0.1459321677684784,
+                0.14312653243541718
+            ],
+            [
+                0.07050329446792603,
+                0.018249303102493286,
+                0.0068962471559643745,
+                0.24215131998062134,
+                0.14592450857162476,
+                0.14302118122577667
+            ],
+            [
+                0.07050088047981262,
+                0.01824912428855896,
+                0.006896294187754393,
+                0.24213501811027527,
+                0.14591142535209656,
+                0.14299455285072327
+            ],
+            [
+                0.07049624621868134,
+                0.018248530104756355,
+                0.006896242965012789,
+                0.24209053814411163,
+                0.14586728811264038,
+                0.14297251403331757
+            ],
+            [
+                0.07048965245485306,
+                0.018248075619339943,
+                0.0068962289951741695,
+                0.24207894504070282,
+                0.14583513140678406,
+                0.14294780790805817
+            ],
+            [
+                0.07048456370830536,
+                0.018247295171022415,
+                0.0068961759097874165,
+                0.24207931756973267,
+                0.1457909196615219,
+                0.14292387664318085
+            ],
+            [
+                0.07048027962446213,
+                0.018245980143547058,
+                0.006896076258271933,
+                0.24205546081066132,
+                0.14575962722301483,
+                0.14289875328540802
+            ],
+            [
+                0.07047485560178757,
+                0.01824379898607731,
+                0.006896161939948797,
+                0.24194760620594025,
+                0.1457405984401703,
+                0.1428377479314804
+            ],
+            [
+                0.0704750344157219,
+                0.018243592232465744,
+                0.006896086502820253,
+                0.24188490211963654,
+                0.1457301378250122,
+                0.1427874118089676
+            ],
+            [
+                0.07047509402036667,
+                0.018243277445435524,
+                0.00689600920304656,
+                0.241819828748703,
+                0.14574363827705383,
+                0.14271564781665802
+            ],
+            [
+                0.0704759880900383,
+                0.01824243552982807,
+                0.006895915605127811,
+                0.24178873002529144,
+                0.14573849737644196,
+                0.1426803469657898
+            ],
+            [
+                0.07047541439533234,
+                0.018242500722408295,
+                0.006895862985402346,
+                0.24166114628314972,
+                0.1457136571407318,
+                0.1426233947277069
+            ]
+        ]
+    },
+    "psm2_joints": {
+        "max": [
+            [
+                1.4965649843215942,
+                0.4094781279563904,
+                -0.196325421333313,
+                0.337919145822525,
+                0.6351171135902405,
+                0.2638256549835205
+            ],
+            [
+                1.4973180294036865,
+                0.41102927923202515,
+                -0.1961599439382553,
+                0.3574479818344116,
+                0.6383603811264038,
+                0.2726813554763794
+            ],
+            [
+                1.4976023435592651,
+                0.41153547167778015,
+                -0.19603388011455536,
+                0.3726177215576172,
+                0.6396345496177673,
+                0.2728901505470276
+            ],
+            [
+                1.497739553451538,
+                0.4117673635482788,
+                -0.19592055678367615,
+                0.3832539916038513,
+                0.639866292476654,
+                0.2671269178390503
+            ],
+            [
+                1.4978721141815186,
+                0.41189730167388916,
+                -0.1957826465368271,
+                0.3827309012413025,
+                0.6566621661186218,
+                0.2643081843852997
+            ],
+            [
+                1.49756920337677,
+                0.41153544187545776,
+                -0.1957068145275116,
+                0.3827309012413025,
+                0.6684771776199341,
+                0.2670910656452179
+            ],
+            [
+                1.4968698024749756,
+                0.4113919734954834,
+                -0.19569092988967896,
+                0.3827309012413025,
+                0.6663922071456909,
+                0.2672998607158661
+            ],
+            [
+                1.4960267543792725,
+                0.4112015962600708,
+                -0.19565853476524353,
+                0.38743874430656433,
+                0.6662763357162476,
+                0.2662242650985718
+            ],
+            [
+                1.4950751066207886,
+                0.410814493894577,
+                -0.19569523632526398,
+                0.39807501435279846,
+                0.6662763357162476,
+                0.2676222622394562
+            ],
+            [
+                1.494960904121399,
+                0.41045987606048584,
+                -0.19574153423309326,
+                0.39755192399024963,
+                0.6662763357162476,
+                0.26873087882995605
+            ],
+            [
+                1.4950097799301147,
+                0.410248726606369,
+                -0.19575117528438568,
+                0.40156230330467224,
+                0.6662763357162476,
+                0.26893967390060425
+            ],
+            [
+                1.4950040578842163,
+                0.40980565547943115,
+                -0.1959378570318222,
+                0.41219857335090637,
+                0.6662763357162476,
+                0.2611648738384247
+            ],
+            [
+                1.495173454284668,
+                0.4092588424682617,
+                -0.19603608548641205,
+                0.41167548298835754,
+                0.6662763357162476,
+                0.2489975243806839
+            ],
+            [
+                1.495160698890686,
+                0.40918034315109253,
+                -0.19613613188266754,
+                0.4125472903251648,
+                0.6662763357162476,
+                0.23493610322475433
+            ],
+            [
+                1.495253562927246,
+                0.40978944301605225,
+                -0.196235790848732,
+                0.41202419996261597,
+                0.6662763357162476,
+                0.24120861291885376
+            ],
+            [
+                1.495224118232727,
+                0.4105212390422821,
+                -0.19642142951488495,
+                0.41202419996261597,
+                0.6662763357162476,
+                0.25006431341171265
+            ],
+            [
+                1.494964599609375,
+                0.41074231266975403,
+                -0.19650952517986298,
+                0.41202419996261597,
+                0.6662763357162476,
+                0.25027310848236084
+            ],
+            [
+                1.4944262504577637,
+                0.41094261407852173,
+                -0.19658353924751282,
+                0.41202419996261597,
+                0.6662763357162476,
+                0.2539738714694977
+            ],
+            [
+                1.4941914081573486,
+                0.4109290838241577,
+                -0.19662296772003174,
+                0.41184985637664795,
+                0.6626855134963989,
+                0.2541826665401459
+            ],
+            [
+                1.4942734241485596,
+                0.4107702672481537,
+                -0.19662699103355408,
+                0.41184985637664795,
+                0.6568938493728638,
+                0.2526916265487671
+            ],
+            [
+                1.4941186904907227,
+                0.41017383337020874,
+                -0.19665339589118958,
+                0.41184985637664795,
+                0.6473954319953918,
+                0.2438352406024933
+            ],
+            [
+                1.4946331977844238,
+                0.4094294011592865,
+                -0.19677232205867767,
+                0.41184985637664795,
+                0.6366229057312012,
+                0.24077744781970978
+            ],
+            [
+                1.4949856996536255,
+                0.4091956913471222,
+                -0.19684281945228577,
+                0.41184985637664795,
+                0.6366229057312012,
+                0.24098624289035797
+            ],
+            [
+                1.4954413175582886,
+                0.40932562947273254,
+                -0.19684608280658722,
+                0.41167545318603516,
+                0.6366229057312012,
+                0.23747436702251434
+            ],
+            [
+                1.4958139657974243,
+                0.4094420373439789,
+                -0.19687965512275696,
+                0.41167545318603516,
+                0.6366229057312012,
+                0.23640058934688568
+            ]
+        ],
+        "min": [
+            [
+                1.3237805366516113,
+                0.33865153789520264,
+                -0.22423134744167328,
+                -1.3729490041732788,
+                -0.26143699884414673,
+                -0.6399438977241516
+            ],
+            [
+                1.3236010074615479,
+                0.3382229208946228,
+                -0.22423681616783142,
+                -1.4353716373443604,
+                -0.26213201880455017,
+                -0.6971470713615417
+            ],
+            [
+                1.3235927820205688,
+                0.33797746896743774,
+                -0.22423940896987915,
+                -1.4263046979904175,
+                -0.2632903456687927,
+                -0.6722411513328552
+            ],
+            [
+                1.3235927820205688,
+                0.33797386288642883,
+                -0.22423940896987915,
+                -1.3991038799285889,
+                -0.2844879627227783,
+                -0.5962797999382019
+            ],
+            [
+                1.3235762119293213,
+                0.3381741940975189,
+                -0.2242395430803299,
+                -1.3502815961837769,
+                -0.30232638120651245,
+                -0.5494955778121948
+            ],
+            [
+                1.3235247135162354,
+                0.33817058801651,
+                -0.2242395430803299,
+                -1.3495841026306152,
+                -0.3146047592163086,
+                -0.5683947801589966
+            ],
+            [
+                1.3235173225402832,
+                0.33853694796562195,
+                -0.22424006462097168,
+                -1.3485379219055176,
+                -0.3194698095321655,
+                -0.566716194152832
+            ],
+            [
+                1.3235872983932495,
+                0.33904585242271423,
+                -0.22424006462097168,
+                -1.3476661443710327,
+                -0.3254931569099426,
+                -0.5542179346084595
+            ],
+            [
+                1.3240060806274414,
+                0.33934906125068665,
+                -0.22436054050922394,
+                -1.3462711572647095,
+                -0.3319798707962036,
+                -0.5729285478591919
+            ],
+            [
+                1.324188232421875,
+                0.3393806219100952,
+                -0.22450311481952667,
+                -1.3385992050170898,
+                -0.3398565649986267,
+                -0.5655804872512817
+            ],
+            [
+                1.3241901397705078,
+                0.33942121267318726,
+                -0.22452640533447266,
+                -1.3581279516220093,
+                -0.34101489186286926,
+                -0.5505710244178772
+            ],
+            [
+                1.3241938352584839,
+                0.3397217094898224,
+                -0.22452250123023987,
+                -1.3619639873504639,
+                -0.3412465453147888,
+                -0.5434812307357788
+            ],
+            [
+                1.3242104053497314,
+                0.3393210768699646,
+                -0.22450494766235352,
+                -1.3563843965530396,
+                -0.34333157539367676,
+                -0.5702056288719177
+            ],
+            [
+                1.3242360353469849,
+                0.3381795883178711,
+                -0.2245025932788849,
+                -1.3518508672714233,
+                -0.3444899022579193,
+                -0.5869143009185791
+            ],
+            [
+                1.323808193206787,
+                0.33763548731803894,
+                -0.22450338304042816,
+                -1.3534201383590698,
+                -0.3398565649986267,
+                -0.5915436148643494
+            ],
+            [
+                1.3236286640167236,
+                0.3372068703174591,
+                -0.2245035022497177,
+                -1.3675436973571777,
+                -0.3164581060409546,
+                -0.5983597040176392
+            ],
+            [
+                1.3236204385757446,
+                0.3372032642364502,
+                -0.22449153661727905,
+                -1.3677181005477905,
+                -0.28471964597702026,
+                -0.5938407182693481
+            ],
+            [
+                1.3236204385757446,
+                0.3369009792804718,
+                -0.2244739830493927,
+                -1.3680667877197266,
+                -0.2569195032119751,
+                -0.5776910781860352
+            ],
+            [
+                1.323603868484497,
+                0.3368973731994629,
+                -0.22443963587284088,
+                -1.3685898780822754,
+                -0.2596995234489441,
+                -0.5721544027328491
+            ],
+            [
+                1.3235523700714111,
+                0.33720776438713074,
+                -0.22434726357460022,
+                -1.38846755027771,
+                -0.2683870792388916,
+                -0.5717087984085083
+            ],
+            [
+                1.323544979095459,
+                0.3375741243362427,
+                -0.22427493333816528,
+                -1.3923035860061646,
+                -0.2697770595550537,
+                -0.5702922940254211
+            ],
+            [
+                1.3236149549484253,
+                0.33808302879333496,
+                -0.22426296770572662,
+                -1.383759617805481,
+                -0.26769202947616577,
+                -0.5675346255302429
+            ],
+            [
+                1.323766827583313,
+                0.3386082053184509,
+                -0.22433075308799744,
+                -1.372077226638794,
+                -0.2674604058265686,
+                -0.5732076168060303
+            ],
+            [
+                1.32399320602417,
+                0.3393517732620239,
+                -0.22433622181415558,
+                -1.3705079555511475,
+                -0.2651437222957611,
+                -0.5743659734725952
+            ],
+            [
+                1.324048399925232,
+                0.33977675437927246,
+                -0.22433622181415558,
+                -1.374343991279602,
+                -0.2615528702735901,
+                -0.5707627534866333
+            ]
+        ],
+        "q01": [
+            [
+                1.3242600882053375,
+                0.34092351406812665,
+                -0.2241660761833191,
+                -1.2979215443134309,
+                -0.24987101584672927,
+                -0.36709826737642287
+            ],
+            [
+                1.324250248670578,
+                0.340803294479847,
+                -0.2241663394868374,
+                -1.3138898420333862,
+                -0.25097606658935545,
+                -0.37813120931386945
+            ],
+            [
+                1.3242192387580871,
+                0.3405476772785187,
+                -0.22416948184370994,
+                -1.311417407989502,
+                -0.25453566074371337,
+                -0.3797416239976883
+            ],
+            [
+                1.3242410695552826,
+                0.3405150631070137,
+                -0.2241760851442814,
+                -1.3112430047988892,
+                -0.25927788943052293,
+                -0.38291131556034086
+            ],
+            [
+                1.3242640101909637,
+                0.340498049557209,
+                -0.22418637081980705,
+                -1.3162909066677093,
+                -0.26166868209838867,
+                -0.38153252243995667
+            ],
+            [
+                1.3242670357227326,
+                0.3400647377967834,
+                -0.22419784367084503,
+                -1.3146657860279083,
+                -0.26692176192998884,
+                -0.3710565978288651
+            ],
+            [
+                1.3242695331573486,
+                0.3399864473938942,
+                -0.22419930040836333,
+                -1.3105908989906312,
+                -0.2688538610935211,
+                -0.3742132031917572
+            ],
+            [
+                1.3242774772644044,
+                0.33992659389972685,
+                -0.22421082869172096,
+                -1.3137364554405213,
+                -0.2721122765541077,
+                -0.3688837683200836
+            ],
+            [
+                1.3243062031269073,
+                0.3400434237718582,
+                -0.22421512126922608,
+                -1.3178096389770508,
+                -0.27366560280323027,
+                -0.36192979633808137
+            ],
+            [
+                1.324327449798584,
+                0.34026297211647033,
+                -0.22421808674931526,
+                -1.3280274426937104,
+                -0.269917223751545,
+                -0.3572289156913757
+            ],
+            [
+                1.324321938753128,
+                0.340722963809967,
+                -0.22423129066824912,
+                -1.3326706886291504,
+                -0.2567249016463757,
+                -0.363963697552681
+            ],
+            [
+                1.3243164706230164,
+                0.340569923222065,
+                -0.22423459023237227,
+                -1.3361720657348632,
+                -0.2501849365234375,
+                -0.3636694112420082
+            ],
+            [
+                1.32429012298584,
+                0.3402342182397842,
+                -0.22423912048339845,
+                -1.3356471526622773,
+                -0.2449306981265545,
+                -0.3627546814084053
+            ],
+            [
+                1.324270168542862,
+                0.3404047253727913,
+                -0.22425252571702003,
+                -1.3366811275482178,
+                -0.24506855085492135,
+                -0.36258396089076994
+            ],
+            [
+                1.3242582511901855,
+                0.3401272451877594,
+                -0.22427959769964217,
+                -1.3358092308044434,
+                -0.24781381338834763,
+                -0.36198526740074155
+            ],
+            [
+                1.3242508780956268,
+                0.3402229434251785,
+                -0.2242913503944874,
+                -1.3324422991275788,
+                -0.2500493980944157,
+                -0.36599707692861555
+            ],
+            [
+                1.3242109060287475,
+                0.34009881496429445,
+                -0.2242760992050171,
+                -1.3320900845527648,
+                -0.25182744264602663,
+                -0.36768260031938554
+            ],
+            [
+                1.3242147266864777,
+                0.33979052513837815,
+                -0.22426904931664468,
+                -1.3309357726573945,
+                -0.25152860045433045,
+                -0.36873938143253326
+            ],
+            [
+                1.3242058837413788,
+                0.33963108658790586,
+                -0.22426045134663583,
+                -1.3331379294395447,
+                -0.2502057692408562,
+                -0.36867972284555434
+            ],
+            [
+                1.3241707158088685,
+                0.3396094036102295,
+                -0.22426040083169937,
+                -1.3331973457336426,
+                -0.25273907512426375,
+                -0.3667284086346626
+            ],
+            [
+                1.3241305077075958,
+                0.3395212435722351,
+                -0.22424485683441162,
+                -1.332968876361847,
+                -0.24964513421058654,
+                -0.3612845921516418
+            ],
+            [
+                1.3241277933120728,
+                0.3395875120162964,
+                -0.22423539325594902,
+                -1.3341841101646423,
+                -0.24754275396466255,
+                -0.3597623872756958
+            ],
+            [
+                1.3241166913509368,
+                0.33966801285743714,
+                -0.2242273949086666,
+                -1.339652280807495,
+                -0.24290592178702355,
+                -0.3584700909256935
+            ],
+            [
+                1.3241434824466705,
+                0.339924701154232,
+                -0.22420476913452148,
+                -1.340286990404129,
+                -0.24410480305552482,
+                -0.35823360592126846
+            ],
+            [
+                1.3241802728176117,
+                0.34024172186851503,
+                -0.22420137599110604,
+                -1.3433191442489625,
+                -0.24495386749505996,
+                -0.35989195227622983
+            ]
+        ],
+        "q99": [
+            [
+                1.4941060602664948,
+                0.4074388056993484,
+                -0.19890804767608647,
+                0.32670224219560623,
+                0.6308369535207747,
+                0.18473759829997927
+            ],
+            [
+                1.494502739906311,
+                0.407934328019619,
+                -0.1988867145776749,
+                0.32670224219560623,
+                0.631140518784523,
+                0.18912800908088626
+            ],
+            [
+                1.49503063082695,
+                0.4087428405880928,
+                -0.19887712135910993,
+                0.32670224219560623,
+                0.6316072809696197,
+                0.1983383767306795
+            ],
+            [
+                1.4953608679771424,
+                0.40880672961473463,
+                -0.19891698971390728,
+                0.32658541202545166,
+                0.6321077269315719,
+                0.20604228526353727
+            ],
+            [
+                1.4949932825565337,
+                0.4087200951576233,
+                -0.1989511908590794,
+                0.32658541202545166,
+                0.6345448654890059,
+                0.20999638080596844
+            ],
+            [
+                1.4950465333461762,
+                0.40876232624053954,
+                -0.19901925534009937,
+                0.3338843327760692,
+                0.6357367867231368,
+                0.2245520125329489
+            ],
+            [
+                1.495129051208496,
+                0.40891162902116773,
+                -0.1991767475008965,
+                0.3439852771162984,
+                0.6359302121400833,
+                0.2214096763730047
+            ],
+            [
+                1.4947702443599702,
+                0.40910125374794004,
+                -0.199275575876236,
+                0.34704887926578515,
+                0.6370132321119308,
+                0.21553162842988924
+            ],
+            [
+                1.4942572283744813,
+                0.4092449080944061,
+                -0.19937549442052846,
+                0.34902791768312447,
+                0.6370132321119308,
+                0.21746116712689362
+            ],
+            [
+                1.4936395120620727,
+                0.4090666761994362,
+                -0.1995035266876221,
+                0.35760316222906063,
+                0.6370132321119308,
+                0.21557810574769878
+            ],
+            [
+                1.4935217785835266,
+                0.40880576610565184,
+                -0.19965697616338735,
+                0.36543040722608544,
+                0.6370132321119308,
+                0.21577580749988476
+            ],
+            [
+                1.4934273636341096,
+                0.4085692179203033,
+                -0.19974042490124708,
+                0.37720006316900195,
+                0.6370132321119308,
+                0.2150375837087623
+            ],
+            [
+                1.4933693099021912,
+                0.4085197272896766,
+                -0.1998030257225037,
+                0.3771425199508661,
+                0.6370132321119308,
+                0.21630863338708786
+            ],
+            [
+                1.4937927114963532,
+                0.40834415942430496,
+                -0.19983077049255374,
+                0.3822670876979828,
+                0.6370132321119308,
+                0.21777041628956706
+            ],
+            [
+                1.493878458738327,
+                0.4083015954494476,
+                -0.19984217971563342,
+                0.3862373703718183,
+                0.6360576272010802,
+                0.21061205044388734
+            ],
+            [
+                1.4938708448410034,
+                0.4081118407845497,
+                -0.1998991166055203,
+                0.39172812879085483,
+                0.6338093209266662,
+                0.20182854428887337
+            ],
+            [
+                1.4937530601024627,
+                0.40792582064867017,
+                -0.20000206127762798,
+                0.3915555089712137,
+                0.6347742122411727,
+                0.19836864307522717
+            ],
+            [
+                1.493830029964447,
+                0.4079853913187981,
+                -0.20005037143826487,
+                0.3915555089712137,
+                0.6350024205446243,
+                0.19250961855053883
+            ],
+            [
+                1.4936975049972534,
+                0.408474445939064,
+                -0.20006363674998287,
+                0.3948353347182272,
+                0.6350417965650558,
+                0.19125264674425121
+            ],
+            [
+                1.4934346997737884,
+                0.40874641776084897,
+                -0.20009235069155698,
+                0.3945458847284315,
+                0.6334189546108245,
+                0.20125881537795004
+            ],
+            [
+                1.4934297466278077,
+                0.40867239236831665,
+                -0.2001328027248383,
+                0.39685793757438653,
+                0.6330355185270309,
+                0.19993978649377747
+            ],
+            [
+                1.4937500965595245,
+                0.4084401369094849,
+                -0.20022372245788578,
+                0.3945458847284315,
+                0.6323000138998032,
+                0.20236496359109782
+            ],
+            [
+                1.4937707591056824,
+                0.4084197616577148,
+                -0.20033943921327596,
+                0.39598437666893005,
+                0.6323382318019867,
+                0.20238026559352798
+            ],
+            [
+                1.493919051885605,
+                0.40823536247014997,
+                -0.2004539124667645,
+                0.3958117568492889,
+                0.6323382318019867,
+                0.19595444381236982
+            ],
+            [
+                1.4942892789840698,
+                0.40799679785966875,
+                -0.20048405244946482,
+                0.3937874004244803,
+                0.6322605979442596,
+                0.19142342403531012
+            ]
+        ],
+        "mean": [
+            [
+                1.4057378768920898,
+                0.36859455704689026,
+                -0.21755415201187134,
+                -0.4212581515312195,
+                0.3017466366291046,
+                -0.15191973745822906
+            ],
+            [
+                1.4057388305664062,
+                0.3685946464538574,
+                -0.2175547480583191,
+                -0.4212414026260376,
+                0.3017418384552002,
+                -0.15191668272018433
+            ],
+            [
+                1.4057416915893555,
+                0.36859482526779175,
+                -0.21755574643611908,
+                -0.4212108254432678,
+                0.3017459809780121,
+                -0.1518951803445816
+            ],
+            [
+                1.405745029449463,
+                0.3685944378376007,
+                -0.217556893825531,
+                -0.42116835713386536,
+                0.30175265669822693,
+                -0.15187783539295197
+            ],
+            [
+                1.4057480096817017,
+                0.3685941994190216,
+                -0.21755842864513397,
+                -0.4211307168006897,
+                0.3017618656158447,
+                -0.15185928344726562
+            ],
+            [
+                1.4057530164718628,
+                0.36859390139579773,
+                -0.21755996346473694,
+                -0.421099454164505,
+                0.30177217721939087,
+                -0.15184177458286285
+            ],
+            [
+                1.4057576656341553,
+                0.3685941994190216,
+                -0.21756164729595184,
+                -0.4210743010044098,
+                0.3017764389514923,
+                -0.15181662142276764
+            ],
+            [
+                1.4057615995407104,
+                0.36859405040740967,
+                -0.2175634801387787,
+                -0.4210422933101654,
+                0.30179399251937866,
+                -0.1517847329378128
+            ],
+            [
+                1.4057670831680298,
+                0.36859390139579773,
+                -0.2175654172897339,
+                -0.4209965765476227,
+                0.3018084168434143,
+                -0.15174919366836548
+            ],
+            [
+                1.4057722091674805,
+                0.3685930669307709,
+                -0.21756727993488312,
+                -0.4209427833557129,
+                0.3018251955509186,
+                -0.15171173214912415
+            ],
+            [
+                1.4057769775390625,
+                0.3685925602912903,
+                -0.21756890416145325,
+                -0.4208974838256836,
+                0.3018573522567749,
+                -0.15168292820453644
+            ],
+            [
+                1.4057811498641968,
+                0.3685918152332306,
+                -0.2175704836845398,
+                -0.420846164226532,
+                0.3019084334373474,
+                -0.15165743231773376
+            ],
+            [
+                1.4057860374450684,
+                0.3685899078845978,
+                -0.2175718992948532,
+                -0.42073288559913635,
+                0.3019554316997528,
+                -0.15165305137634277
+            ],
+            [
+                1.4057893753051758,
+                0.36859071254730225,
+                -0.2175731211900711,
+                -0.4207246005535126,
+                0.30193525552749634,
+                -0.15162591636180878
+            ],
+            [
+                1.405792474746704,
+                0.36859527230262756,
+                -0.21757405996322632,
+                -0.42079392075538635,
+                0.30184972286224365,
+                -0.151628315448761
+            ],
+            [
+                1.4057941436767578,
+                0.3686016798019409,
+                -0.21757479012012482,
+                -0.4210517704486847,
+                0.3017272651195526,
+                -0.15169449150562286
+            ],
+            [
+                1.4057947397232056,
+                0.3686078190803528,
+                -0.2175753116607666,
+                -0.42126718163490295,
+                0.3016493320465088,
+                -0.1517391949892044
+            ],
+            [
+                1.405795693397522,
+                0.36861127614974976,
+                -0.21757575869560242,
+                -0.42147207260131836,
+                0.3015349209308624,
+                -0.1517741084098816
+            ],
+            [
+                1.4057949781417847,
+                0.36861667037010193,
+                -0.21757587790489197,
+                -0.42155560851097107,
+                0.3013957440853119,
+                -0.1518419235944748
+            ],
+            [
+                1.4057945013046265,
+                0.3686220645904541,
+                -0.21757593750953674,
+                -0.42170023918151855,
+                0.3012671172618866,
+                -0.15184716880321503
+            ],
+            [
+                1.4057952165603638,
+                0.36862683296203613,
+                -0.21757623553276062,
+                -0.421830952167511,
+                0.30115488171577454,
+                -0.15186628699302673
+            ],
+            [
+                1.4057949781417847,
+                0.36863189935684204,
+                -0.2175760567188263,
+                -0.42202451825141907,
+                0.3010655641555786,
+                -0.15193668007850647
+            ],
+            [
+                1.4057949781417847,
+                0.3686354160308838,
+                -0.2175758332014084,
+                -0.42211979627609253,
+                0.30101916193962097,
+                -0.1520354449748993
+            ],
+            [
+                1.4057966470718384,
+                0.3686375021934509,
+                -0.2175752818584442,
+                -0.4222620129585266,
+                0.30101099610328674,
+                -0.1521017998456955
+            ],
+            [
+                1.4058020114898682,
+                0.36863869428634644,
+                -0.21757492423057556,
+                -0.4224182665348053,
+                0.3009914457798004,
+                -0.15217222273349762
+            ]
+        ],
+        "std": [
+            [
+                0.04324464499950409,
+                0.015607260167598724,
+                0.006120613776147366,
+                0.6143345832824707,
+                0.20676885545253754,
+                0.12349622696638107
+            ],
+            [
+                0.04328051209449768,
+                0.01567237451672554,
+                0.006126599386334419,
+                0.6152071952819824,
+                0.2076655924320221,
+                0.12474621087312698
+            ],
+            [
+                0.04331306740641594,
+                0.015726476907730103,
+                0.006130807101726532,
+                0.6159412860870361,
+                0.20824730396270752,
+                0.1251702755689621
+            ],
+            [
+                0.04334162548184395,
+                0.015768831595778465,
+                0.006133382674306631,
+                0.6165558695793152,
+                0.20859314501285553,
+                0.12515570223331451
+            ],
+            [
+                0.04336502030491829,
+                0.01580067351460457,
+                0.006134271156042814,
+                0.6171057820320129,
+                0.2088039517402649,
+                0.12517382204532623
+            ],
+            [
+                0.04338328540325165,
+                0.015823835507035255,
+                0.00613329466432333,
+                0.6176182627677917,
+                0.2089492231607437,
+                0.12537704408168793
+            ],
+            [
+                0.04339760169386864,
+                0.015839403495192528,
+                0.006130974739789963,
+                0.6181222200393677,
+                0.20909903943538666,
+                0.12566161155700684
+            ],
+            [
+                0.04341013729572296,
+                0.015847936272621155,
+                0.006127829197794199,
+                0.6186143159866333,
+                0.209249809384346,
+                0.12586921453475952
+            ],
+            [
+                0.043422628194093704,
+                0.015851406380534172,
+                0.0061239455826580524,
+                0.6190797090530396,
+                0.2094581127166748,
+                0.12599201500415802
+            ],
+            [
+                0.04343516379594803,
+                0.015851378440856934,
+                0.006119826342910528,
+                0.6195056438446045,
+                0.20968887209892273,
+                0.1260395646095276
+            ],
+            [
+                0.0434480682015419,
+                0.01584986411035061,
+                0.006115513388067484,
+                0.6198912858963013,
+                0.2098812460899353,
+                0.12606647610664368
+            ],
+            [
+                0.04346150532364845,
+                0.015848254784941673,
+                0.00611084932461381,
+                0.620220422744751,
+                0.21000178158283234,
+                0.12615548074245453
+            ],
+            [
+                0.043474722653627396,
+                0.01584700308740139,
+                0.006107197608798742,
+                0.6204971671104431,
+                0.21006473898887634,
+                0.12632928788661957
+            ],
+            [
+                0.04348728060722351,
+                0.01584636978805065,
+                0.006104074884206057,
+                0.6207863688468933,
+                0.21008917689323425,
+                0.12658461928367615
+            ],
+            [
+                0.04349640756845474,
+                0.015844466164708138,
+                0.006101423874497414,
+                0.6210742592811584,
+                0.20998458564281464,
+                0.1267661154270172
+            ],
+            [
+                0.043502286076545715,
+                0.01584196276962757,
+                0.006099396385252476,
+                0.6213483214378357,
+                0.20992887020111084,
+                0.1267518848180771
+            ],
+            [
+                0.04350787028670311,
+                0.015838662162423134,
+                0.006098486948758364,
+                0.6215487718582153,
+                0.2098725587129593,
+                0.12670156359672546
+            ],
+            [
+                0.04351136460900307,
+                0.015835430473089218,
+                0.006097954232245684,
+                0.621795117855072,
+                0.20976831018924713,
+                0.12661384046077728
+            ],
+            [
+                0.04351627826690674,
+                0.015830812975764275,
+                0.006097570527344942,
+                0.6221001148223877,
+                0.20966166257858276,
+                0.12641304731369019
+            ],
+            [
+                0.04352111741900444,
+                0.01582554541528225,
+                0.006097251549363136,
+                0.6223238706588745,
+                0.20959654450416565,
+                0.12628760933876038
+            ],
+            [
+                0.04352530092000961,
+                0.015819799154996872,
+                0.006097076460719109,
+                0.6225040555000305,
+                0.2095126509666443,
+                0.12617656588554382
+            ],
+            [
+                0.04353063181042671,
+                0.015817562118172646,
+                0.006096556782722473,
+                0.6225273609161377,
+                0.20938514173030853,
+                0.12602844834327698
+            ],
+            [
+                0.04353978857398033,
+                0.015816407278180122,
+                0.006096766330301762,
+                0.6226312518119812,
+                0.2092571258544922,
+                0.12587155401706696
+            ],
+            [
+                0.043551646173000336,
+                0.015814924612641335,
+                0.006097409874200821,
+                0.6226336359977722,
+                0.20915980637073517,
+                0.12572859227657318
+            ],
+            [
+                0.0435616709291935,
+                0.015811720862984657,
+                0.006098148878663778,
+                0.6225215196609497,
+                0.20907002687454224,
+                0.12550441920757294
+            ]
+        ]
+    }
+}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/stats.json

@@ -0,0 +1,368 @@
+{
+    "observation.state": {
+        "mean": [
+            0.06408688426017761,
+            -0.814116895198822,
+            0.045394353568553925,
+            -0.08731750398874283,
+            0.036083802580833435,
+            0.9801622033119202,
+            0.33114632964134216,
+            0.9781429171562195,
+            0.04523802548646927,
+            0.002849305048584938,
+            0.20295728743076324,
+            1.302623987197876,
+            -0.3922727704048157,
+            0.13715161383152008,
+            -1.2244914770126343,
+            0.29731109738349915,
+            0.5911634564399719,
+            -0.3253031075000763,
+            -0.0015219597844406962,
+            0.007500011939555407,
+            0.05143904685974121,
+            0.5554568767547607,
+            -0.04430486261844635,
+            0.8070905804634094,
+            -0.15436717867851257,
+            -1.401637077331543,
+            -0.3693362772464752,
+            0.21798886358737946,
+            0.3678538203239441,
+            -0.319902628660202,
+            0.15213052928447723,
+            -0.10558871924877167,
+            -0.05820383131504059,
+            -0.0039520482532680035,
+            0.07372117042541504,
+            0.17778827250003815,
+            -0.31343767046928406,
+            -0.423567533493042,
+            0.7618743777275085
+        ],
+        "std": [
+            2.086162567138672e-07,
+            2.6226043701171875e-06,
+            2.1979212760925293e-07,
+            1.7136335372924805e-07,
+            4.842877388000488e-08,
+            3.039836883544922e-06,
+            7.450580596923828e-07,
+            5.185604095458984e-06,
+            1.9371509552001953e-07,
+            2.0256265997886658e-08,
+            7.152557373046875e-07,
+            0.07029265910387039,
+            0.018129052594304085,
+            0.006901879794895649,
+            0.2309025675058365,
+            0.14095032215118408,
+            0.1399955302476883,
+            0.016997838392853737,
+            0.001800366910174489,
+            0.0008668983937241137,
+            0.010342562571167946,
+            0.025908567011356354,
+            0.08677039295434952,
+            0.030696658417582512,
+            0.07167128473520279,
+            0.04432011395692825,
+            0.015820151194930077,
+            0.005948235746473074,
+            0.6128035187721252,
+            0.2072509229183197,
+            0.11756161600351334,
+            0.3622952401638031,
+            0.0025568229611963034,
+            0.002207391429692507,
+            0.01000576838850975,
+            0.22347493469715118,
+            0.11842647939920425,
+            0.18732719123363495,
+            0.1059713065624237
+        ],
+        "min": [
+            0.0640866756439209,
+            -0.8141142725944519,
+            0.045394133776426315,
+            -0.0873173326253891,
+            0.036083851009607315,
+            0.9801591634750366,
+            0.33114707469940186,
+            0.978137731552124,
+            0.04523783177137375,
+            0.00284928479231894,
+            0.20295800268650055,
+            1.204450249671936,
+            -0.41967007517814636,
+            0.12905733287334442,
+            -1.8503565788269043,
+            -0.03938351199030876,
+            0.2899433672428131,
+            -0.34369558095932007,
+            -0.0038257138803601265,
+            0.005400363821536303,
+            0.04036877304315567,
+            0.481783926486969,
+            -0.18746232986450195,
+            0.7484643459320068,
+            -0.2900097668170929,
+            -1.4947952032089233,
+            -0.40785661339759827,
+            0.19662517309188843,
+            -0.3272828757762909,
+            -0.6449629664421082,
+            -0.23215016722679138,
+            -0.3511732518672943,
+            -0.06241622567176819,
+            -0.009031547233462334,
+            0.05006733536720276,
+            -0.21193473041057587,
+            -0.6271971464157104,
+            -0.6154943108558655,
+            0.6110979914665222
+        ],
+        "max": [
+            0.0640866756439209,
+            -0.8141142725944519,
+            0.045394133776426315,
+            -0.0873173326253891,
+            0.036083851009607315,
+            0.9801591634750366,
+            0.33114707469940186,
+            0.978137731552124,
+            0.04523783177137375,
+            0.00284928479231894,
+            0.20295800268650055,
+            1.3934613466262817,
+            -0.36744073033332825,
+            0.1471175104379654,
+            -0.880648136138916,
+            0.5265807509422302,
+            0.8150696158409119,
+            -0.05774418264627457,
+            0.006205495446920395,
+            0.009167145006358624,
+            0.06639814376831055,
+            0.5909321904182434,
+            0.1177639439702034,
+            0.8629489541053772,
+            0.051838114857673645,
+            -1.3241901397705078,
+            -0.3393806219100952,
+            0.22416655719280243,
+            1.3070391416549683,
+            0.25900450348854065,
+            0.5714367628097534,
+            1.0681980848312378,
+            -0.04573554918169975,
+            -0.0016130800358951092,
+            0.089358851313591,
+            0.5047576427459717,
+            -0.15216754376888275,
+            -0.11135058104991913,
+            0.9377469420433044
+        ],
+        "q01": [
+            0.0640866756439209,
+            -0.8141142725944519,
+            0.045394133776426315,
+            -0.0873173326253891,
+            0.036083851009607315,
+            0.9801591634750366,
+            0.33114707469940186,
+            0.978137731552124,
+            0.04523783177137375,
+            0.00284928479231894,
+            0.20295800268650055,
+            1.2047099471092224,
+            -0.4191239270567894,
+            0.12911819353699683,
+            -1.8501787185668945,
+            0.04995914513245226,
+            0.2900126278400421,
+            -0.3418954014778137,
+            -0.003794196050148457,
+            0.005401065107434988,
+            0.040732684545218945,
+            0.4886679947376251,
+            -0.18570258274674414,
+            0.7505149328708649,
+            -0.24655718103051186,
+            -1.49351536154747,
+            -0.40658284425735475,
+            0.20027246028184892,
+            -0.32658541202545166,
+            -0.6448470950126648,
+            -0.18343886867165565,
+            -0.35034239292144775,
+            -0.062292257212102416,
+            -0.008952612662687898,
+            0.050673842653632166,
+            -0.18562788769602775,
+            -0.6258719325065613,
+            -0.6144304347038269,
+            0.6111643314361572
+        ],
+        "q99": [
+            0.0640866756439209,
+            -0.8141142725944519,
+            0.045394133776426315,
+            -0.0873173326253891,
+            0.036083851009607315,
+            0.9801591634750366,
+            0.33114707469940186,
+            0.978137731552124,
+            0.04523783177137375,
+            0.00284928479231894,
+            0.20295800268650055,
+            1.382760124206543,
+            -0.3683340549468994,
+            0.14706287696957587,
+            -0.892423290014267,
+            0.5203477245569229,
+            0.8118088465929031,
+            -0.31888220697641456,
+            0.002215254674665578,
+            0.008991643460467458,
+            0.06633727326989174,
+            0.5882440149784088,
+            0.11771787747740746,
+            0.8629409074783325,
+            0.051772285252809525,
+            -1.3242722618579865,
+            -0.3409374651312828,
+            0.2241659164428711,
+            1.2839880299568174,
+            0.24260475292801845,
+            0.3596383929252622,
+            0.9438334751129149,
+            -0.04989468563348061,
+            -0.001713439369341359,
+            0.08930601209402084,
+            0.5047088861465454,
+            -0.15270993769168853,
+            -0.11356409318745139,
+            0.9371579921245575
+        ]
+    },
+    "action": {
+        "mean": [
+            -0.00012029118806822225,
+            2.678194323380012e-05,
+            1.9425533537287265e-06,
+            0.000435554888099432,
+            0.000496573222335428,
+            0.0004907200345769525,
+            1.1420638657000381e-05,
+            0.00015774706844240427,
+            -4.428143802215345e-05,
+            4.1666487959446386e-05,
+            -0.0013212180929258466,
+            -0.0011728676036000252,
+            0.0006533659179694951,
+            -0.0011694254353642464
+        ],
+        "std": [
+            0.0008969113696366549,
+            0.0006956700817681849,
+            0.00010168898006668314,
+            0.006622273474931717,
+            0.005605421029031277,
+            0.00627512764185667,
+            0.011561622843146324,
+            0.0011975760571658611,
+            0.0010142469545826316,
+            0.00021043690503574908,
+            0.023721525445580482,
+            0.014234758913516998,
+            0.014223669655621052,
+            0.09001336246728897
+        ],
+        "min": [
+            -0.004694938659667969,
+            -0.003278195858001709,
+            -0.0007596462965011597,
+            -0.047107815742492676,
+            -0.014826714992523193,
+            -0.0430753231048584,
+            -0.2498093545436859,
+            -0.007513165473937988,
+            -0.004617273807525635,
+            -0.0007120221853256226,
+            -0.1387944221496582,
+            -0.13714729249477386,
+            -0.12571030855178833,
+            -0.9049358367919922
+        ],
+        "max": [
+            0.002312898635864258,
+            0.004544198513031006,
+            0.0005323588848114014,
+            0.03519749641418457,
+            0.03961518406867981,
+            0.035336852073669434,
+            0.05802112817764282,
+            0.004392147064208984,
+            0.005209207534790039,
+            0.0009666383266448975,
+            0.09677252173423767,
+            0.06961613893508911,
+            0.1367611289024353,
+            0.6959766745567322
+        ],
+        "q01": [
+            -0.004077174663543701,
+            -0.002688157260417938,
+            -0.000482829213142395,
+            -0.026190091371536255,
+            -0.011020445823669433,
+            -0.02495502829551697,
+            -0.0016880255937576293,
+            -0.003171781301498413,
+            -0.0033989605307579037,
+            -0.0005754047632217408,
+            -0.07074853822588921,
+            -0.04109322212636471,
+            -0.03560051880776882,
+            -0.2684647336602211
+        ],
+        "q99": [
+            0.0013462603092193478,
+            0.0030202490091323785,
+            0.0003331716358661605,
+            0.01983150482177709,
+            0.02716999145224674,
+            0.017407640516757902,
+            0.005291152000426763,
+            0.0034967863559722664,
+            0.002892211079597471,
+            0.0008485060930252057,
+            0.0720196691155432,
+            0.04544973522424682,
+            0.03594412125647063,
+            0.28738321155309604
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            10.594501495361328
+        ],
+        "std": [
+            6.964344024658203
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            25.33333396911621
+        ],
+        "q01": [
+            0.18733333706855776
+        ],
+        "q99": [
+            24.945999279022214
+        ]
+    }
+}

Surgical/jhu/lscr/miracle/prepare_to_pierce/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "prepare-to-pierce"}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -0,0 +1 @@
+{"name": "PSM1", "measured_cp": [[0.7026280257045909, 0.5023072778638288, 0.5039853729023271, -0.11143774825896038], [-0.298456616064416, 0.8510131823480204, -0.43208819909513013, 0.09065483775566142], [-0.6459392431350222, 0.15317950931807284, 0.7478626425375372, -0.03720005102713275], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -0,0 +1,3 @@
+{
+"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]}
+}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -0,0 +1 @@
+{"name": "PSM2", "measured_cp": [[0.7283344880773098, -0.4977953228385934, -0.4708807598927596, 0.10336786676896466], [0.29350070796675637, 0.8476004711576489, -0.44207553168699987, 0.08458510460405869], [0.619181885959348, 0.18377501966630672, 0.7634399349303603, -0.03625425250880279], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -0,0 +1,3 @@
+{
+"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7274943217838366, 0.4986223423109325, 0.47130433004655736, -0.10333956749625978], [0.6196611861620562, 0.7724056180180423, 0.1393182529979448, 0.04276470042548103], [-0.2945709186876882, 0.3934022381768118, -0.8708976133053562, -0.1053416909015108], [0.0, 0.0, 0.0, 1.0]]}
+}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/left.yaml

@@ -0,0 +1,46 @@
+R_stereo:
+  cols: 3
+  data:
+  - 0.9963893755659492
+  - 0.0000146863008192
+  - 0.0849011898833603
+  - -0.0013327585854255
+  - 0.9998794732146515
+  - 0.0154681220108920
+  - -0.0848907298463785
+  - -0.0155254252213405
+  - 0.9962693035308504
+  rows: 3
+T_stereo:
+  cols: 1
+  data:
+  - -0.004170971469831339
+  - 0.000067934947019158
+  - 0.000307489335513621
+  rows: 3
+camera_matrix:
+  cols: 3
+  data:
+  - 1175.931810425796
+  - 0.0
+  - 953.4400649317635
+  - 0.0
+  - 1178.829539428327
+  - 531.6113782903312
+  - 0.0
+  - 0.0
+  - 1.0
+  rows: 3
+camera_name: stereo_left
+distortion_coefficients:
+  cols: 1
+  data:
+  - -0.019781771124869636
+  - -0.03955841810275026
+  - -0.0017663372223640362
+  - -0.003287906819938256
+  - 0.0395035486931128
+  rows: 1
+distortion_model: plumb_bob
+image_height: 1080
+image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/right.yaml

@@ -0,0 +1,46 @@
+R_stereo:
+  cols: 3
+  data:
+  - 0.9963893755659492
+  - 0.0000146863008192
+  - 0.0849011898833603
+  - -0.0013327585854255
+  - 0.9998794732146515
+  - 0.0154681220108920
+  - -0.0848907298463785
+  - -0.0155254252213405
+  - 0.9962693035308504
+  rows: 3
+T_stereo:
+  cols: 1
+  data:
+  - -0.004170971469831339
+  - 0.000067934947019158
+  - 0.000307489335513621
+  rows: 3
+camera_matrix:
+  cols: 3
+  data:
+  - 1178.6272335909316
+  - 0.0
+  - 936.1201431988873
+  - 0.0
+  - 1181.7451697852755
+  - 524.5390674149788
+  - 0.0
+  - 0.0
+  - 1.0
+  rows: 3
+camera_name: stereo_left
+distortion_coefficients:
+  cols: 1
+  data:
+  - -0.01273349574944207
+  - -0.059868924661268766
+  - -0.004528006292720679
+  - -0.007905615610660825
+  - 0.07007120636163403
+  rows: 1
+distortion_model: plumb_bob
+image_height: 1080
+image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/stereo_calib_params.json

@@ -0,0 +1,120 @@
+{
+    "cameraMatrixL": [
+        [
+            1175.9318104257968,
+            0.0,
+            953.4400649317635
+        ],
+        [
+            0.0,
+            1178.829539428327,
+            531.6113782903312
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "distCoeffsL": [
+        [
+            -0.019781771124869636,
+            -0.03955841810275026,
+            -0.0017663372223640362,
+            -0.003287906819938256,
+            0.0395035486931128
+        ]
+    ],
+    "cameraMatrixR": [
+        [
+            1178.6272335909316,
+            0.0,
+            936.1201431988873
+        ],
+        [
+            0.0,
+            1181.7451697852755,
+            524.5390674149788
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "distCoeffsR": [
+        [
+            -0.01273349574944207,
+            -0.059868924661268766,
+            -0.004528006292720679,
+            -0.007905615610660825,
+            0.07007120636163403
+        ]
+    ],
+    "R": [
+        [
+            0.9963893755659492,
+            1.4686300819203289e-05,
+            0.08490118988336033
+        ],
+        [
+            -0.001332758585425542,
+            0.9998794732146515,
+            0.015468122010892043
+        ],
+        [
+            -0.08489072984637848,
+            -0.01552542522134053,
+            0.9962693035308504
+        ]
+    ],
+    "T": [
+        [
+            -0.004170971469831339
+        ],
+        [
+            6.793494701915852e-05
+        ],
+        [
+            0.000307489335513621
+        ]
+    ],
+    "E": [
+        [
+            -5.357238182698847e-06,
+            -0.0003085069937523443,
+            6.292521979340946e-05
+        ],
+        [
+            -4.769770523679888e-05,
+            -6.47515897743312e-05,
+            0.0041815170517574655
+        ],
+        [
+            -6.213076140354249e-05,
+            -0.004170469753761368,
+            -7.028485343589046e-05
+        ]
+    ],
+    "F": [
+        [
+            2.042216620850013e-08,
+            1.1731593154221004e-06,
+            -0.0009252131876548991
+        ],
+        [
+            1.8134724916599428e-07,
+            2.455811627055598e-07,
+            -0.018998630874893223
+        ],
+        [
+            0.00016491277399706107,
+            0.01746486408726229,
+            1.0
+        ]
+    ],
+    "rms_left": 0.44338498338032545,
+    "rms_right": 0.44579442483158055,
+    "rms_stereo": 0.5312426825685321,
+    "baseline_m": 0.004182842078136359
+}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -0,0 +1 @@
+{"name": "PSM1", "measured_cp": [[0.7026280257045909, 0.5023072778638288, 0.5039853729023271, -0.11143774825896038], [-0.298456616064416, 0.8510131823480204, -0.43208819909513013, 0.09065483775566142], [-0.6459392431350222, 0.15317950931807284, 0.7478626425375372, -0.03720005102713275], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -0,0 +1,3 @@
+{
+"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]}
+}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -0,0 +1 @@
+{"name": "PSM2", "measured_cp": [[0.7283344880773098, -0.4977953228385934, -0.4708807598927596, 0.10336786676896466], [0.29350070796675637, 0.8476004711576489, -0.44207553168699987, 0.08458510460405869], [0.619181885959348, 0.18377501966630672, 0.7634399349303603, -0.03625425250880279], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -0,0 +1,3 @@
+{
+"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7274943217838366, 0.4986223423109325, 0.47130433004655736, -0.10333956749625978], [0.6196611861620562, 0.7724056180180423, 0.1393182529979448, 0.04276470042548103], [-0.2945709186876882, 0.3934022381768118, -0.8708976133053562, -0.1053416909015108], [0.0, 0.0, 0.0, 1.0]]}
+}