diff --git "a/Surgical/ucsd/surgical_learning_dataset2/meta/temporal_stats.json" "b/Surgical/ucsd/surgical_learning_dataset2/meta/temporal_stats.json" new file mode 100644--- /dev/null +++ "b/Surgical/ucsd/surgical_learning_dataset2/meta/temporal_stats.json" @@ -0,0 +1,6678 @@ +{ + "state": { + "psm_retraction_pose": { + "q01": [ + 0.038404278457164764, + 0.021827683821320533, + -0.1428253948688507, + -0.22570490181446076, + 0.20846627533435821, + 0.3143294560909271, + 0.34147271633148196 + ], + "q02": [ + 0.04114269614219666, + 0.0222006805986166, + -0.14188196241855622, + -0.20266638875007628, + 0.2261910754442215, + 0.34077890872955324, + 0.3703950834274292 + ], + "q98": [ + 0.06532005965709686, + 0.05675858035683632, + -0.1087692528963089, + 0.39775869011878967, + 0.7715771269798278, + 0.6963053345680237, + 0.8138324618339539 + ], + "q99": [ + 0.06720565259456635, + 0.05796707823872562, + -0.10640755295753479, + 0.4138259613513946, + 0.8067293143272399, + 0.7041915178298949, + 0.8202337193489074 + ], + "mean": [ + 0.05375838279724121, + 0.039255883544683456, + -0.1292787343263626, + 0.06215578690171242, + 0.5132467746734619, + 0.531903862953186, + 0.6139452457427979 + ], + "std": [ + 0.005886050872504711, + 0.007700320798903704, + 0.008126283064484596, + 0.16350114345550537, + 0.14622561633586884, + 0.10158960521221161, + 0.12009327858686447 + ], + "min": [ + 0.033018145710229874, + 0.02122345380485058, + -0.14598657190799713, + -0.3937004804611206, + 0.15095120668411255, + 0.1998758316040039, + 0.21619907021522522 + ], + "max": [ + 0.07642365992069244, + 0.06167365983128548, + -0.09981051832437515, + 0.45761629939079285, + 0.8561145067214966, + 0.7420669198036194, + 0.8296818733215332 + ] + }, + "psm_retraction_gripper": { + "q01": [ + -0.6235588192939758 + ], + "q02": [ + -0.6225758790969849 + ], + "q98": [ + 1.3271985721588135 + ], + "q99": [ + 1.3410827589035033 + ], + "mean": [ + 0.4843769967556 + ], + "std": [ + 0.6688477396965027 + ], + "min": [ + -0.6325282454490662 + ], + "max": [ + 1.3790786266326904 + ] + }, + "psm_cutter_pose": { + "q01": [ + -0.06005730852484703, + -0.03649322956800461, + -0.05341727286577225, + -0.3491705358028412, + -0.6815881729125977, + -0.47563821911811827, + -0.6677047181129455 + ], + "q02": [ + -0.05975855886936188, + -0.03627066016197204, + -0.052285097539424896, + -0.2609930634498596, + -0.6727288961410522, + -0.4716636157035828, + -0.6521661281585693 + ], + "q98": [ + -0.0010605524713173508, + 0.012296577915549278, + -0.018310483545064926, + 0.17999352335929877, + 0.9050971269607544, + 0.35877170562744143, + 0.7106622576713562 + ], + "q99": [ + -0.001060489360243082, + 0.012296861037611961, + -0.018309732899069786, + 0.20894189476966857, + 0.9113715887069702, + 0.38123875856399536, + 0.7388047575950623 + ], + "mean": [ + -0.041746586561203, + -0.015626193955540657, + -0.03695249557495117, + -0.08213434368371964, + 0.6626362800598145, + -0.29588958621025085, + -0.2568625807762146 + ], + "std": [ + 0.021655181422829628, + 0.016863958910107613, + 0.010960726998746395, + 0.14456775784492493, + 0.4507666230201721, + 0.20966754853725433, + 0.36414673924446106 + ], + "min": [ + -0.060416027903556824, + -0.0368068628013134, + -0.05395405739545822, + -0.35478559136390686, + -0.6891308426856995, + -0.4883459508419037, + -0.6831293702125549 + ], + "max": [ + -0.0010593640618026257, + 0.012298391200602055, + -0.01830758899450302, + 0.23302000761032104, + 0.9191564917564392, + 0.4300711452960968, + 0.792475700378418 + ] + }, + "psm_cutter_gripper": { + "q01": [ + -0.24517939984798431 + ], + "q02": [ + 0.29695945978164673 + ], + "q98": [ + 1.3158996105194092 + ], + "q99": [ + 1.3158996105194092 + ], + "mean": [ + 1.105033278465271 + ], + "std": [ + 0.266935259103775 + ], + "min": [ + -0.29450929164886475 + ], + "max": [ + 1.3247201442718506 + ] + } + }, + "action": { + "psm_retraction_pose": { + "q01": [ + [ + -0.06726802855730057, + -0.057922469675540926, + 0.10601557970046997 + ], + [ + -0.06731494903564453, + -0.05798072710633278, + 0.1060185432434082 + ], + [ + -0.06739781051874161, + -0.05798780709505081, + 0.1060062062740326 + ], + [ + -0.06743697822093964, + -0.05798489093780518, + 0.10597469866275787 + ], + [ + -0.06743905007839203, + -0.05800456777215004, + 0.1059742346405983 + ], + [ + -0.06743697822093964, + -0.058017687052488325, + 0.1059742346405983 + ], + [ + -0.06743998765945435, + -0.05799284055829048, + 0.10596647828817368 + ], + [ + -0.06743998765945435, + -0.05793359369039536, + 0.10596227645874023 + ], + [ + -0.06748250544071198, + -0.057925050109624864, + 0.10596484482288361 + ], + [ + -0.06748392432928085, + -0.057951228320598604, + 0.10595461070537567 + ], + [ + -0.06752972364425659, + -0.05793573096394539, + 0.10592839330434799 + ], + [ + -0.06751316606998443, + -0.05791907384991646, + 0.10593031078577042 + ], + [ + -0.06758476257324218, + -0.05791907384991646, + 0.10592697203159332 + ], + [ + -0.06757501929998398, + -0.05791907384991646, + 0.10592767000198364 + ], + [ + -0.06764683127403259, + -0.05792965158820152, + 0.10592683404684067 + ], + [ + -0.06757553249597549, + -0.05795251071453095, + 0.10592057049274445 + ], + [ + -0.0675687125325203, + -0.05793264448642731, + 0.1058768329024315 + ], + [ + -0.0675987583398819, + -0.057920434325933454, + 0.10586574792861939 + ], + [ + -0.06759657889604569, + -0.05791907384991646, + 0.10586870014667511 + ], + [ + -0.06757322400808334, + -0.05794002383947373, + 0.10589321970939636 + ], + [ + -0.06752800464630127, + -0.0579294416308403, + 0.10588904321193696 + ], + [ + -0.06749234944581986, + -0.057920434325933454, + 0.10588524371385574 + ], + [ + -0.06748715668916702, + -0.05791907384991646, + 0.1059051638841629 + ], + [ + -0.06746767491102218, + -0.05791907384991646, + 0.10592067748308182 + ], + [ + -0.06748392432928085, + -0.057942962646484374, + 0.10591861605644226 + ], + [ + -0.06747335225343704, + -0.057925758212804795, + 0.10592808663845062 + ], + [ + -0.06743998765945435, + -0.05791907384991646, + 0.10595872282981872 + ], + [ + -0.06743697822093964, + -0.057925758212804795, + 0.1059742346405983 + ], + [ + -0.06743697822093964, + -0.05791907384991646, + 0.1059725534915924 + ], + [ + -0.06737369388341903, + -0.05791907384991646, + 0.10597945004701614 + ], + [ + -0.06740114510059357, + -0.05791907384991646, + 0.10602191090583801 + ], + [ + -0.06739874601364136, + -0.05792729243636131, + 0.10601894736289978 + ], + [ + -0.06740548074245453, + -0.05792311310768127, + 0.1060185432434082 + ], + [ + -0.06737191081047059, + -0.05792729243636131, + 0.1060185432434082 + ], + [ + -0.0673295646905899, + -0.05791907384991646, + 0.10602171421051025 + ], + [ + -0.06733981132507325, + -0.05791907384991646, + 0.10602415859699249 + ], + [ + -0.06736813873052597, + -0.05792729243636131, + 0.10602419972419738 + ], + [ + -0.0673363173007965, + -0.05791907384991646, + 0.10607324063777923 + ], + [ + -0.06731463849544525, + -0.05791907384991646, + 0.10610000312328338 + ], + [ + -0.06729769736528396, + -0.05791907384991646, + 0.10606972873210907 + ], + [ + -0.06732713162899018, + -0.057919877022504805, + 0.10609803438186645 + ], + [ + -0.06733061254024506, + -0.05793205067515373, + 0.10609333992004394 + ], + [ + -0.06729159533977508, + -0.057951034158468244, + 0.10610315382480622 + ], + [ + -0.06731469750404358, + -0.057949824929237365, + 0.10610995382070541 + ], + [ + -0.06731334239244462, + -0.05796013668179512, + 0.10617708414793015 + ], + [ + -0.06731040596961975, + -0.05793218970298767, + 0.1062492486834526 + ], + [ + -0.06729159533977508, + -0.057931917607784274, + 0.10636089503765106 + ], + [ + -0.06727052867412567, + -0.05791907384991646, + 0.10633286625146866 + ], + [ + -0.06720957517623902, + -0.05792771711945534, + 0.1063633343577385 + ], + [ + -0.0672091406583786, + -0.05794788673520088, + 0.106404168009758 + ] + ], + "q02": [ + [ + -0.06534806817770004, + -0.05662789195775986, + 0.108426254093647 + ], + [ + -0.06544719398021698, + -0.05662666961550713, + 0.10839159667491913 + ], + [ + -0.06548983335494996, + -0.05660806149244309, + 0.10834972977638245 + ], + [ + -0.06553835749626159, + -0.05660454034805298, + 0.10832013189792633 + ], + [ + -0.06562759816646575, + -0.05659658834338188, + 0.10822862327098846 + ], + [ + -0.06564506530761718, + -0.05660854667425155, + 0.1081496986746788 + ], + [ + -0.06568377882242203, + -0.05659658834338188, + 0.10809237450361252 + ], + [ + -0.06574098169803619, + -0.05661667600274086, + 0.1080661427974701 + ], + [ + -0.06577712774276734, + -0.05664135158061981, + 0.1080494499206543 + ], + [ + -0.06580667316913605, + -0.056647301614284516, + 0.10812378346920014 + ], + [ + -0.06589908748865128, + -0.05666576758027077, + 0.10818311899900436 + ], + [ + -0.06589803040027618, + -0.05666710063815117, + 0.10808771103620529 + ], + [ + -0.06592650115489959, + -0.05661322087049484, + 0.10807484596967697 + ], + [ + -0.06593887507915497, + -0.05659611091017723, + 0.1080644553899765 + ], + [ + -0.06590090870857239, + -0.056615497767925266, + 0.10812982559204101 + ], + [ + -0.06593887507915497, + -0.05659652397036553, + 0.10809964805841446 + ], + [ + -0.06593848168849945, + -0.056604156643152236, + 0.10813744187355041 + ], + [ + -0.06592790126800536, + -0.05664567455649376, + 0.10809655249118805 + ], + [ + -0.06583597302436829, + -0.05661172240972519, + 0.10813143670558929 + ], + [ + -0.06578433811664582, + -0.05662514075636864, + 0.10813720166683197 + ], + [ + -0.06577820360660552, + -0.056615367233753204, + 0.10809819847345352 + ], + [ + -0.0658242404460907, + -0.05661354586482048, + 0.10808809727430344 + ], + [ + -0.06582491993904113, + -0.056624458879232405, + 0.10812475264072419 + ], + [ + -0.0658100026845932, + -0.05663633644580841, + 0.10818415910005569 + ], + [ + -0.06579624772071839, + -0.05659658834338188, + 0.10822687208652497 + ], + [ + -0.06577563285827637, + -0.056611219942569735, + 0.1082000708580017 + ], + [ + -0.06576372683048248, + -0.05659658834338188, + 0.10821384191513062 + ], + [ + -0.06569786876440048, + -0.056596008092164994, + 0.10824298977851868 + ], + [ + -0.0656847396492958, + -0.056604032218456266, + 0.10832903265953064 + ], + [ + -0.06565559953451157, + -0.05659992381930351, + 0.10842613905668258 + ], + [ + -0.06564602315425873, + -0.05663219198584556, + 0.10844496011734009 + ], + [ + -0.06565593928098679, + -0.05663039892911911, + 0.10849296718835831 + ], + [ + -0.06561028450727463, + -0.05670109212398529, + 0.10853987067937851 + ], + [ + -0.06555197566747666, + -0.05669109985232353, + 0.10863719135522842 + ], + [ + -0.06554696500301362, + -0.0566649466753006, + 0.10862233310937881 + ], + [ + -0.06551243245601654, + -0.0566772635281086, + 0.10862168759107589 + ], + [ + -0.06548649817705154, + -0.05667155504226685, + 0.10865421622991561 + ], + [ + -0.06548649817705154, + -0.05669340237975121, + 0.10868336945772171 + ], + [ + -0.06548423320055008, + -0.05674369663000107, + 0.10868813127279281 + ], + [ + -0.06547744363546372, + -0.0567325322329998, + 0.10869263857603073 + ], + [ + -0.06547648251056672, + -0.05673056766390801, + 0.10869263857603073 + ], + [ + -0.06546674877405166, + -0.05668224528431892, + 0.10874100238084793 + ], + [ + -0.06542613625526428, + -0.0567068561911583, + 0.10870435267686844 + ], + [ + -0.06542350947856904, + -0.056721059083938596, + 0.10874183475971222 + ], + [ + -0.06541018605232239, + -0.056701835393905636, + 0.10874206900596618 + ], + [ + -0.0654272872209549, + -0.05672203302383423, + 0.1087592026591301 + ], + [ + -0.06542740881443024, + -0.05672903046011925, + 0.10877841234207153 + ], + [ + -0.06542466461658478, + -0.056740027666091916, + 0.10879504531621934 + ], + [ + -0.0654220524430275, + -0.05676638782024383, + 0.10878664195537567 + ], + [ + -0.06542433053255081, + -0.0567561711370945, + 0.1088346141576767 + ] + ], + "q98": [ + [ + -0.04120094686746596, + -0.022202099785208703, + 0.1420055115222931 + ], + [ + -0.04117306113243103, + -0.022202528938651087, + 0.14206479191780091 + ], + [ + -0.04112989842891693, + -0.022201669663190843, + 0.1421042013168335 + ], + [ + -0.04110385969281197, + -0.022200965136289597, + 0.1421539443731308 + ], + [ + -0.04113185480237007, + -0.02220067344605923, + 0.1421623557806015 + ], + [ + -0.041087943911552426, + -0.022200744971632956, + 0.1421676331758499 + ], + [ + -0.041096580624580374, + -0.022200630977749825, + 0.1421822166442871 + ], + [ + -0.04108210772275925, + -0.022200630977749825, + 0.1421873986721039 + ], + [ + -0.04108551740646362, + -0.022200630977749825, + 0.14221193194389342 + ], + [ + -0.04106286063790321, + -0.022200531885027887, + 0.14218919336795807 + ], + [ + -0.04105691790580749, + -0.02219980925321579, + 0.14217905402183534 + ], + [ + -0.04104981318116188, + -0.02219980925321579, + 0.14221939623355864 + ], + [ + -0.04103927254676818, + -0.022200156450271607, + 0.1422208696603775 + ], + [ + -0.041023072004318234, + -0.022200156450271607, + 0.14219148099422455 + ], + [ + -0.04102539747953415, + -0.02219576746225357, + 0.14221489667892456 + ], + [ + -0.04105653196573257, + -0.022195736616849898, + 0.14223500192165375 + ], + [ + -0.04102065771818161, + -0.022196310833096505, + 0.1422552454471588 + ], + [ + -0.041056708246469495, + -0.022195131480693818, + 0.14222884118556978 + ], + [ + -0.04106206253170967, + -0.02219383142888546, + 0.142213574051857 + ], + [ + -0.041076515167951584, + -0.02219383142888546, + 0.14220857977867127 + ], + [ + -0.04108516871929169, + -0.022195131480693818, + 0.14218128919601442 + ], + [ + -0.04107901632785797, + -0.022193800583481787, + 0.14218010008335114 + ], + [ + -0.04107299789786339, + -0.022194519937038422, + 0.14217928111553194 + ], + [ + -0.04106116190552711, + -0.022192820012569427, + 0.14217096030712129 + ], + [ + -0.04106116190552711, + -0.022192820012569427, + 0.14212940037250518 + ], + [ + -0.041066951751708984, + -0.02219257652759552, + 0.14214177608489992 + ], + [ + -0.041036255955696106, + -0.022192541509866714, + 0.14215326488018035 + ], + [ + -0.041041765064001076, + -0.022191515192389488, + 0.1421062684059143 + ], + [ + -0.04106785506010056, + -0.022189768329262734, + 0.142099466919899 + ], + [ + -0.041070509552955624, + -0.022191659584641456, + 0.14204229414463043 + ], + [ + -0.04106803238391876, + -0.022192864716053008, + 0.1420178872346878 + ], + [ + -0.041079228222370145, + -0.02219267562031746, + 0.14202923119068145 + ], + [ + -0.04107989966869354, + -0.022192914336919785, + 0.1420034646987915 + ], + [ + -0.041085698902606965, + -0.022196848541498185, + 0.14204106390476226 + ], + [ + -0.041099861711263654, + -0.022196817696094513, + 0.1419921797513962 + ], + [ + -0.04112785428762436, + -0.022196917906403543, + 0.1419614815711975 + ], + [ + -0.04113185480237007, + -0.022197159975767135, + 0.14196415781974792 + ], + [ + -0.04110645860433578, + -0.022197129130363463, + 0.14195769190788268 + ], + [ + -0.04110229402780532, + -0.02219775542616844, + 0.141963632106781 + ], + [ + -0.041097442805767055, + -0.022197883278131485, + 0.14192834854125977 + ], + [ + -0.04109022915363311, + -0.022197015583515167, + 0.14192634344100952 + ], + [ + -0.041109820306301115, + -0.022200630977749825, + 0.14192677676677704 + ], + [ + -0.04111818000674247, + -0.02219863921403885, + 0.14190208196640014 + ], + [ + -0.041119075119495384, + -0.022200630977749825, + 0.14190208196640014 + ], + [ + -0.0411213019490242, + -0.02220136858522892, + 0.14190036058425903 + ], + [ + -0.041131797581911086, + -0.0222006805986166, + 0.1418933743238449 + ], + [ + -0.04112825736403465, + -0.02220110908150673, + 0.1418986612558365 + ], + [ + -0.04113185480237007, + -0.022201707884669304, + 0.14188442885875702 + ], + [ + -0.041136245280504226, + -0.02220143027603626, + 0.14188442885875702 + ], + [ + -0.04113255754113197, + -0.02220143027603626, + 0.14188442885875702 + ] + ], + "q99": [ + [ + -0.038467321544885635, + -0.021836989894509315, + 0.1428747797012329 + ], + [ + -0.03846069291234017, + -0.021834979578852654, + 0.14287515997886657 + ], + [ + -0.038444507867097855, + -0.02182960003614426, + 0.14290283083915709 + ], + [ + -0.03846069291234017, + -0.02182960003614426, + 0.14294210076332092 + ], + [ + -0.03846069291234017, + -0.021827683821320536, + 0.14295902848243713 + ], + [ + -0.038467321544885635, + -0.0218266374617815, + 0.1429733645915985 + ], + [ + -0.03845203265547753, + -0.021826520562171936, + 0.1429924315214157 + ], + [ + -0.03846069291234017, + -0.021829336732625965, + 0.14299630224704743 + ], + [ + -0.038409105986356766, + -0.021831353083252906, + 0.1430289751291275 + ], + [ + -0.038446341603994384, + -0.021823125928640368, + 0.1430266398191452 + ], + [ + -0.03840825796127322, + -0.021822880282998086, + 0.1430437695980072 + ], + [ + -0.03841414898633959, + -0.02182373754680157, + 0.14302716851234437 + ], + [ + -0.03840508177876473, + -0.02182211481034756, + 0.1430204838514328 + ], + [ + -0.03840508177876473, + -0.02182211481034756, + 0.14302246391773224 + ], + [ + -0.038404525667428975, + -0.02181946769356728, + 0.14300417959690093 + ], + [ + -0.038404525667428975, + -0.021818141043186186, + 0.1430368822813034 + ], + [ + -0.038404525667428975, + -0.021818521320819854, + 0.1430143940448761 + ], + [ + -0.038404278457164764, + -0.02181816227734089, + 0.1430167019367218 + ], + [ + -0.038404278457164764, + -0.02181497409939766, + 0.14300958514213563 + ], + [ + -0.038404278457164764, + -0.02181395560503006, + 0.14300958514213563 + ], + [ + -0.03840446352958679, + -0.02181481666862965, + 0.14302074372768403 + ], + [ + -0.03840446352958679, + -0.02181253604590893, + 0.14301665723323823 + ], + [ + -0.038404278457164764, + -0.021810854077339174, + 0.14300639927387238 + ], + [ + -0.038404278457164764, + -0.021816203370690346, + 0.1430195951461792 + ], + [ + -0.038404278457164764, + -0.021816203370690346, + 0.14300961375236512 + ], + [ + -0.038404278457164764, + -0.021810611486434938, + 0.1430049192905426 + ], + [ + -0.03840189516544342, + -0.021810904368758204, + 0.14300030291080473 + ], + [ + -0.03840189516544342, + -0.021810611486434938, + 0.1429797577857971 + ], + [ + -0.03840189516544342, + -0.021812096014618875, + 0.14296877443790434 + ], + [ + -0.03839345693588258, + -0.0218111351877451, + 0.14296891212463378 + ], + [ + -0.03839345693588258, + -0.021813575699925425, + 0.1429420131444931 + ], + [ + -0.03839345693588258, + -0.02181216508150101, + 0.14294358909130098 + ], + [ + -0.038404278457164764, + -0.021812731698155407, + 0.14294048130512238 + ], + [ + -0.03839345693588258, + -0.02181244179606438, + 0.1429032701253891 + ], + [ + -0.03839198127388954, + -0.021813903748989106, + 0.142893448472023 + ], + [ + -0.03839198127388954, + -0.02181479923427105, + 0.14288650810718537 + ], + [ + -0.03839492604136468, + -0.021812558025121692, + 0.14286622822284697 + ], + [ + -0.03839492604136468, + -0.021812558025121692, + 0.14286280572414398 + ], + [ + -0.038404278457164764, + -0.021816511377692225, + 0.14284581661224366 + ], + [ + -0.038404278457164764, + -0.02181951105594635, + 0.14284581661224366 + ], + [ + -0.038404278457164764, + -0.021819233894348145, + 0.14283475279808044 + ], + [ + -0.038404278457164764, + -0.0218234521150589, + 0.14283468663692475 + ], + [ + -0.038404278457164764, + -0.021818714588880544, + 0.14282939434051514 + ], + [ + -0.038404484093189244, + -0.021826826557517054, + 0.1428253948688507 + ], + [ + -0.038406479954719554, + -0.021827683821320536, + 0.14282993078231812 + ], + [ + -0.03842419251799585, + -0.021827645301818854, + 0.14285825133323668 + ], + [ + -0.03842184856534006, + -0.021826520562171936, + 0.14282872676849365 + ], + [ + -0.03842184856534006, + -0.021827091500163077, + 0.14283417522907257 + ], + [ + -0.03842184856534006, + -0.021827091500163077, + 0.1428440499305725 + ], + [ + -0.038409105986356766, + -0.021826520562171936, + 0.14285876572132108 + ] + ], + "mean": [ + [ + -0.05372248962521553, + -0.039176277816295624, + 0.12910693883895874 + ], + [ + -0.053727295249700546, + -0.039177458733320236, + 0.12910884618759155 + ], + [ + -0.053731825202703476, + -0.03917896747589111, + 0.1291106939315796 + ], + [ + -0.05373688414692879, + -0.039180099964141846, + 0.12911385297775269 + ], + [ + -0.05374259129166603, + -0.0391821563243866, + 0.12911665439605713 + ], + [ + -0.05374791845679283, + -0.03918414190411568, + 0.1291200816631317 + ], + [ + -0.053753603249788284, + -0.039185646921396255, + 0.12912461161613464 + ], + [ + -0.05375951528549194, + -0.03918859735131264, + 0.12913008034229279 + ], + [ + -0.05376628786325455, + -0.03919191285967827, + 0.12913505733013153 + ], + [ + -0.05377185344696045, + -0.03919471800327301, + 0.1291407346725464 + ], + [ + -0.053778428584337234, + -0.03919845074415207, + 0.1291460543870926 + ], + [ + -0.05378519371151924, + -0.03920106962323189, + 0.1291516274213791 + ], + [ + -0.05379108339548111, + -0.03920399770140648, + 0.12915702164173126 + ], + [ + -0.053797975182533264, + -0.03920714557170868, + 0.129161536693573 + ], + [ + -0.053803928196430206, + -0.03921068087220192, + 0.1291658580303192 + ], + [ + -0.05380985140800476, + -0.03921354562044144, + 0.1291709691286087 + ], + [ + -0.053815990686416626, + -0.039215363562107086, + 0.1291760802268982 + ], + [ + -0.05382170528173447, + -0.03921806439757347, + 0.12917934358119965 + ], + [ + -0.05382642149925232, + -0.03922007232904434, + 0.12918439507484436 + ], + [ + -0.053830914199352264, + -0.039222352206707, + 0.12918807566165924 + ], + [ + -0.053835973143577576, + -0.03922448679804802, + 0.12919236719608307 + ], + [ + -0.0538405105471611, + -0.0392271988093853, + 0.12919606268405914 + ], + [ + -0.05384498089551926, + -0.03923036903142929, + 0.1292015165090561 + ], + [ + -0.053849317133426666, + -0.03923305869102478, + 0.12920625507831573 + ], + [ + -0.05385420843958855, + -0.03923656791448593, + 0.12921281158924103 + ], + [ + -0.05385822430253029, + -0.03923990949988365, + 0.12921938300132751 + ], + [ + -0.05386218801140785, + -0.03924359008669853, + 0.1292274296283722 + ], + [ + -0.0538666658103466, + -0.03924723342061043, + 0.12923471629619598 + ], + [ + -0.05387076362967491, + -0.03925054892897606, + 0.1292419731616974 + ], + [ + -0.05387405306100845, + -0.03925430402159691, + 0.1292499154806137 + ], + [ + -0.05387730896472931, + -0.039257582277059555, + 0.12925663590431213 + ], + [ + -0.053881242871284485, + -0.039261166006326675, + 0.12926268577575684 + ], + [ + -0.05388478562235832, + -0.03926604986190796, + 0.12926997244358063 + ], + [ + -0.0538879819214344, + -0.0392695851624012, + 0.1292748600244522 + ], + [ + -0.05389077961444855, + -0.039272770285606384, + 0.12927864491939545 + ], + [ + -0.053894128650426865, + -0.03927576541900635, + 0.12928378582000732 + ], + [ + -0.05389668419957161, + -0.03927936777472496, + 0.12928880751132965 + ], + [ + -0.05389949679374695, + -0.03928322717547417, + 0.129293754696846 + ], + [ + -0.05390218272805214, + -0.03928593918681145, + 0.1292974352836609 + ], + [ + -0.053904686123132706, + -0.039289359003305435, + 0.1293012648820877 + ], + [ + -0.053907278925180435, + -0.03929261118173599, + 0.12930458784103394 + ], + [ + -0.05391036719083786, + -0.039296139031648636, + 0.12930908799171448 + ], + [ + -0.05391230806708336, + -0.03929850086569786, + 0.12931221723556519 + ], + [ + -0.053913362324237823, + -0.03930022940039635, + 0.12931446731090546 + ], + [ + -0.05391540378332138, + -0.03930232673883438, + 0.12931716442108154 + ], + [ + -0.0539163202047348, + -0.03930407389998436, + 0.12931965291500092 + ], + [ + -0.053917694836854935, + -0.039306238293647766, + 0.1293221414089203 + ], + [ + -0.05391904339194298, + -0.03930796682834625, + 0.12932492792606354 + ], + [ + -0.05392046645283699, + -0.03930966556072235, + 0.12932732701301575 + ], + [ + -0.053921177983284, + -0.039311423897743225, + 0.12932884693145752 + ] + ], + "std": [ + [ + 0.0059128799475729465, + 0.007712870370596647, + 0.008274954743683338 + ], + [ + 0.005925752688199282, + 0.007717735134065151, + 0.008290339261293411 + ], + [ + 0.0059395600110292435, + 0.007723786868155003, + 0.008307510055601597 + ], + [ + 0.005954681430011988, + 0.0077301086857914925, + 0.0083217304199934 + ], + [ + 0.005969456862658262, + 0.007735918741673231, + 0.008334377780556679 + ], + [ + 0.00598261971026659, + 0.007741541601717472, + 0.008345083333551884 + ], + [ + 0.005995235871523619, + 0.007746902294456959, + 0.008353328332304955 + ], + [ + 0.006007438059896231, + 0.007751394994556904, + 0.008359008468687534 + ], + [ + 0.006019539665430784, + 0.007756600622087717, + 0.00836198590695858 + ], + [ + 0.006029183976352215, + 0.007760501932352781, + 0.008363617584109306 + ], + [ + 0.0060391719453036785, + 0.007764527574181557, + 0.008365010842680931 + ], + [ + 0.00604725256562233, + 0.00776737742125988, + 0.008365851826965809 + ], + [ + 0.006054308731108904, + 0.00776919350028038, + 0.008364714682102203 + ], + [ + 0.006060719024389982, + 0.007771061267703772, + 0.008365171030163765 + ], + [ + 0.006067956332117319, + 0.007775409612804651, + 0.00836897548288107 + ], + [ + 0.0060721649788320065, + 0.007775682024657726, + 0.008368398994207382 + ], + [ + 0.006075214594602585, + 0.007776002865284681, + 0.008367332629859447 + ], + [ + 0.006076142657548189, + 0.007776344195008278, + 0.008366572670638561 + ], + [ + 0.006076513323932886, + 0.007776936050504446, + 0.008365090005099773 + ], + [ + 0.006075440905988216, + 0.007776675280183554, + 0.008362107910215855 + ], + [ + 0.006075041368603706, + 0.007776015438139439, + 0.008359629660844803 + ], + [ + 0.006073341704905033, + 0.0077751316130161285, + 0.008356899954378605 + ], + [ + 0.006071003619581461, + 0.007773720659315586, + 0.008351178839802742 + ], + [ + 0.006067581009119749, + 0.007771432399749756, + 0.008344041183590889 + ], + [ + 0.006065075751394033, + 0.007768204901367426, + 0.008336106315255165 + ], + [ + 0.00606029387563467, + 0.007765326648950577, + 0.008328058756887913 + ], + [ + 0.006055336911231279, + 0.007761471439152956, + 0.008315622806549072 + ], + [ + 0.006050550378859043, + 0.007758414372801781, + 0.008303678594529629 + ], + [ + 0.006045547779649496, + 0.007754739839583635, + 0.00829248782247305 + ], + [ + 0.006035482976585627, + 0.007748698815703392, + 0.008277683518826962 + ], + [ + 0.006029005162417889, + 0.007743661291897297, + 0.008264797739684582 + ], + [ + 0.0060222637839615345, + 0.007739255670458078, + 0.008256351575255394 + ], + [ + 0.006015348713845015, + 0.007734312675893307, + 0.008244726806879044 + ], + [ + 0.00600854167714715, + 0.00772901251912117, + 0.008235701359808445 + ], + [ + 0.006001817528158426, + 0.007723022717982531, + 0.008228748105466366 + ], + [ + 0.005994019098579884, + 0.007718212902545929, + 0.008219105191528797 + ], + [ + 0.0059868041425943375, + 0.007713072467595339, + 0.008210784755647182 + ], + [ + 0.005979449022561312, + 0.007707482203841209, + 0.008202293887734413 + ], + [ + 0.005972206126898527, + 0.0077022286131978035, + 0.008194970898330212 + ], + [ + 0.005965263117104769, + 0.007696524262428284, + 0.008187449537217617 + ], + [ + 0.0059577301144599915, + 0.007691098377108574, + 0.008180304430425167 + ], + [ + 0.005950301885604858, + 0.007686425931751728, + 0.008172517642378807 + ], + [ + 0.005943604279309511, + 0.007682241499423981, + 0.008166304789483547 + ], + [ + 0.0059377215802669525, + 0.007679086644202471, + 0.00816048588603735 + ], + [ + 0.0059286500327289104, + 0.007674409542232752, + 0.008152840659022331 + ], + [ + 0.005921918898820877, + 0.007670338731259108, + 0.008147131651639938 + ], + [ + 0.005916390102356672, + 0.007666857447475195, + 0.008142609149217606 + ], + [ + 0.005911118350923061, + 0.007663772441446781, + 0.008137289434671402 + ], + [ + 0.00590493343770504, + 0.007660324219614267, + 0.008131911978125572 + ], + [ + 0.005899582989513874, + 0.007656487170606852, + 0.008128234185278416 + ] + ], + "min": [ + [ + -0.07662820816040039, + -0.06243989244103432, + 0.0995490550994873 + ], + [ + -0.07662820816040039, + -0.06243989244103432, + 0.09950880706310272 + ], + [ + -0.07666751742362976, + -0.06243989244103432, + 0.09933629631996155 + ], + [ + -0.07666751742362976, + -0.06307660788297653, + 0.09912366420030594 + ], + [ + -0.07666751742362976, + -0.06307660788297653, + 0.09886690974235535 + ], + [ + -0.0768628641963005, + -0.06307660788297653, + 0.09858251363039017 + ], + [ + -0.0768628641963005, + -0.06307660788297653, + 0.09832105040550232 + ], + [ + -0.0768628641963005, + -0.06307660788297653, + 0.09810841828584671 + ], + [ + -0.07702504843473434, + -0.06308069825172424, + 0.09826723486185074 + ], + [ + -0.0771634504199028, + -0.06283973902463913, + 0.09805460274219513 + ], + [ + -0.07738951593637466, + -0.06283973902463913, + 0.09785640984773636 + ], + [ + -0.07738951593637466, + -0.061975106596946716, + 0.09836063534021378 + ], + [ + -0.07738951593637466, + -0.061975106596946716, + 0.09822405874729156 + ], + [ + -0.07741103321313858, + -0.06192377582192421, + 0.09850207716226578 + ], + [ + -0.07812226563692093, + -0.06192786619067192, + 0.09850993007421494 + ], + [ + -0.07812226563692093, + -0.06168690696358681, + 0.09871533513069153 + ], + [ + -0.07812226563692093, + -0.06168690696358681, + 0.09915672987699509 + ], + [ + -0.07812226563692093, + -0.06167365983128548, + 0.099189892411232 + ], + [ + -0.07812226563692093, + -0.06167365983128548, + 0.09934375435113907 + ], + [ + -0.07858298718929291, + -0.061669569462537766, + 0.09957171976566315 + ], + [ + -0.07858298718929291, + -0.0616975873708725, + 0.09984143078327179 + ], + [ + -0.07858298718929291, + -0.0616975873708725, + 0.0997016578912735 + ], + [ + -0.07884836196899414, + -0.061763592064380646, + 0.09944019466638565 + ], + [ + -0.07903074473142624, + -0.061763592064380646, + 0.09922756254673004 + ], + [ + -0.0791691467165947, + -0.061763592064380646, + 0.09928055852651596 + ], + [ + -0.07939521223306656, + -0.061763592064380646, + 0.09906792640686035 + ], + [ + -0.07939521223306656, + -0.061763592064380646, + 0.09892293065786362 + ], + [ + -0.07939521223306656, + -0.06176768243312836, + 0.09871029853820801 + ], + [ + -0.07941672950983047, + -0.061669569462537766, + 0.09858135879039764 + ], + [ + -0.07900100946426392, + -0.061669569462537766, + 0.09885745495557785 + ], + [ + -0.07900100946426392, + -0.061669569462537766, + 0.09906972199678421 + ], + [ + -0.07900100946426392, + -0.06167365983128548, + 0.09938617795705795 + ], + [ + -0.07900100946426392, + -0.061669569462537766, + 0.09962541610002518 + ], + [ + -0.07900100946426392, + -0.06167365983128548, + 0.09968278557062149 + ], + [ + -0.07866056263446808, + -0.06169617176055908, + 0.09972736984491348 + ], + [ + -0.07846836745738983, + -0.06169617176055908, + 0.0997091606259346 + ], + [ + -0.07846836745738983, + -0.06169617176055908, + 0.09973616153001785 + ], + [ + -0.07831442356109619, + -0.06169617176055908, + 0.0997609868645668 + ], + [ + -0.078157439827919, + -0.06169617176055908, + 0.09966590255498886 + ], + [ + -0.078157439827919, + -0.06170026212930679, + 0.09964462369680405 + ], + [ + -0.078157439827919, + -0.06167590245604515, + 0.09958603233098984 + ], + [ + -0.07796364277601242, + -0.06167365983128548, + 0.09951434284448624 + ], + [ + -0.07796364277601242, + -0.061669569462537766, + 0.09950084239244461 + ], + [ + -0.07821037620306015, + -0.061669569462537766, + 0.09946910291910172 + ], + [ + -0.0783359631896019, + -0.061669569462537766, + 0.09954728931188583 + ], + [ + -0.0783359631896019, + -0.06167365983128548, + 0.09968958050012589 + ], + [ + -0.07818632572889328, + -0.06167365983128548, + 0.09983090311288834 + ], + [ + -0.07818632572889328, + -0.061669569462537766, + 0.09981820732355118 + ], + [ + -0.0781407579779625, + -0.061679668724536896, + 0.09978679567575455 + ], + [ + -0.0781407579779625, + -0.061679668724536896, + 0.09980232268571854 + ] + ], + "max": [ + [ + -0.03301510959863663, + -0.02122345380485058, + 0.14779692888259888 + ], + [ + -0.03301510959863663, + -0.02122345380485058, + 0.14779692888259888 + ], + [ + -0.03301430121064186, + -0.02122345380485058, + 0.14779692888259888 + ], + [ + -0.033011265099048615, + -0.021243060007691383, + 0.14779692888259888 + ], + [ + -0.033011265099048615, + -0.020674027502536774, + 0.14789792895317078 + ], + [ + -0.033011265099048615, + -0.020674027502536774, + 0.14842088520526886 + ], + [ + -0.03295452892780304, + -0.02062341943383217, + 0.14842088520526886 + ], + [ + -0.03295149281620979, + -0.019851302728056908, + 0.14842088520526886 + ], + [ + -0.03295149281620979, + -0.018808234483003616, + 0.14714504778385162 + ], + [ + -0.03295149281620979, + -0.018808234483003616, + 0.14730320870876312 + ], + [ + -0.03296153247356415, + -0.018808234483003616, + 0.14777493476867676 + ], + [ + -0.03296153247356415, + -0.018808234483003616, + 0.14777493476867676 + ], + [ + -0.03296153247356415, + -0.018605191260576248, + 0.14788049459457397 + ], + [ + -0.03293297439813614, + -0.018605191260576248, + 0.14783765375614166 + ], + [ + -0.03292993828654289, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03292993828654289, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03292993828654289, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03293997794389725, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03293997794389725, + -0.0184492040425539, + 0.1467747688293457 + ], + [ + -0.03293997794389725, + -0.018441475927829742, + 0.1467747688293457 + ], + [ + -0.03294389694929123, + -0.018393466249108315, + 0.1467733383178711 + ], + [ + -0.03298814222216606, + -0.018354807049036026, + 0.1465073823928833 + ], + [ + -0.03298814222216606, + -0.018313460052013397, + 0.1461549997329712 + ], + [ + -0.03298814222216606, + -0.01828049123287201, + 0.14606283605098724 + ], + [ + -0.03298814222216606, + -0.01828049123287201, + 0.14606283605098724 + ], + [ + -0.0329996719956398, + -0.01828049123287201, + 0.146238774061203 + ], + [ + -0.032996635884046555, + -0.01828049123287201, + 0.146238774061203 + ], + [ + -0.032996635884046555, + -0.01828717812895775, + 0.14634433388710022 + ], + [ + -0.032923366874456406, + -0.01966920867562294, + 0.14665918052196503 + ], + [ + -0.03292033076286316, + -0.019636239856481552, + 0.14665918052196503 + ], + [ + -0.03292033076286316, + -0.019636239856481552, + 0.14676474034786224 + ], + [ + -0.03292033076286316, + -0.019636239856481552, + 0.14672189950942993 + ], + [ + -0.032930370420217514, + -0.019636239856481552, + 0.14627735316753387 + ], + [ + -0.032930370420217514, + -0.01964292675256729, + 0.14627735316753387 + ], + [ + -0.032930370420217514, + -0.020720480009913445, + 0.14627735316753387 + ], + [ + -0.032934289425611496, + -0.020611871033906937, + 0.14627735316753387 + ], + [ + -0.03297853469848633, + -0.020611871033906937, + 0.1462225615978241 + ], + [ + -0.03297853469848633, + -0.02060553804039955, + 0.14598657190799713 + ], + [ + -0.03297853469848633, + -0.020585529506206512, + 0.14598657190799713 + ], + [ + -0.03297853469848633, + -0.020585529506206512, + 0.14598657190799713 + ], + [ + -0.03299471363425255, + -0.020705701783299446, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.020705701783299446, + 0.14594373106956482 + ], + [ + -0.033017005771398544, + -0.020705701783299446, + 0.14588101208209991 + ], + [ + -0.033017005771398544, + -0.020705701783299446, + 0.14598657190799713 + ], + [ + -0.033017005771398544, + -0.021212222054600716, + 0.14598657190799713 + ], + [ + -0.033017780631780624, + -0.02122345380485058, + 0.14594373106956482 + ], + [ + -0.033017780631780624, + -0.02122345380485058, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.021204018965363503, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.02122345380485058, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.021227864548563957, + 0.14598657190799713 + ] + ] + }, + "psm_retraction_gripper": { + "q01": [ + [ + -0.47484834432601924 + ], + [ + -0.48648648023605345 + ], + [ + -0.4882705330848694 + ], + [ + -0.47992036223411555 + ], + [ + -0.47484834432601924 + ], + [ + -0.47992036223411555 + ], + [ + -0.47071994304656983 + ], + [ + -0.47071994304656983 + ], + [ + -0.47484834432601924 + ], + [ + -0.47992036223411555 + ], + [ + -0.47992036223411555 + ], + [ + -0.47484834432601924 + ], + [ + -0.47484834432601924 + ], + [ + -0.47484834432601924 + ], + [ + -0.47071994304656983 + ], + [ + -0.46891624689102174 + ], + [ + -0.46490581274032594 + ], + [ + -0.46490581274032594 + ], + [ + -0.4645863449573517 + ], + [ + -0.4631315684318542 + ], + [ + -0.4615441060066223 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.45392624497413636 + ], + [ + -0.45392624497413636 + ], + [ + -0.45392624497413636 + ], + [ + -0.45392624497413636 + ], + [ + -0.4529727828502655 + ], + [ + -0.4529727828502655 + ], + [ + -0.4529727828502655 + ], + [ + -0.44905574560165407 + ], + [ + -0.44794499993324277 + ], + [ + -0.44794499993324277 + ], + [ + -0.4417917263507843 + ], + [ + -0.4370981597900391 + ], + [ + -0.43560408234596254 + ], + [ + -0.4348226308822632 + ], + [ + -0.4254698646068573 + ], + [ + -0.42160196065902705 + ], + [ + -0.4167166984081268 + ], + [ + -0.4138808739185333 + ], + [ + -0.4043659198284149 + ], + [ + -0.39465436339378357 + ], + [ + -0.39465436339378357 + ], + [ + -0.39098797798156737 + ], + [ + -0.37124051094055177 + ] + ], + "q02": [ + [ + -0.2711565482616424 + ], + [ + -0.2730782318115234 + ], + [ + -0.2779683947563171 + ], + [ + -0.273230574131012 + ], + [ + -0.273230574131012 + ], + [ + -0.2779683947563171 + ], + [ + -0.273230574131012 + ], + [ + -0.2763416028022766 + ], + [ + -0.27836158752441403 + ], + [ + -0.2787940847873688 + ], + [ + -0.2787940847873688 + ], + [ + -0.27836158752441403 + ], + [ + -0.2787940847873688 + ], + [ + -0.27909878492355344 + ], + [ + -0.2787940847873688 + ], + [ + -0.27836158752441403 + ], + [ + -0.273230574131012 + ], + [ + -0.27271452903747556 + ], + [ + -0.27200679898262026 + ], + [ + -0.2711565482616424 + ], + [ + -0.2694216513633728 + ], + [ + -0.2688761007785797 + ], + [ + -0.2688761007785797 + ], + [ + -0.2676130282878876 + ], + [ + -0.26613858819007874 + ], + [ + -0.2656176280975342 + ], + [ + -0.26423168063163754 + ], + [ + -0.26376967787742617 + ], + [ + -0.2624181354045868 + ], + [ + -0.2622657704353332 + ], + [ + -0.2618136048316955 + ], + [ + -0.26082574248313906 + ], + [ + -0.26008363008499147 + ], + [ + -0.2589286494255066 + ], + [ + -0.2569185197353363 + ], + [ + -0.256063346862793 + ], + [ + -0.2527164113521576 + ], + [ + -0.2483816021680832 + ], + [ + -0.24561460316181183 + ], + [ + -0.2435012650489807 + ], + [ + -0.2391123867034912 + ], + [ + -0.23716123580932616 + ], + [ + -0.23117998480796814 + ], + [ + -0.22890445590019226 + ], + [ + -0.2228937208652496 + ], + [ + -0.2180330330133438 + ], + [ + -0.211186785697937 + ], + [ + -0.20860162317752837 + ], + [ + -0.20525468230247496 + ], + [ + -0.19128696024417877 + ] + ], + "q98": [ + [ + 0.1499047738313676 + ], + [ + 0.13466905176639568 + ], + [ + 0.1236698409914971 + ], + [ + 0.11805227816104902 + ], + [ + 0.11313261777162555 + ], + [ + 0.10870934396982196 + ], + [ + 0.10431555658578873 + ], + [ + 0.10099810361862183 + ], + [ + 0.10010852783918384 + ], + [ + 0.09728255063295367 + ], + [ + 0.09556238472461703 + ], + [ + 0.09203851252794287 + ], + [ + 0.0907754194736482 + ], + [ + 0.08954181641340259 + ], + [ + 0.08773319154977809 + ], + [ + 0.08720731109380725 + ], + [ + 0.08619487524032599 + ], + [ + 0.0859196501970292 + ], + [ + 0.08422897249460226 + ], + [ + 0.08305926620960236 + ], + [ + 0.08164873212575918 + ], + [ + 0.07955996185541159 + ], + [ + 0.07750068545341494 + ], + [ + 0.07418322682380679 + ], + [ + 0.07077239453792572 + ], + [ + 0.066904485821724 + ], + [ + 0.06386225044727328 + ], + [ + 0.06196515917778034 + ], + [ + 0.060942891985177994 + ], + [ + 0.05651961639523506 + ], + [ + 0.05390988692641261 + ], + [ + 0.05283355712890625 + ], + [ + 0.052160234749317226 + ], + [ + 0.051083904951810866 + ], + [ + 0.05000757426023483 + ], + [ + 0.04785983040928846 + ], + [ + 0.043407066613435824 + ], + [ + 0.041839262098074016 + ], + [ + 0.03950475677847868 + ], + [ + 0.036860618740320206 + ], + [ + 0.03277646407485011 + ], + [ + 0.028476058319211035 + ], + [ + 0.025895814225077658 + ], + [ + 0.024052783176302935 + ], + [ + 0.021811658143997246 + ], + [ + 0.019324795231223185 + ], + [ + 0.01815508425235751 + ], + [ + 0.016218673437833786 + ], + [ + 0.014744248241186142 + ], + [ + 0.013456583805382305 + ] + ], + "q99": [ + [ + 0.2735500299930551 + ], + [ + 0.24881410896778028 + ], + [ + 0.21580664277076672 + ], + [ + 0.2052546763420101 + ], + [ + 0.1932626932859412 + ], + [ + 0.18000760972499769 + ], + [ + 0.17298443019390097 + ], + [ + 0.1632925420999527 + ], + [ + 0.16122343719005516 + ], + [ + 0.1542346662282938 + ], + [ + 0.15133496761321913 + ], + [ + 0.1495017570257185 + ], + [ + 0.14877929508686055 + ], + [ + 0.14755060493946065 + ], + [ + 0.1465529066324232 + ], + [ + 0.1465529066324232 + ], + [ + 0.1443265312910077 + ], + [ + 0.14501950502395572 + ], + [ + 0.14391368985176028 + ], + [ + 0.14142191410064697 + ], + [ + 0.13965752065181702 + ], + [ + 0.1385811936855315 + ], + [ + 0.13682170748710515 + ], + [ + 0.13331258296966553 + ], + [ + 0.12798499405384034 + ], + [ + 0.12330123186111411 + ], + [ + 0.12093723833560885 + ], + [ + 0.12013613551855068 + ], + [ + 0.11812599956989239 + ], + [ + 0.11202679693698864 + ], + [ + 0.1087240880727767 + ], + [ + 0.10671395301818808 + ], + [ + 0.10500853598117799 + ], + [ + 0.1009391263127323 + ], + [ + 0.09654533892869929 + ], + [ + 0.0909081181883811 + ], + [ + 0.08679447531700085 + ], + [ + 0.08364903599023721 + ], + [ + 0.07851312309503555 + ], + [ + 0.07395223587751379 + ], + [ + 0.07183397740125627 + ], + [ + 0.06871802628040255 + ], + [ + 0.06693397492170314 + ], + [ + 0.06421611547470063 + ], + [ + 0.059655228704213706 + ], + [ + 0.055030450373887915 + ], + [ + 0.05469624653458526 + ], + [ + 0.05278932437300653 + ], + [ + 0.05108390495181064 + ], + [ + 0.05059243068099002 + ] + ], + "mean": [ + [ + -0.013989626429975033 + ], + [ + -0.015225253999233246 + ], + [ + -0.016586728394031525 + ], + [ + -0.017256205901503563 + ], + [ + -0.017700396478176117 + ], + [ + -0.018109172582626343 + ], + [ + -0.01829451695084572 + ], + [ + -0.01859162002801895 + ], + [ + -0.01876894198358059 + ], + [ + -0.019221777096390724 + ], + [ + -0.01930413953959942 + ], + [ + -0.019395316019654274 + ], + [ + -0.019467324018478394 + ], + [ + -0.019532514736056328 + ], + [ + -0.019413596019148827 + ], + [ + -0.0192891713231802 + ], + [ + -0.019217392429709435 + ], + [ + -0.019067583605647087 + ], + [ + -0.018935032188892365 + ], + [ + -0.01881556399166584 + ], + [ + -0.0186748206615448 + ], + [ + -0.01857842691242695 + ], + [ + -0.01851698011159897 + ], + [ + -0.01845453679561615 + ], + [ + -0.018773812800645828 + ], + [ + -0.01880180649459362 + ], + [ + -0.01875247061252594 + ], + [ + -0.018595727160573006 + ], + [ + -0.01842498779296875 + ], + [ + -0.01819092407822609 + ], + [ + -0.01808316260576248 + ], + [ + -0.01785648800432682 + ], + [ + -0.01760284975171089 + ], + [ + -0.01740417629480362 + ], + [ + -0.017140749841928482 + ], + [ + -0.01688993349671364 + ], + [ + -0.016672417521476746 + ], + [ + -0.016396597027778625 + ], + [ + -0.016102652996778488 + ], + [ + -0.015893371775746346 + ], + [ + -0.015636462718248367 + ], + [ + -0.01536734588444233 + ], + [ + -0.015042266808450222 + ], + [ + -0.014733885414898396 + ], + [ + -0.014336668886244297 + ], + [ + -0.013800859451293945 + ], + [ + -0.013381405733525753 + ], + [ + -0.013159018009901047 + ], + [ + -0.012775709852576256 + ], + [ + -0.012322713620960712 + ] + ], + "std": [ + [ + 0.13369478285312653 + ], + [ + 0.13094447553157806 + ], + [ + 0.1261841207742691 + ], + [ + 0.12381526082754135 + ], + [ + 0.12287943065166473 + ], + [ + 0.12129901349544525 + ], + [ + 0.11952553689479828 + ], + [ + 0.11795394867658615 + ], + [ + 0.11794279515743256 + ], + [ + 0.11611750721931458 + ], + [ + 0.11596905440092087 + ], + [ + 0.11412898451089859 + ], + [ + 0.11410611122846603 + ], + [ + 0.1140536367893219 + ], + [ + 0.11306313425302505 + ], + [ + 0.11219567805528641 + ], + [ + 0.11015865951776505 + ], + [ + 0.11003858596086502 + ], + [ + 0.10903304815292358 + ], + [ + 0.10842956602573395 + ], + [ + 0.10785985738039017 + ], + [ + 0.10665571689605713 + ], + [ + 0.10577298700809479 + ], + [ + 0.1053309217095375 + ], + [ + 0.10235118865966797 + ], + [ + 0.10158602148294449 + ], + [ + 0.1008862629532814 + ], + [ + 0.1006600633263588 + ], + [ + 0.10049361735582352 + ], + [ + 0.10021480917930603 + ], + [ + 0.0999903604388237 + ], + [ + 0.09978659451007843 + ], + [ + 0.09952486306428909 + ], + [ + 0.09923534095287323 + ], + [ + 0.09873705357313156 + ], + [ + 0.09817323833703995 + ], + [ + 0.09774632751941681 + ], + [ + 0.09702428430318832 + ], + [ + 0.09657815098762512 + ], + [ + 0.09616626054048538 + ], + [ + 0.09581798315048218 + ], + [ + 0.09485376626253128 + ], + [ + 0.09436532855033875 + ], + [ + 0.09381768852472305 + ], + [ + 0.0930541455745697 + ], + [ + 0.09171908348798752 + ], + [ + 0.09102018177509308 + ], + [ + 0.09072652459144592 + ], + [ + 0.09016957879066467 + ], + [ + 0.0894770547747612 + ] + ], + "min": [ + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.7296231985092163 + ], + [ + -1.7296231985092163 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ] + ], + "max": [ + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.238025426864624 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ] + ] + }, + "psm_cutter_pose": { + "q01": [ + [ + 0.0010604105331003665, + -0.012296861037611961, + 0.018309726119041442 + ], + [ + 0.001060297777876258, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010603762045502663, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.0010603307746350765, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.001060367445461452, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.0010603643814101815, + -0.012296861037611961, + 0.018309726119041442 + ], + [ + 0.001060367445461452, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010603742627426983, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.0010603823466226459, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603827377781271, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010603789705783129, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.001060405746102333, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060379478149116, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060405746102333, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603873524814844, + -0.012296861037611961, + 0.018309723809361456 + ], + [ + 0.0010604173876345158, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060385606251657, + -0.012296861037611961, + 0.018309731259942053 + ], + [ + 0.0010604123817756772, + -0.012296861037611961, + 0.018309731259942053 + ], + [ + 0.001060404391027987, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060413895174861, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.0010604073759168386, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.0010604106495156883, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010604009358212351, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060413895174861, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.00106040277518332, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010604107519611716, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010604075714945793, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.0010604041954502463, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.001060400833375752, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.001060402370058, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010604023840278386, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.001060385606251657, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.001060392656363547, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603857226669788, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.018309726119041442 + ], + [ + 0.0010603943932801486, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.001060397573746741, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.001060402370058, + -0.012296861037611961, + 0.018309716135263443 + ], + [ + 0.001060394002124667, + -0.012296861037611961, + 0.018309716135263443 + ], + [ + 0.0010604072595015168, + -0.012296861037611961, + 0.018309716135263443 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.018309705182909964 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.01830969750881195 + ], + [ + 0.0010603975597769022, + -0.012296861037611961, + 0.018309690058231354 + ], + [ + 0.0010604025656357407, + -0.012296988628804684, + 0.018309690058231354 + ], + [ + 0.001060400833375752, + -0.012297002598643303, + 0.018309682607650757 + ], + [ + 0.0010603876505047084, + -0.012297002598643303, + 0.018309690058231354 + ], + [ + 0.0010604006377980112, + -0.012297105081379413, + 0.018309673517942427 + ], + [ + 0.0010603856202214955, + -0.012297130189836025, + 0.01830967515707016 + ], + [ + 0.0010604006238281727, + -0.012297144047915936, + 0.018309676051139832 + ] + ], + "q02": [ + [ + 0.0010604956187307835, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604178393259645, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604405542835593, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604639770463108, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604448290541769, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604559630155563, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604559630155563, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604635858908295, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060474356636405, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604560514912008, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604538256302476, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604955023154616, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604688432067633, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604955023154616, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060468959622085, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604921262711287, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604738490656018, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604956187307835, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604960098862647, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604960098862647, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604822589084506, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604925733059645, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604822589084506, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060488778166473, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604822309687734, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604854905977845, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604759864509105, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604756232351065, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604888666421175, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604863613843918, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060495413839817, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310477882623674 + ], + [ + 0.001060495530255139, + -0.012296577915549278, + 0.018310474678874016 + ], + [ + 0.001060468959622085, + -0.012296577915549278, + 0.018310468569397928 + ], + [ + 0.0010604822589084506, + -0.012296577915549278, + 0.018310438469052316 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.01831032268702984 + ], + [ + 0.0010604854905977845, + -0.012296577915549278, + 0.01831021934747696 + ], + [ + 0.001060495530255139, + -0.012296577915549278, + 0.018310123905539512 + ], + [ + 0.001060479753650725, + -0.012296705506742, + 0.018310114666819574 + ], + [ + 0.0010604888666421175, + -0.012296705506742, + 0.018310105353593828 + ], + [ + 0.0010604822309687734, + -0.012296705506742, + 0.018310103565454483 + ], + [ + 0.0010604831017553807, + -0.012296705506742, + 0.018310080170631408 + ], + [ + 0.0010604689875617624, + -0.01229671947658062, + 0.01831006072461605 + ], + [ + 0.001060488778166473, + -0.01229671947658062, + 0.018310114666819574 + ] + ], + "q98": [ + [ + 0.05975899770855904, + 0.036272537261247635, + 0.05230721741914749 + ], + [ + 0.05975855886936188, + 0.03627470687031746, + 0.05230721741914749 + ], + [ + 0.05975855886936188, + 0.03627003446221352, + 0.05230792984366417 + ], + [ + 0.05975910812616348, + 0.03627283677458763, + 0.052307915538549424 + ], + [ + 0.05975855886936188, + 0.03627113565802574, + 0.05230753198266029 + ], + [ + 0.05975915908813476, + 0.03626826018095017, + 0.05230792984366417 + ], + [ + 0.05975872024893761, + 0.03626955941319466, + 0.05230792984366417 + ], + [ + 0.05975910812616348, + 0.03626837208867073, + 0.052306992262601854 + ], + [ + 0.05975855886936188, + 0.036269669085741044, + 0.05230840265750885 + ], + [ + 0.0597586664557457, + 0.03626968339085579, + 0.05230840265750885 + ], + [ + 0.05975819379091263, + 0.03626968339085579, + 0.05230792984366417 + ], + [ + 0.05975819379091263, + 0.03627011090517044, + 0.052305065393447876 + ], + [ + 0.05975819379091263, + 0.03627011090517044, + 0.05230469450354576 + ], + [ + 0.05975847125053406, + 0.03627011090517044, + 0.0523039810359478 + ], + [ + 0.05975855886936188, + 0.036271925419569015, + 0.052302586287260054 + ], + [ + 0.059759221374988555, + 0.036270062774419784, + 0.052302571088075636 + ], + [ + 0.05975934311747551, + 0.036269549280405045, + 0.052302571088075636 + ], + [ + 0.05975934311747551, + 0.03627121224999428, + 0.05230607330799103 + ], + [ + 0.05975934311747551, + 0.03627208858728409, + 0.05230764284729958 + ], + [ + 0.059759389609098434, + 0.036270784437656405, + 0.052306298613548276 + ], + [ + 0.05975969821214676, + 0.03626950308680534, + 0.05230764284729958 + ], + [ + 0.05975894793868065, + 0.0362693502008915, + 0.05230840265750885 + ], + [ + 0.059759112149477, + 0.03626939550042153, + 0.052307552546262744 + ], + [ + 0.059760202467441556, + 0.03626943752169609, + 0.05230840265750885 + ], + [ + 0.059760438352823256, + 0.036269669085741044, + 0.05230789497494698 + ], + [ + 0.059760438352823256, + 0.036268982738256454, + 0.05230792984366417 + ], + [ + 0.0597606635093689, + 0.03626860812306404, + 0.05230855196714401 + ], + [ + 0.0597606635093689, + 0.03626925453543663, + 0.05230855196714401 + ], + [ + 0.05976067692041397, + 0.03626847490668297, + 0.052308525145053866 + ], + [ + 0.05976048082113266, + 0.03626763507723808, + 0.05230840265750885 + ], + [ + 0.05976036190986633, + 0.036269224286079406, + 0.05230840265750885 + ], + [ + 0.05976072698831558, + 0.036268898844718934, + 0.05230840265750885 + ], + [ + 0.059761276245117186, + 0.0362696485221386, + 0.05230792984366417 + ], + [ + 0.059761449694633484, + 0.03626960322260857, + 0.05230785295367241 + ], + [ + 0.059761276245117186, + 0.0362696485221386, + 0.05230840265750885 + ], + [ + 0.059761752635240556, + 0.03626953586935997, + 0.05230840265750885 + ], + [ + 0.05976260706782341, + 0.03626968339085579, + 0.05230855196714401 + ], + [ + 0.05976202383637428, + 0.036269751340150834, + 0.05230855196714401 + ], + [ + 0.059762719720602035, + 0.036269495636224745, + 0.05230840265750885 + ], + [ + 0.05976342499256134, + 0.036264702677726746, + 0.05230840265750885 + ], + [ + 0.05976339906454086, + 0.03626900419592857, + 0.05230855196714401 + ], + [ + 0.05976288706064224, + 0.03626327157020569, + 0.05230855196714401 + ], + [ + 0.05976413786411285, + 0.03626327157020569, + 0.05230840265750885 + ], + [ + 0.059764391332864764, + 0.03626690253615379, + 0.05230792984366417 + ], + [ + 0.05976548671722412, + 0.03626886874437332, + 0.05230757042765617 + ], + [ + 0.05976548671722412, + 0.036269669085741044, + 0.05230469450354576 + ], + [ + 0.05976408943533897, + 0.036269669085741044, + 0.05230469450354576 + ], + [ + 0.059764463156461715, + 0.03626950308680534, + 0.05230469450354576 + ], + [ + 0.05976451143622399, + 0.03626954838633537, + 0.05230792984366417 + ], + [ + 0.059764369875192645, + 0.03626899138092995, + 0.05230723515152931 + ] + ], + "q99": [ + [ + 0.060061350762844086, + 0.0364940170943737, + 0.0534173946082592 + ], + [ + 0.06005730852484703, + 0.03646964058279991, + 0.05341728925704956 + ], + [ + 0.06005730852484703, + 0.036472220569849015, + 0.05341785505414009 + ], + [ + 0.06005948528647423, + 0.0364871160686016, + 0.053417864441871646 + ], + [ + 0.06005948528647423, + 0.03647067323327065, + 0.053417864441871646 + ], + [ + 0.06006235390901565, + 0.03646994516253471, + 0.05341789305210114 + ], + [ + 0.060061678439378735, + 0.03647063255310059, + 0.05341789305210114 + ], + [ + 0.060057436376810075, + 0.03646973192691803, + 0.05341789305210114 + ], + [ + 0.06005730852484703, + 0.03647314593195915, + 0.05341790065169334 + ], + [ + 0.06005970656871796, + 0.036473114192485806, + 0.05341789305210114 + ], + [ + 0.06005730852484703, + 0.036470954716205595, + 0.05341789305210114 + ], + [ + 0.06005730852484703, + 0.03647363871335983, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.03647012084722519, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.03646874278783798, + 0.05341727286577225 + ], + [ + 0.06005730852484703, + 0.03646448612213135, + 0.053417864441871646 + ], + [ + 0.06005730852484703, + 0.03646770536899566, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.0364644093811512, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467151343822474, + 0.05341740980744362 + ], + [ + 0.06005730852484703, + 0.0364644093811512, + 0.05341792166233063 + ], + [ + 0.06005730852484703, + 0.03646719828248024, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467151343822474, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467866599559785, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467866599559785, + 0.05341913133859634 + ], + [ + 0.06005730852484703, + 0.036467151343822474, + 0.053419167548418044 + ], + [ + 0.06005730852484703, + 0.03646681278944015, + 0.053419167548418044 + ], + [ + 0.06005730852484703, + 0.0364674910902977, + 0.05341930508613586 + ], + [ + 0.06005730852484703, + 0.0364674910902977, + 0.05341874435544014 + ], + [ + 0.06005730852484703, + 0.03646881729364395, + 0.05341926261782646 + ], + [ + 0.06005730852484703, + 0.036467243880033494, + 0.05341944262385368 + ], + [ + 0.06005730852484703, + 0.03646907299757004, + 0.053419450223445894 + ], + [ + 0.06005730852484703, + 0.03646739363670349, + 0.053419459611177444 + ], + [ + 0.06005730852484703, + 0.03646907299757004, + 0.05342051446437836 + ], + [ + 0.06005730852484703, + 0.03646734938025475, + 0.05342084661126137 + ], + [ + 0.06005730852484703, + 0.03646781742572784, + 0.053421472758054735 + ], + [ + 0.060057284384965895, + 0.03646781742572784, + 0.053421711325645445 + ], + [ + 0.06005730852484703, + 0.0364674074947834, + 0.05342211604118347 + ], + [ + 0.06005730852484703, + 0.03646813869476318, + 0.05342196375131607 + ], + [ + 0.06005730852484703, + 0.03646813869476318, + 0.05342196106910706 + ], + [ + 0.060059226751327514, + 0.036467522382736206, + 0.05342162773013115 + ], + [ + 0.060059226751327514, + 0.036467129886150355, + 0.05342162773013115 + ], + [ + 0.06005974099040031, + 0.036467522382736206, + 0.053421030193567275 + ], + [ + 0.06005927264690399, + 0.03646574318408966, + 0.05342015877366066 + ], + [ + 0.06005957424640655, + 0.03646582812070846, + 0.05342064961791038 + ], + [ + 0.06005948528647423, + 0.03646420508623123, + 0.053422558456659316 + ], + [ + 0.060058924704790115, + 0.036465895175933835, + 0.053421947211027145 + ], + [ + 0.06005970567464829, + 0.036469354927539825, + 0.053421781063079835 + ], + [ + 0.06005788877606392, + 0.036469354927539825, + 0.05342262119054794 + ], + [ + 0.06005956441164017, + 0.036463864147663116, + 0.05342264220118523 + ], + [ + 0.06005978211760521, + 0.036463864147663116, + 0.05342254161834717 + ], + [ + 0.06005948528647423, + 0.036463864147663116, + 0.05342105224728584 + ] + ], + "mean": [ + [ + 0.04174838960170746, + 0.01562423724681139, + 0.03695361316204071 + ], + [ + 0.04174826666712761, + 0.015624208375811577, + 0.0369534008204937 + ], + [ + 0.04174823686480522, + 0.015624097548425198, + 0.036953557282686234 + ], + [ + 0.04174826294183731, + 0.015624103136360645, + 0.03695352375507355 + ], + [ + 0.04174830764532089, + 0.015624068677425385, + 0.036953575909137726 + ], + [ + 0.04174812138080597, + 0.01562410593032837, + 0.036953940987586975 + ], + [ + 0.04174822196364403, + 0.015623931773006916, + 0.03695393726229668 + ], + [ + 0.04174824059009552, + 0.015623954124748707, + 0.03695393353700638 + ], + [ + 0.04174816980957985, + 0.015624050050973892, + 0.03695392608642578 + ], + [ + 0.04174815118312836, + 0.015624016523361206, + 0.03695397078990936 + ], + [ + 0.04174819961190224, + 0.015624038875102997, + 0.036954015493392944 + ], + [ + 0.04174819588661194, + 0.015624101273715496, + 0.036953989416360855 + ], + [ + 0.04174821451306343, + 0.015624064952135086, + 0.036953993141651154 + ], + [ + 0.04174807295203209, + 0.01562410406768322, + 0.036954108625650406 + ], + [ + 0.04174796864390373, + 0.01562417671084404, + 0.036954160779714584 + ], + [ + 0.041747886687517166, + 0.015624221414327621, + 0.036954209208488464 + ], + [ + 0.041747793555259705, + 0.015624274499714375, + 0.036954332143068314 + ], + [ + 0.041747815907001495, + 0.015624298714101315, + 0.036954253911972046 + ], + [ + 0.04174787178635597, + 0.015624254941940308, + 0.036954302340745926 + ], + [ + 0.04174785315990448, + 0.015624277293682098, + 0.036954365670681 + ], + [ + 0.0417478121817112, + 0.015624301508069038, + 0.03695434704422951 + ], + [ + 0.04174779728055, + 0.01562427543103695, + 0.036954350769519806 + ], + [ + 0.041747745126485825, + 0.015624303370714188, + 0.036954425275325775 + ], + [ + 0.0417478047311306, + 0.015624298714101315, + 0.036954399198293686 + ], + [ + 0.041747789829969406, + 0.01562438253313303, + 0.03695448860526085 + ], + [ + 0.041747771203517914, + 0.015624464489519596, + 0.03695456311106682 + ], + [ + 0.041747670620679855, + 0.015624606981873512, + 0.03695440664887428 + ], + [ + 0.04174747318029404, + 0.015624720603227615, + 0.03695446625351906 + ], + [ + 0.04174753651022911, + 0.015624891966581345, + 0.0369543619453907 + ], + [ + 0.0417475663125515, + 0.015625005587935448, + 0.03695424646139145 + ], + [ + 0.0417475551366806, + 0.015625037252902985, + 0.03695395588874817 + ], + [ + 0.0417480394244194, + 0.01562509685754776, + 0.03695373609662056 + ], + [ + 0.041748497635126114, + 0.01562519744038582, + 0.036953359842300415 + ], + [ + 0.041748736053705215, + 0.015625236555933952, + 0.03695306554436684 + ], + [ + 0.04174917936325073, + 0.0156252458691597, + 0.03695281594991684 + ], + [ + 0.04174989089369774, + 0.015625210478901863, + 0.0369526743888855 + ], + [ + 0.04174978286027908, + 0.015625441446900368, + 0.03695289418101311 + ], + [ + 0.041749823838472366, + 0.01562555879354477, + 0.03695332631468773 + ], + [ + 0.041749779134988785, + 0.015625735744833946, + 0.036953091621398926 + ], + [ + 0.041749972850084305, + 0.015625813975930214, + 0.036952704191207886 + ], + [ + 0.041750483214855194, + 0.015625834465026855, + 0.036952078342437744 + ], + [ + 0.041750434786081314, + 0.015625881031155586, + 0.03695208579301834 + ], + [ + 0.04175000265240669, + 0.015625784173607826, + 0.03695247694849968 + ], + [ + 0.041750047355890274, + 0.015625828877091408, + 0.036952413618564606 + ], + [ + 0.041750501841306686, + 0.01562557928264141, + 0.036951784044504166 + ], + [ + 0.04175044223666191, + 0.015626121312379837, + 0.036951880902051926 + ], + [ + 0.041750356554985046, + 0.01562606729567051, + 0.03695184737443924 + ], + [ + 0.04175051674246788, + 0.01562589406967163, + 0.03695107251405716 + ], + [ + 0.04175080731511116, + 0.015625998377799988, + 0.036950819194316864 + ], + [ + 0.04175054654479027, + 0.015626152977347374, + 0.03695116937160492 + ] + ], + "std": [ + [ + 0.021656708791851997, + 0.016862818971276283, + 0.010961906053125858 + ], + [ + 0.021656665951013565, + 0.01686282269656658, + 0.010961754247546196 + ], + [ + 0.021656647324562073, + 0.016862738877534866, + 0.010961907915771008 + ], + [ + 0.021656641736626625, + 0.01686272770166397, + 0.010961881838738918 + ], + [ + 0.021656667813658714, + 0.016862763091921806, + 0.010961904190480709 + ], + [ + 0.021656537428498268, + 0.016862768679857254, + 0.010962110012769699 + ], + [ + 0.021656585857272148, + 0.01686263084411621, + 0.010962076485157013 + ], + [ + 0.02165660820901394, + 0.016862627118825912, + 0.010962080210447311 + ], + [ + 0.021656583994627, + 0.0168627742677927, + 0.010962119325995445 + ], + [ + 0.021656593307852745, + 0.016862738877534866, + 0.010962141677737236 + ], + [ + 0.021656576544046402, + 0.016862768679857254, + 0.010962089523673058 + ], + [ + 0.021656591445207596, + 0.01686277613043785, + 0.010962135158479214 + ], + [ + 0.021656600758433342, + 0.016862738877534866, + 0.010962125845253468 + ], + [ + 0.021656526252627373, + 0.01686283014714718, + 0.010962107218801975 + ], + [ + 0.021656515076756477, + 0.016862772405147552, + 0.010962149128317833 + ], + [ + 0.021656446158885956, + 0.016862768679857254, + 0.010962123051285744 + ], + [ + 0.02165638469159603, + 0.0168627817183733, + 0.010962218046188354 + ], + [ + 0.02165636233985424, + 0.01686280220746994, + 0.010962185449898243 + ], + [ + 0.021656349301338196, + 0.016862796619534492, + 0.010962228290736675 + ], + [ + 0.02165638841688633, + 0.016862818971276283, + 0.010962250642478466 + ], + [ + 0.02165636420249939, + 0.016862835735082626, + 0.010962274856865406 + ], + [ + 0.021656349301338196, + 0.016862813383340836, + 0.010962273925542831 + ], + [ + 0.02165633998811245, + 0.01686283014714718, + 0.010962248779833317 + ], + [ + 0.021656343713402748, + 0.016862807795405388, + 0.010962246917188168 + ], + [ + 0.021656334400177002, + 0.016862845048308372, + 0.01096221711486578 + ], + [ + 0.021656300872564316, + 0.016862882301211357, + 0.010962207801640034 + ], + [ + 0.021656235679984093, + 0.016862910240888596, + 0.010962176136672497 + ], + [ + 0.021656213328242302, + 0.016862966120243073, + 0.010962212458252907 + ], + [ + 0.02165621891617775, + 0.01686297357082367, + 0.010962235741317272 + ], + [ + 0.021656252443790436, + 0.016863029450178146, + 0.010962269268929958 + ], + [ + 0.02165624313056469, + 0.016863156110048294, + 0.0109621686860919 + ], + [ + 0.021656446158885956, + 0.016863243654370308, + 0.010962327942252159 + ], + [ + 0.021656740456819534, + 0.016863223165273666, + 0.010962202213704586 + ], + [ + 0.021656839177012444, + 0.016863321885466576, + 0.01096216682344675 + ], + [ + 0.02165701426565647, + 0.016863342374563217, + 0.010962163098156452 + ], + [ + 0.02165716327726841, + 0.016863428056240082, + 0.010962261818349361 + ], + [ + 0.021657142788171768, + 0.016863510012626648, + 0.010962354019284248 + ], + [ + 0.021657127887010574, + 0.016863489523530006, + 0.010962530970573425 + ], + [ + 0.02165718376636505, + 0.016863713040947914, + 0.010962706059217453 + ], + [ + 0.021657271310687065, + 0.016863621771335602, + 0.010962709784507751 + ], + [ + 0.021657511591911316, + 0.016863856464624405, + 0.010962504893541336 + ], + [ + 0.021657530218362808, + 0.016863852739334106, + 0.010962522588670254 + ], + [ + 0.021657362580299377, + 0.01686367206275463, + 0.01096266321837902 + ], + [ + 0.021657360717654228, + 0.016863737255334854, + 0.010962797328829765 + ], + [ + 0.02165757119655609, + 0.016863740980625153, + 0.010962500236928463 + ], + [ + 0.021657530218362808, + 0.01686413586139679, + 0.010962828062474728 + ], + [ + 0.021657513454556465, + 0.016864167526364326, + 0.010962964035570621 + ], + [ + 0.021657569333910942, + 0.01686408743262291, + 0.010962503962218761 + ], + [ + 0.02165764756500721, + 0.016864201053977013, + 0.010962441563606262 + ], + [ + 0.021657561883330345, + 0.016864392906427383, + 0.010962669737637043 + ] + ], + "min": [ + [ + 0.0010579529916867614, + -0.012299638241529465, + 0.018306590616703033 + ], + [ + 0.001057516084983945, + -0.012299779802560806, + 0.018306676298379898 + ], + [ + 0.0010587950237095356, + -0.012299779802560806, + 0.018306778743863106 + ], + [ + 0.0010579811641946435, + -0.012299638241529465, + 0.0183066688477993 + ], + [ + 0.0010588082950562239, + -0.012299779802560806, + 0.018306581303477287 + ], + [ + 0.0010583956027403474, + -0.012298944406211376, + 0.01830657385289669 + ], + [ + 0.001058505498804152, + -0.012298944406211376, + 0.018306581303477287 + ], + [ + 0.0010588199365884066, + -0.012299085967242718, + 0.01830657385289669 + ], + [ + 0.0010588265722617507, + -0.012298944406211376, + 0.018306676298379898 + ], + [ + 0.0010586751159280539, + -0.012298944406211376, + 0.0183066688477993 + ], + [ + 0.0010591027094051242, + -0.012298944406211376, + 0.018306683748960495 + ], + [ + 0.0010585403069853783, + -0.012298391200602055, + 0.018306763842701912 + ], + [ + 0.0010594987543299794, + -0.012298532761633396, + 0.01830677129328251 + ], + [ + 0.0010588199365884066, + -0.012298532761633396, + 0.0183066688477993 + ], + [ + 0.0010593606857582927, + -0.012298391200602055, + 0.018307477235794067 + ], + [ + 0.001059222617186606, + -0.012298532761633396, + 0.018307572230696678 + ], + [ + 0.0010592408943921328, + -0.012298391200602055, + 0.018307508900761604 + ], + [ + 0.0010595021303743124, + -0.012298391200602055, + 0.018307501450181007 + ], + [ + 0.0010587983997538686, + -0.012298391200602055, + 0.018307508900761604 + ], + [ + 0.0010593857150524855, + -0.012298391200602055, + 0.018306581303477287 + ], + [ + 0.001059074653312564, + -0.012298532761633396, + 0.01830650307238102 + ], + [ + 0.0010595021303743124, + -0.012298532761633396, + 0.018306588754057884 + ], + [ + 0.0010589613812044263, + -0.012298391200602055, + 0.018306691199541092 + ], + [ + 0.001059222617186606, + -0.012298532761633396, + 0.018306581303477287 + ], + [ + 0.0010589497396722436, + -0.012298532761633396, + 0.018306493759155273 + ], + [ + 0.0010588082950562239, + -0.012298532761633396, + 0.018306486308574677 + ], + [ + 0.0010589497396722436, + -0.012299638241529465, + 0.018306493759155273 + ], + [ + 0.0010588082950562239, + -0.012299638241529465, + 0.018306486308574677 + ], + [ + 0.0010590910678729415, + -0.012299779802560806, + 0.018306588754057884 + ], + [ + 0.0010589497396722436, + -0.012299779802560806, + 0.018306581303477287 + ], + [ + 0.0010590910678729415, + -0.012299638241529465, + 0.01830659620463848 + ], + [ + 0.0010588082950562239, + -0.012299779802560806, + 0.018306676298379898 + ], + [ + 0.0010590910678729415, + -0.012298532761633396, + 0.018306683748960495 + ], + [ + 0.0010588082950562239, + -0.01229921355843544, + 0.018306581303477287 + ], + [ + 0.0010589529993012547, + -0.01229921355843544, + 0.01830621063709259 + ], + [ + 0.0010589563753455877, + -0.01229921355843544, + 0.018306218087673187 + ], + [ + 0.0010590977035462856, + -0.012299779802560806, + 0.018304968252778053 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.018306046724319458 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.012299779802560806, + 0.018303047865629196 + ], + [ + 0.0010590811725705862, + -0.012299638241529465, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.012299907393753529, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.012300203554332256, + 0.01830303855240345 + ], + [ + 0.0010589563753455877, + -0.0123013099655509, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.0123013099655509, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.0123013099655509, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.0123013099655509, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.012301593087613583, + 0.018303047865629196 + ] + ], + "max": [ + [ + 0.06069134175777435, + 0.0371490940451622, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.037352509796619415, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.037352509796619415, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.0373203307390213, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.037399016320705414, + 0.05442151427268982 + ], + [ + 0.060696426779031754, + 0.037399016320705414, + 0.05442151427268982 + ], + [ + 0.06069785729050636, + 0.037258680909872055, + 0.05442151427268982 + ], + [ + 0.060704365372657776, + 0.037258680909872055, + 0.05422231927514076 + ], + [ + 0.060704365372657776, + 0.037258680909872055, + 0.05415140837430954 + ], + [ + 0.06072472780942917, + 0.037258680909872055, + 0.054133109748363495 + ], + [ + 0.06072472780942917, + 0.03727588430047035, + 0.05401035398244858 + ], + [ + 0.06072472780942917, + 0.03726298362016678, + 0.054114025086164474 + ], + [ + 0.06074767932295799, + 0.037255723029375076, + 0.05409051105380058 + ], + [ + 0.060746755450963974, + 0.037255723029375076, + 0.05409051105380058 + ], + [ + 0.06077069416642189, + 0.03725293278694153, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037295687943696976, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037295687943696976, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.0372454933822155, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037241529673337936, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037241529673337936, + 0.05415912717580795 + ], + [ + 0.06077577918767929, + 0.037241529673337936, + 0.05415912717580795 + ], + [ + 0.0607772096991539, + 0.03724198415875435, + 0.05415912717580795 + ], + [ + 0.06078371778130531, + 0.03724198415875435, + 0.05415912717580795 + ], + [ + 0.06078371778130531, + 0.03724198415875435, + 0.05419984832406044 + ], + [ + 0.060804080218076706, + 0.03724198415875435, + 0.05424054339528084 + ], + [ + 0.060804080218076706, + 0.03724198415875435, + 0.05424054339528084 + ], + [ + 0.060804080218076706, + 0.03724253922700882, + 0.05425579845905304 + ], + [ + 0.06082703173160553, + 0.03724253922700882, + 0.05426068976521492 + ], + [ + 0.06082610785961151, + 0.03723974898457527, + 0.05426156893372536 + ], + [ + 0.0608467198908329, + 0.03723974898457527, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.0372391901910305, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037236396223306656, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037236396223306656, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037233300507068634, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037232741713523865, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.03722994774580002, + 0.05433514714241028 + ], + [ + 0.06084665656089783, + 0.03723050653934479, + 0.05433514714241028 + ], + [ + 0.06084665656089783, + 0.03723050653934479, + 0.05433514714241028 + ], + [ + 0.06084665656089783, + 0.03769126534461975, + 0.05433570221066475 + ], + [ + 0.06084665656089783, + 0.03769740089774132, + 0.054334674030542374 + ], + [ + 0.06084665656089783, + 0.03769740089774132, + 0.05432867631316185 + ], + [ + 0.06084665656089783, + 0.03769740089774132, + 0.05434387922286987 + ], + [ + 0.06084635481238365, + 0.03769740089774132, + 0.05434281751513481 + ], + [ + 0.060847364366054535, + 0.03770245611667633, + 0.054522555321455 + ], + [ + 0.06084875389933586, + 0.03770245611667633, + 0.05452051758766174 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452201887965202 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452554300427437 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452554300427437 + ], + [ + 0.06084875389933586, + 0.03770504519343376, + 0.05452468991279602 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452468991279602 + ] + ] + }, + "psm_cutter_gripper": { + "q01": [ + [ + -0.03328298255801201 + ], + [ + -0.0334659269452095 + ], + [ + -0.033792615830898286 + ], + [ + -0.03520390838384628 + ], + [ + -0.03634731590747833 + ], + [ + -0.038836678862571715 + ], + [ + -0.040822941362857815 + ], + [ + -0.0412868395447731 + ], + [ + -0.041901012212038034 + ], + [ + -0.042266903817653655 + ], + [ + -0.042266903817653655 + ], + [ + -0.04244984820485115 + ], + [ + -0.043534451425075525 + ], + [ + -0.04473666563630104 + ], + [ + -0.04473666563630104 + ], + [ + -0.04619369372725486 + ], + [ + -0.04619369372725486 + ], + [ + -0.04710842132568359 + ], + [ + -0.04710842132568359 + ], + [ + -0.050362234711647025 + ], + [ + -0.050362234711647025 + ], + [ + -0.05394273415207861 + ], + [ + -0.05739256039261814 + ], + [ + -0.05975125029683112 + ], + [ + -0.05975125029683112 + ], + [ + -0.061770182698965066 + ], + [ + -0.06591258645057678 + ], + [ + -0.08109051764011382 + ], + [ + -0.09396855503320693 + ], + [ + -0.15973739743232726 + ], + [ + -0.25243188858032223 + ], + [ + -0.3611994016170501 + ], + [ + -0.4833807504177093 + ], + [ + -0.5839026665687561 + ], + [ + -0.6418702220916748 + ], + [ + -0.7447312188148498 + ], + [ + -0.7683376717567444 + ], + [ + -0.8040381789207458 + ], + [ + -0.8454099512100219 + ], + [ + -0.8735312271118164 + ], + [ + -0.9369675540924072 + ], + [ + -0.9494862198829651 + ], + [ + -0.9519690275192261 + ], + [ + -0.9678852891921996 + ], + [ + -0.9838015484809876 + ], + [ + -0.9935825634002685 + ], + [ + -0.996346390247345 + ], + [ + -1.0096818113327026 + ], + [ + -1.0376854515075684 + ], + [ + -1.052131609916687 + ] + ], + "q02": [ + [ + -0.009761440008878706 + ], + [ + -0.009963986463844776 + ], + [ + -0.01012733019888401 + ], + [ + -0.010290674865245819 + ], + [ + -0.010414816103875636 + ], + [ + -0.010454018600285053 + ], + [ + -0.01057815983891487 + ], + [ + -0.010741503573954104 + ], + [ + -0.011107394471764565 + ], + [ + -0.010741503573954104 + ], + [ + -0.010780706070363522 + ], + [ + -0.011107394471764565 + ], + [ + -0.011270738206803799 + ], + [ + -0.011434082873165607 + ], + [ + -0.011394880153238772 + ], + [ + -0.011394880153238772 + ], + [ + -0.011231535710394381 + ], + [ + -0.011231535710394381 + ], + [ + -0.011107394471764565 + ], + [ + -0.011558224111795424 + ], + [ + -0.011597426608204842 + ], + [ + -0.011760770343244076 + ], + [ + -0.011924115009605885 + ], + [ + -0.011924115009605885 + ], + [ + -0.012087458744645119 + ], + [ + -0.012374944426119326 + ], + [ + -0.012538288384675978 + ], + [ + -0.013681696392595767 + ], + [ + -0.01511259030550718 + ], + [ + -0.018091986328363417 + ], + [ + -0.023358197882771492 + ], + [ + -0.028304254338145252 + ], + [ + -0.04358018979430198 + ], + [ + -0.06866330176591871 + ], + [ + -0.10827749401330942 + ], + [ + -0.21737824141979217 + ], + [ + -0.2732092463970184 + ], + [ + -0.375214329957962 + ], + [ + -0.4611724889278412 + ], + [ + -0.535618155002594 + ], + [ + -0.6050720643997193 + ], + [ + -0.635088152885437 + ], + [ + -0.6559112405776978 + ], + [ + -0.6897691798210144 + ], + [ + -0.7253781867027282 + ], + [ + -0.7478478074073791 + ], + [ + -0.7583279490470887 + ], + [ + -0.770794370174408 + ], + [ + -0.784711308479309 + ], + [ + -0.7896965551376343 + ] + ], + "q98": [ + [ + 0.010454018600285053 + ], + [ + 0.010617362335324287 + ], + [ + 0.010617362335324287 + ], + [ + 0.010904848016798531 + ], + [ + 0.011107394471764565 + ], + [ + 0.011884912289679085 + ], + [ + 0.012211599983274972 + ], + [ + 0.013028320521116292 + ], + [ + 0.013315806202590538 + ], + [ + 0.013766635842621434 + ], + [ + 0.01417172852903608 + ], + [ + 0.014498416930437123 + ], + [ + 0.014700963161885738 + ], + [ + 0.01543927848339088 + ], + [ + 0.015681028366088867 + ], + [ + 0.016334403306245804 + ], + [ + 0.017477812245488167 + ], + [ + 0.017477812245488167 + ], + [ + 0.018052783608436655 + ], + [ + 0.01907205060124401 + ], + [ + 0.019888770207762755 + ], + [ + 0.020581349730491638 + ], + [ + 0.021234724670648575 + ], + [ + 0.02164635181427009 + ], + [ + 0.022992306277155913 + ], + [ + 0.02429905943572525 + ], + [ + 0.024828294292092323 + ], + [ + 0.02565154813230052 + ], + [ + 0.027075907588005103 + ], + [ + 0.028546003997325934 + ], + [ + 0.029526068270206488 + ], + [ + 0.031362056732177734 + ], + [ + 0.03324377983808525 + ], + [ + 0.03500135958194743 + ], + [ + 0.03936591371893883 + ], + [ + 0.047337101250887095 + ], + [ + 0.05615114688873295 + ], + [ + 0.06963029474020015 + ], + [ + 0.09602016121149096 + ], + [ + 0.13390290915966038 + ], + [ + 0.1928766345977785 + ], + [ + 0.25550927281379876 + ], + [ + 0.3583245444297797 + ], + [ + 0.4277457690238959 + ], + [ + 0.47003226280212423 + ], + [ + 0.4992904531955725 + ], + [ + 0.5359840440750124 + ], + [ + 0.559126615524292 + ], + [ + 0.5592507815361023 + ], + [ + 0.5592507815361023 + ] + ], + "q99": [ + [ + 0.036510658711194466 + ], + [ + 0.03896081939339585 + ], + [ + 0.039346312582492694 + ], + [ + 0.04077720627188643 + ], + [ + 0.041901012212037514 + ], + [ + 0.04733056798577283 + ], + [ + 0.04751351237297045 + ], + [ + 0.05257717981934534 + ], + [ + 0.052374631017446126 + ], + [ + 0.05403420791029799 + ], + [ + 0.056477835774421434 + ], + [ + 0.05807207271456666 + ], + [ + 0.0586013071238992 + ], + [ + 0.06258690416812805 + ], + [ + 0.06906185805797446 + ], + [ + 0.07148588806390722 + ], + [ + 0.07269463181495561 + ], + [ + 0.07299518674612032 + ], + [ + 0.07660835295915276 + ], + [ + 0.0793068006634707 + ], + [ + 0.0793068006634707 + ], + [ + 0.0793068006634707 + ], + [ + 0.07996017277240701 + ], + [ + 0.08083570092916476 + ], + [ + 0.08442926496267306 + ], + [ + 0.0849388986825943 + ], + [ + 0.08589936137199389 + ], + [ + 0.09613776892423473 + ], + [ + 0.10264539510011608 + ], + [ + 0.11146597415208424 + ], + [ + 0.118757651746272 + ], + [ + 0.12626493781804712 + ], + [ + 0.1336611580848686 + ], + [ + 0.14966887950897137 + ], + [ + 0.18664343178272208 + ], + [ + 0.2643167960643759 + ], + [ + 0.34514596223830196 + ], + [ + 0.40616474986076195 + ], + [ + 0.46102221012115413 + ], + [ + 0.512488663196561 + ], + [ + 0.5592703866958617 + ], + [ + 0.616068358421323 + ], + [ + 0.6650193238258354 + ], + [ + 0.7098409295082078 + ], + [ + 0.7508468008041291 + ], + [ + 0.7763154196739193 + ], + [ + 0.8021629571914671 + ], + [ + 0.8036526441574097 + ], + [ + 0.8037964153289794 + ], + [ + 0.8037964153289794 + ] + ], + "mean": [ + [ + -0.0010575343621894717 + ], + [ + -0.0009825883898884058 + ], + [ + -0.0008910171454772353 + ], + [ + -0.0009449583012610674 + ], + [ + -0.0010697904508560896 + ], + [ + -0.0008412729948759079 + ], + [ + -0.0008920106920413673 + ], + [ + -0.0007386216311715543 + ], + [ + -0.0006794799701310694 + ], + [ + -0.0005984111339785159 + ], + [ + -0.0004754038236569613 + ], + [ + -0.0003721543471328914 + ], + [ + -0.00035933047183789313 + ], + [ + -0.0002865439164452255 + ], + [ + -0.00015036815602798015 + ], + [ + 3.446715481913998e-06 + ], + [ + 1.9656419681268744e-05 + ], + [ + -2.302204848092515e-05 + ], + [ + -1.3533443052438088e-05 + ], + [ + -1.3979518371343147e-05 + ], + [ + 8.109908776532393e-06 + ], + [ + -6.20916107436642e-05 + ], + [ + -4.187768354313448e-05 + ], + [ + -0.00013584124098997563 + ], + [ + -0.0001435964077245444 + ], + [ + -0.00018968104268424213 + ], + [ + -0.00030483189038932323 + ], + [ + -0.00045951854554004967 + ], + [ + -0.0006075652199797332 + ], + [ + -0.001593853929080069 + ], + [ + -0.0025348078925162554 + ], + [ + -0.0033387041185051203 + ], + [ + -0.004762381315231323 + ], + [ + -0.005997239146381617 + ], + [ + -0.006847118493169546 + ], + [ + -0.008032231591641903 + ], + [ + -0.00858941487967968 + ], + [ + -0.009394193068146706 + ], + [ + -0.010205884464085102 + ], + [ + -0.011432105675339699 + ], + [ + -0.01259317435324192 + ], + [ + -0.012535624206066132 + ], + [ + -0.011906374245882034 + ], + [ + -0.011811385862529278 + ], + [ + -0.012498530559241772 + ], + [ + -0.012642349116504192 + ], + [ + -0.012270093895494938 + ], + [ + -0.013758721761405468 + ], + [ + -0.015787571668624878 + ], + [ + -0.016209347173571587 + ] + ], + "std": [ + [ + 0.0858890563249588 + ], + [ + 0.08745123445987701 + ], + [ + 0.08817971497774124 + ], + [ + 0.08921696245670319 + ], + [ + 0.09011590480804443 + ], + [ + 0.09227520227432251 + ], + [ + 0.09274092316627502 + ], + [ + 0.09397070109844208 + ], + [ + 0.09436856955289841 + ], + [ + 0.09500104188919067 + ], + [ + 0.09544624388217926 + ], + [ + 0.09574361145496368 + ], + [ + 0.09626621007919312 + ], + [ + 0.09687671065330505 + ], + [ + 0.09764669090509415 + ], + [ + 0.09835610538721085 + ], + [ + 0.09838928282260895 + ], + [ + 0.09862711280584335 + ], + [ + 0.09863261133432388 + ], + [ + 0.09867369383573532 + ], + [ + 0.0987134724855423 + ], + [ + 0.0991668626666069 + ], + [ + 0.09918507933616638 + ], + [ + 0.10019796341657639 + ], + [ + 0.10056895017623901 + ], + [ + 0.10084271430969238 + ], + [ + 0.10143109411001205 + ], + [ + 0.10322219133377075 + ], + [ + 0.10421590507030487 + ], + [ + 0.10907649248838425 + ], + [ + 0.11380690336227417 + ], + [ + 0.11774943768978119 + ], + [ + 0.12493429332971573 + ], + [ + 0.13108891248703003 + ], + [ + 0.13688063621520996 + ], + [ + 0.15073256194591522 + ], + [ + 0.1548181027173996 + ], + [ + 0.16145914793014526 + ], + [ + 0.16874279081821442 + ], + [ + 0.17684757709503174 + ], + [ + 0.18616677820682526 + ], + [ + 0.19286835193634033 + ], + [ + 0.19909752905368805 + ], + [ + 0.20604203641414642 + ], + [ + 0.21285584568977356 + ], + [ + 0.21814283728599548 + ], + [ + 0.22321800887584686 + ], + [ + 0.22764936089515686 + ], + [ + 0.23128217458724976 + ], + [ + 0.23251831531524658 + ] + ], + "min": [ + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ] + ], + "max": [ + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ] + ] + } + } +} \ No newline at end of file